Assembled ultrasonic surgical tool assembly and surgical robotic system

Abstract

The invention relates to the field of medical instruments, and discloses an assemblable ultrasonic surgical tool assembly and a surgical robot system. The assemblable ultrasonic operation tool assembly comprises an ultrasonic operation tool and an auxiliary operation tool used for driving the ultrasonic operation tool to move, the ultrasonic operation tool comprises a cutter bar assembly located at the far end of the ultrasonic operation tool, and the cutter bar assembly comprises a cutter bar; the ultrasonic transducer is coupled with the near end of the cutter bar so as to output vibration to the cutter bar; the assembling structure is arranged on the cutter bar assembly; the auxiliary surgical tool comprises: an arm body; the joint mechanism is arranged at the far end of the arm body; and the assembling head is arranged at the far end of the joint mechanism, and the assembling head is used for being detachably connected with an assembling structure. The assemblable ultrasonic surgical tool assembly provided by the invention is beneficial to improving the output power of the ultrasonic surgical tool and the flexibility of movement.

Description

Technical Field

[0001] The present disclosure relates to the field of medical instruments, and in particular to an assembleable ultrasonic surgical tool assembly and a surgical robot system. 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 assemblable ultrasonic surgical tool assembly comprising: Ultrasonic surgical tools, including: The knife rod assembly is located at the distal end of the ultrasonic surgical tool, and the knife rod assembly includes a knife rod; an ultrasonic transducer coupled to the proximal end of the tool rod to output vibration to the tool rod; and An assembly structure is provided on the cutter bar assembly; Auxiliary surgical tools, used to drive the movement of ultrasonic surgical tools, including: Arm body; a joint mechanism, disposed at the distal end of the arm; and The assembly head is arranged at the distal end of the joint mechanism and is used for being detachably connected to the assembly structure.

[0006] In some embodiments, the present disclosure further provides a surgical robot system, comprising: An operating table, comprising at least one robotic arm; 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

[0007] 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.

[0008] Figure 1 A schematic structural diagram showing an assembleable ultrasonic surgical tool assembly according to some embodiments of the present disclosure is shown; Figure 2A and Figure 2B Structural schematic diagrams respectively showing partial structures of ultrasonic surgical tools according to some embodiments of the present disclosure; Figure 2C A schematic structural diagram illustrating an assembly structure of an ultrasonic surgical tool according to some embodiments of the present disclosure; Figure 2D A schematic structural diagram of a clamp driving assembly of an ultrasonic surgical tool according to some embodiments of the present disclosure is shown; Figure 3A shows a side view of an auxiliary surgical tool according to some embodiments of the present disclosure; Figure 3B A bottom view illustrating a wrist assembly of an auxiliary surgical tool according to some embodiments of the present disclosure; Figure 3C A schematic structural diagram showing a portion of the structure of a wrist joint assembly according to some embodiments of the present disclosure; Figure 3D A schematic cross-sectional view illustrating a driving rod of an auxiliary surgical tool according to some embodiments of the present disclosure; Figure 3E A schematic structural diagram of an assembly head of an auxiliary surgical tool according to some embodiments of the present disclosure is shown; Figure 4 A schematic structural diagram of an ultrasonic surgical tool in a state ready for assembly according to some embodiments of the present disclosure is shown; Figure 5 A schematic structural diagram showing an assembleable ultrasonic surgical tool assembly according to other embodiments of the present disclosure; Figures 6A to 6C Schematic diagrams showing the structure of the assembly structure of ultrasonic surgical tools in different states according to other embodiments of the present disclosure; Figure 7 A schematic structural diagram showing an assembleable ultrasonic surgical tool assembly according to some embodiments of the present disclosure is shown; Figure 8A and Figure 8B Schematic diagrams showing the structures of ultrasonic surgical tools in different states according to some embodiments of the present disclosure; Figure 8CA schematic structural diagram illustrating an assembly structure resetting component of an ultrasonic surgical tool according to some embodiments of the present disclosure is shown; Figure 9A and Figure 9B Schematic diagrams of the structures of the operating handles in different states according to some embodiments of the present disclosure are respectively shown; Figure 10A and Figure 10B Schematic diagrams showing the structures of operating handles in different states according to other embodiments of the present disclosure; Figure 11A A schematic structural diagram showing an assembleable ultrasonic surgical tool assembly in a state ready for assembly according to some embodiments of the present disclosure is shown; Figure 11B A schematic structural diagram showing an assembleable ultrasonic surgical tool assembly in an assembled state according to some embodiments of the present disclosure is shown; Figure 11C A schematic diagram showing an open jaw assembly that can be equipped with an ultrasonic surgical tool assembly according to some embodiments of the present disclosure; Figure 12 A schematic diagram of a surgical robot system according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0009] 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.

[0010] 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.

[0011] In this disclosure, the end closest to the operator (e.g., a doctor) is defined as the proximal end, near portion, or rear end, and the end opposite to the proximal end, near portion, or rear end is defined as the distal end, far end, or front end, or front end. Alternatively, the end closest to the operator (e.g., a surgical patient) is defined as the distal end, far end, or front end, or front end, and the end opposite to the distal end, far end, or front end is defined as the proximal end, near portion, or rear end, or rear end. Those skilled in the art will appreciate that the embodiments of this disclosure can be used in medical devices or surgical robots, as well as other non-medical devices.

[0012] Some embodiments of the present disclosure provide a mountable ultrasonic surgical tool assembly 10 . Figure 1 A schematic structural diagram of an assembleable ultrasonic surgical tool assembly 10 according to some embodiments of the present disclosure is shown. Figure 2A and Figure 2B Schematic diagrams respectively show partial structures of the ultrasonic surgical tool 100 according to some embodiments of the present disclosure. Figure 3A A side view of an assistive surgical tool 200 is shown, according to some embodiments of the present disclosure.

[0013] like Figure 1 As shown, the mountable ultrasonic surgical tool assembly 10 may include an ultrasonic surgical tool 100 and an auxiliary surgical tool 200. In some embodiments, the mountable ultrasonic surgical tool assembly 10 may be used in a surgical robotic system. The surgical robotic system may be any suitable surgical robotic system, including a laparoscopic surgical robotic system. In some embodiments, the auxiliary surgical tool 200 in the mountable ultrasonic surgical tool assembly 10 may be disposed at the distal end of a robotic arm (e.g., a positioning arm) of the surgical robotic system. The auxiliary surgical tool 200 may be moved under user control (e.g., teleoperation).

[0014] Figure 2C FIG. 1 is a schematic diagram showing the assembly structure of an ultrasonic surgical tool 100 according to some embodiments of the present disclosure. Figure 1 、 Figures 2A to 2C As shown, the ultrasonic surgical tool 100 may include a knife bar assembly 110, an ultrasonic transducer 120, and an assembly structure 130. The knife bar assembly 110 is located at the distal end of the ultrasonic surgical tool 100 and may include a knife bar 111. In some embodiments, the knife bar assembly 110 may further include a knife bar housing 112, which may cover at least a portion of the knife bar 111.

[0015] like Figure 1As shown, the ultrasonic transducer 120 can be coupled to the proximal end of the blade rod 111 to output vibrations to the blade rod 111. In some embodiments, the blade rod 111 can include a proximal section and a distal section (not shown). The proximal end of the proximal section can be coupled to the ultrasonic transducer 120 to receive vibrations, and the distal end of the distal section can form a blade head structure, which can extend out of the blade rod housing 112 to contact and operate on patient tissue. In some embodiments, the blade rod 111 can include at least one section with reduced transverse dimensions. For example, the distal section of the blade rod can have a smaller transverse dimension than the proximal section. This can increase the amplitude of the vibrations transmitted through the blade rod 111 and improve the efficiency of tissue cutting or coagulation.

[0016] In some embodiments, as Figure 2C As shown, the distal end of the knife rod 111 may extend along a curved arc (e.g., arc h1) to facilitate performing surgical operations through the knife rod 111. In some embodiments, the distal end of the knife rod 111 may include at least one cutting edge structure to improve the mechanical cutting efficiency of the knife head structure on biological tissue.

[0017] like Figure 1 As shown, the ultrasonic transducer 120 may include a front cover plate 121 at the distal end, a rear cover plate 122 at the proximal end, and an ultrasonic transducer section 123 disposed between the front and rear cover plates 121, 122. In some embodiments, the front cover plate 121 may be made of a low-acoustic-impedance material, such as titanium alloy or aluminum alloy, to achieve a higher output amplitude; the rear cover plate 122 may be made of a high-acoustic-impedance material, such as stainless steel or tungsten alloy, to reduce the amplitude at the rear end of the ultrasonic transducer 120. The ultrasonic transducer section 123 may include multiple piezoelectric ceramic sheets and multiple electrode sheets (not shown). The multiple electrode sheets may be disposed between the front cover plate 121 and the ultrasonic transducer section 123, between the multiple piezoelectric ceramic sheets, and between the ultrasonic transducer section 123 and the rear cover plate 122. In some embodiments, the multiple electrode sheets may be copper electrodes.

[0018] In some embodiments, the ultrasonic transducer 120 may further include a plurality of wires, the distal ends of the plurality of wires being respectively connected to a plurality of electrode sheets, and the proximal ends of the plurality of wires being connected to a power source to transmit energy to the ultrasonic surgical tool 100. The plurality of wires may be constrained into a wire bundle at the proximal end of the ultrasonic transducer 120. The power source may apply a high-frequency voltage to the plurality of electrode sheets through the wire bundle. Due to the inverse piezoelectric effect, the plurality of piezoelectric ceramic sheets will vibrate at a high frequency along their thickness direction, and the high-frequency vibration will be transmitted to the knife rod 111. The distal end of the high-frequency vibrating knife rod 111 can cut or coagulate biological tissue when in contact with biological tissue. The plurality of piezoelectric ceramic sheets and the plurality of electrode sheets may include a central through hole for allowing the plurality of wires to pass through.

[0019] 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. Based on this, the ultrasonic transducer 120 can be set to any appropriate volume based on needs, which is conducive to improving the efficiency of the ultrasonic surgical tool 100 in performing surgical operations. In some embodiments, the distal end of the ultrasonic transducer 120 can be detachably connected to the proximal end of the blade 111. For example, the distal end of the front cover plate 121 of the ultrasonic transducer 120 can be detachably connected to the proximal end of the blade 111 in a manner such as Figure 1 Based on this, the cutter bar assembly 110 can be disposable, while the ultrasonic transducer 120 can be used multiple times.

[0020] The assembly structure 130 can be provided on the arbor assembly 110, for example, on the arbor housing 112. The assembly structure 130 can be used to assemble or disassemble the ultrasonic surgical tool 100. The auxiliary surgical tool 200 can be assembled or disassembled with the ultrasonic surgical tool 100 via the assembly structure 130. The auxiliary surgical tool 200 can be used to drive the ultrasonic surgical tool 100 to move, for example, within a patient's body. Those skilled in the art will appreciate that when the auxiliary surgical tool 200 and the ultrasonic surgical tool 100 are assembled, the auxiliary surgical tool 200 can drive the ultrasonic surgical tool 100 to move.

[0021] like Figure 3A As shown, the auxiliary surgical tool 200 may include an arm 210, an assembly head 220, and a joint mechanism 230. The joint mechanism 230 may be disposed at the distal end of the arm 210, and the assembly head 220 may be disposed at the distal end of the joint mechanism 230. The assembly head 220 may be configured to be detachably connected to the assembly structure 130 of the ultrasonic surgical tool 100. In some embodiments, at least a portion of the joint mechanism 230 may be rotatable, thereby driving the assembly head 220 disposed at the distal end of the joint mechanism 230 to rotate, thereby facilitating assembly or disassembly with the assembly structure 130. In some embodiments, the joint structure 230 may include any movable joint, such as a hinge joint, a pulley joint, a gear joint, etc.

[0022] like Figure 3A As shown, in some embodiments, the joint mechanism 230 may include a wrist joint assembly 231. The wrist joint assembly 231 may include a wrist joint base 2311 and a wrist joint rotation mechanism 2312. The wrist joint base 2311 may be fixedly disposed at the distal end of the arm body 210, for example, by welding, bonding, thermoplasticization, or other suitable means. The wrist joint rotation mechanism 2312 may be rotatably disposed on the wrist joint base 2311. It will be understood by those skilled in the art that the wrist joint rotation mechanism 2312 is Figure 1 and Figure 3AIn some embodiments, the wrist joint rotation mechanism 2312 is rotatably connected to the wrist joint base 2311 via a pivot Z1. Based on this, the wrist joint rotation mechanism 2312 can rotate with the center axis of the pivot Z1 as the rotation axis. The assembly head 220 can be set at the distal end of the wrist joint rotation mechanism 2312, so that it can rotate with the center axis of the pivot Z1 as the rotation axis. In some embodiments, when the wrist joint rotation mechanism 2312 rotates forward or reverse, the assembly head 220 can be raised or lowered to facilitate assembly or disassembly. In some embodiments, the assembly head 220 can be fixedly set at the distal end of the wrist joint rotation mechanism 2312 by welding, bonding, integral molding, etc.

[0023] Figure 3B A bottom view of the wrist assembly 231 of the surgical assist tool 200 is shown, according to some embodiments of the present disclosure. Figure 3C FIG2 is a schematic diagram showing a partial structure of a wrist joint assembly 231 according to some embodiments of the present disclosure. A person skilled in the art will understand that Figure 3C The wrist joint rotation mechanism 2312 is not shown. Figure 3B and Figure 3C As shown, in some embodiments, the wrist joint assembly 231 may further include a wrist joint drive wire 2313 and a drive rod 2314. The wrist joint drive wire 2313 may include a nickel-titanium alloy wire, a steel wire, a cable, a belt structure, a chain structure, or the like. The drive rod 2314 may include any suitable structure, such as a nickel-titanium alloy wire, a flexible rod, a rigid rod, or the like. In some embodiments, the drive rod 2314 may be a rod-shaped or tubular structure composed of nickel-titanium alloy wire.

[0024] like Figure 3B As shown, the wrist joint drive wire 2313 can be connected to the wrist joint rotation mechanism 2312. In some embodiments, the wrist joint rotation mechanism 2312 can include a wire groove 2312c, and the wire groove 2312c can be arranged around the central axis of the pivot Z1. In some embodiments, the distal end of the wrist joint drive wire 2313 can be wound in the wire groove 2312c of the wrist joint rotation mechanism 2312. Figure 3CAs shown, the distal end of the drive rod 2314 can be connected to the wrist joint drive wire 2313, for example, directly or via a suitable structure (e.g., a slider connected to the wrist joint drive wire 2313 and the drive rod 2314, respectively). The proximal end of the drive rod 2314 can be used to receive a drive to push or pull the wrist joint drive wire 2313 to rotate the wrist joint rotation mechanism 2312, for example, about the central axis of the pivot Z1. In some embodiments, the drive rod 2314 can pass through the arm 210 of the auxiliary surgical tool 200, with the proximal end connected to a drive device (e.g., a motor) disposed at the proximal end of the arm 210 to receive the driving force. Based on this, it is helpful to prevent the wrist joint drive wire 2313 from becoming loose due to excessive travel when directly connected to the drive device.

[0025] like Figure 3B and Figure 3C As shown, in some embodiments, the wrist joint drive wire 2313 can form a loop on the wrist joint rotation mechanism 2312. The drive rod 2314 can be connected to the wrist joint drive wire 2313 between the proximal end and the distal end of the wrist joint drive wire 2313. The wrist joint assembly 231 can also include a fixed pulley 2315, which can be disposed at the proximal end of the wrist joint rotation mechanism 2312. The proximal end of the wrist joint drive wire 2313 can be wound around the fixed pulley 2315. In some embodiments, the fixed pulley 2315 can include a circumferentially arranged wire groove, and the wrist joint drive wire 2313 can be connected to the wire groove of the fixed pulley 2315, thereby being wound around the fixed pulley 2315. The distal end of the wrist joint drive wire 2313 can be wound around the wrist joint rotation mechanism 2312, for example, through the wire groove 2312c of the wrist joint rotation mechanism 2312. In some embodiments, the wrist joint base 2311 may include a guide hole H1 , and the proximal end of the wrist joint driving wire 2313 may pass through the guide hole H1 to connect to the wrist joint rotation mechanism 2312 .

[0026] The drive rod 2314 pushes or pulls one side of the wrist joint drive wire 2313, driving the wrist joint drive wire 2313 to reciprocate in a closed loop, thereby driving the wrist joint rotation mechanism 2312 to rotate forward and reverse, thereby driving the assembly head 220 to rotate, for example, to tilt the assembly head 220 upward and downward. Based on this, only one wrist joint drive wire 2313 can be driven to drive the rotation of the wrist joint rotation mechanism 2312, instead of driving two drive wires, thereby simplifying the drive structure and improving the drive accuracy.

[0027] In some embodiments, the joint mechanism 230 may include multiple wrist joint assemblies 231 that can move independently of each other. For example, the joint mechanism 230 may include two wrist joint assemblies 231 whose rotation axes are perpendicular to each other to improve the flexibility of the assembly head 220.

[0028] In some embodiments, as Figure 3A As shown, the joint mechanism 230 may further include a bracket 232. The bracket 232 may be fixedly disposed at the distal end of the arm 210, for example, by welding, gluing, or any other suitable means. The wrist joint base 2311 may be disposed at the distal end of the bracket 232, for example, by welding, gluing, or any other suitable means. The bracket 232 may be used to accommodate or support at least a portion of the structure of the joint mechanism 230. Figure 3C As shown, the bracket 232 may include a plate-like structure and / or at least one connecting rod, such as a proximal plate B1 connected to the distal end of the arm 210 and a distal plate B2 connected to the proximal end of the wrist joint base 2311. In some embodiments, the fixed pulley 2315 is rotatably disposed on the bracket 232, for example, connected to the bracket 232 via a pivot or the like. Figure 3B As shown, the bracket 232 may include a shell 2321, which may cover structures such as the wrist joint drive wire 2313 and the fixed pulley 2315 to isolate them from the environment inside the patient's body.

[0029] In some embodiments, as Figure 3C As shown, the wrist joint assembly 231 may further include a first slider 2316 and a guide mechanism 2317. The first slider 2316 is fixedly connected to the wrist joint drive wire 2313. For example, the first slider 2316 may include a suitable structure such as a drive wire groove or a drive wire through hole (not shown in the figure), and the wrist joint drive wire 2313 may be fixedly connected to the first slider 2316 via the drive wire groove or the drive wire through hole. The first slider 2316 may be fixedly connected to the drive rod 2314. Figure 3D A schematic cross-sectional view of a driving rod 2314 of a surgical assist tool 200 according to some embodiments of the present disclosure is shown. For example, the first slider 2316 may include a connection hole (not shown) for the distal end of the driving rod 2314 to extend into, and the distal end of the driving rod 2314 may include a connector 2314t for connecting to the connection hole. The connector 2314t may be fixedly connected to the first slider 2316 via the connection hole.

[0030] The guide mechanism 2317 can be fixedly disposed in the bracket 232 along the axial direction of the arm body 210. For example, the guide mechanism 2317 can be in the shape of a rod, and the two ends of the guide mechanism 2317 can be fixedly connected to the proximal plate B1 and the distal plate B2 of the bracket 232, respectively, so as to be fixedly disposed in the bracket 232. The first slider 2316 can be slidably connected to the guide mechanism 2317. The first slider 2316 can include a guide rod through hole for the guide mechanism 2317 to pass through the first slider 2316. The driving rod 2314 can push or pull the first slider 2316, causing the first slider 2316 to slide back and forth along the guide mechanism 2317. The movement of the first slider 2316 can drive the wrist joint drive wire 2313 to reciprocate, thereby driving the wrist joint rotation mechanism 2312 to rotate.

[0031] In some embodiments, as Figure 3D As shown, the wrist joint assembly 231 may further include a seal 2314m. The distal end of the seal 2314m may be sealingly connected to the distal end of the drive rod 2314, and the proximal end of the seal 2314m may be sealingly connected to the distal end of the arm body 210, thereby isolating at least a portion of the drive rod 2314 and the internal mechanism of the arm body 210 from the rest of the joint mechanism 230. In some embodiments, the seal 2314m may include an axial portion m1 located at the distal end and a radial portion m2 located at the proximal end. The distal end of the axial portion m1 may be sealingly sleeved over the distal end of the drive rod 2314, for example, by sealingly securing the distal end of the axial portion m1 to the distal outer circumferential surface of the drive rod 2314 via a clamp tg. The radial portion m2 may be circumferentially sealingly connected to the distal end of the arm body 210. The axial portion m1 and the radial portion m2 may be integrally formed or sealingly connected. The axial portion m1 may be a main body extending axially, and the radial portion m2 may be a flange portion extending radially outward. The axial portion m1 of the seal 2314m can be cylindrical. A smooth transition section can be provided at the junction of the axial portion m1 and the radial portion m2. In some embodiments, the distal end of the drive rod 2314 can extend beyond the seal 2314m to connect with other parts of the joint mechanism 230 (e.g., the first slider 2316) to drive the first slider 2316.

[0032] In some embodiments, at least a portion of the seal 2314m is deformable, and the drive rod 2314 extends through the seal 2314m. When the drive rod 2314 moves (for example, reciprocating linear motion), the seal 2314m can adaptively deform, achieving sealing without affecting the movement of the drive rod 2314. Deformability includes, but is not limited to, deforming by providing redundant portions or pleated portions, or the material itself can be deformed by expansion and contraction. The deformability of at least a portion of the seal 2314m can be a portion of the seal 2314m that is deformable in the axial or radial direction, or the entire seal 2314m can be deformable. Those skilled in the art will appreciate that the seal 2314m can be sealed and connected by any suitable means such as bonding, thermoplasticization, or clamps.

[0033] In some embodiments, the distal end of the driving rod 2314 may include an insulating coating to insulate the driving rod 2314 from the first slider 2316. In some embodiments, an insulating member may also be provided between the distal end of the arm 210 and the joint mechanism 230 to insulate the arm 210 from the distal assembly head 220.

[0034] Figure 3E FIG. 2 is a schematic structural diagram of an assembly head 220 of an auxiliary surgical tool 200 according to some embodiments of the present disclosure. Figure 3E As shown, in some embodiments, the assembly head 220 may include a main body 221 and a boss 222 disposed above the main body 221. The main body 221 may be disposed on the wrist joint rotation mechanism 2312 (see Figure 3A or Figure 3B ) is fixedly arranged at the distal end of the wrist joint rotating mechanism 2312. Based on this, when the wrist joint rotating mechanism 2312 rotates, it can drive the assembly head 220 to rotate. Figure 3E As shown, the boss 222 may include a first track 2221 and a second track 2222 that are disposed opposite to each other. The first track 2221 and the second track 2222 may be used to mate with the assembly structure 130 (see FIG. Figure 2C ) is detachably connected. The boss 222 of the auxiliary surgical tool 200 and the assembly structure 130 of the ultrasonic surgical tool 100 establish a rigid connection between the auxiliary surgical tool 200 and the ultrasonic surgical tool 100, thereby facilitating the auxiliary surgical tool 200 to drive the ultrasonic surgical tool 100 to move within the patient's body.

[0035] In some embodiments, the knife bar assembly 110 may further include a knife bar housing 112 , and the assembly structure 130 may be disposed on the knife bar housing 112 . Figure 4 FIG. 1 shows a schematic structural diagram of an ultrasonic surgical tool 100 in a state to be assembled according to some embodiments of the present disclosure. Figure 4As shown, the blade rod housing 112 may include a blade rod outer housing 1121 and a blade rod inner housing 1122. The blade rod inner housing 1122 may cover at least a portion of the blade rod 111. In some embodiments, the blade rod 111 may further include a flange structure disposed between the proximal end section and the distal end section. The flange structure of the blade rod 111 may engage with the blade rod inner housing 1122, thereby securing the blade rod 111 within the blade rod inner housing 1122.

[0036] The outer shell 1121 of the knife bar can cover at least a portion of the inner shell 1122 of the knife bar. In some embodiments, the outer shell 1121 of the knife bar can include an outer shell distal section 1121a located at the distal end and an outer shell proximal section 1121b located at the proximal end. In some embodiments, at least a portion of the outer shell distal section 1121a can be fixedly connected to the distal end of the inner shell 1122 of the knife bar, for example, by a suitable method such as snapping or welding. Figure 4 As shown, the outer shell distal segment 1121a may include a distal portion p1 and a proximal portion d1, wherein the distal portion p1 may cover a portion of the blade rod 111, and the proximal portion d1 may cover a portion of the blade rod inner shell 1122. The distal portion p1 may include a stepped surface to facilitate connection with the proximal portion d1.

[0037] The outer shell proximal section 1121b can be moved closer to or farther from the outer shell distal section 1121a to assemble or disassemble the ultrasonic surgical tool 100. In some embodiments, as Figure 2C As shown, the shank housing 112 (e.g., the outer housing distal segment 1121b) may include an assembly structure 130. Based on this, when the outer housing proximal segment 1121b approaches or moves away from the outer housing distal segment 1121a, the ultrasonic surgical tool 100 can be assembled or disassembled through the assembly structure 130.

[0038] In some embodiments, the assembly structure 130 may include a first slot structure C1 disposed at the distal end of the proximal end section 1121b of the outer shell. The first slot structure C1 can be used to assemble or disassemble the ultrasonic surgical tool 100. In some embodiments, the first slot structure C1 can connect with at least a portion of the auxiliary surgical tool 200 (e.g., the boss 222) to facilitate assembly of the ultrasonic surgical tool 100 with the auxiliary surgical tool 200. For example, during assembly, opposing sides of the first slot structure C1 can connect with the first track 2221 and the second track 2222, respectively, thereby enabling the boss 222 to engage with the first slot structure C1.

[0039] like Figure 4As shown, in some embodiments, the outer shell proximal section 1121b can move proximally away from the outer shell distal section 1121a. The distal end of the first groove structure C1 can thus be moved from a closed state close to the outer shell distal section 1121a (e.g., Figure 2C The boss 222 of the auxiliary surgical tool 200 can thereby be connected to or separated from the first slot structure C1 from the distal open side of the first slot structure C1 for assembly or disassembly.

[0040] In some embodiments, the first groove structure C1 may also be a U-shaped groove, a special-shaped groove, or other suitable structure. In some embodiments, the assembly structure 130 may include multiple first groove structures C1 for assembly or disassembly. The multiple first groove structures C1 may be arranged circumferentially at the distal end of the outer shell proximal segment 1121b. During assembly, at least one of the multiple first groove structures C1 may be connected to the auxiliary surgical tool 200 for assembly.

[0041] Some embodiments of the present disclosure also provide a mountable ultrasonic surgical tool assembly 30 . Figure 5 FIG. 3 is a schematic diagram showing the structure of an assembleable ultrasonic surgical tool assembly 30 according to other embodiments of the present disclosure. Figure 5 As shown, the mountable ultrasonic surgical tool assembly 30 may include an ultrasonic surgical tool 300 and an auxiliary surgical tool 200. The mountable ultrasonic surgical tool assembly 30 may be used in any suitable surgical robot system, such as a laparoscopic surgical robot system.

[0042] Figures 6A to 6C Schematic diagrams of the assembly structure 330 of an ultrasonic surgical tool 300 in different states according to other embodiments of the present disclosure are shown. The ultrasonic surgical tool 300 may include a knife bar assembly 310, an ultrasonic transducer (not shown in the figure), and an assembly structure 330. The knife bar assembly 310 and the ultrasonic transducer may be similar to the above-mentioned parts of the ultrasonic surgical tool 100, and will not be described here in detail to reduce repetition. In some embodiments, such as Figures 6A to 6C As shown, the assembly structure 330 can be connected to the knife bar housing 312 (eg, including the knife bar outer housing 3121 and the knife bar inner housing 3122 ).

[0043] like Figures 6A to 6C As shown, the assembly structure 330 may include a knife bar connector 331 and an assembly connector 332. Figure 6BAs shown, the shank connector 331 can be connected to the shank inner shell 3122. In some embodiments, the shank connector 331 can be annular, and the shank connector 331 can be sleeved on the shank inner shell 3122. In some embodiments, the shank connector 331 can be fixedly connected to the shank inner shell 3122 to fix the position of the assembly structure 330 so as to facilitate assembly or disassembly, for example, by any suitable means such as bonding, welding, thermoplasticization, etc. It will be understood by those skilled in the art that the shape of the shank connector 331 is not limited to the following. Figure 6B The shape shown can also be any suitable shape, such as U-shape, arc shape, etc.

[0044] like Figure 6A and Figure 6B As shown, the assembly connector 332 can extend from the blade shaft outer shell 3121 (e.g., the outer shell proximal section 3121b) to facilitate disassembly or assembly of the ultrasonic surgical tool 300, such as by separating from or connecting to the boss 222 of the auxiliary surgical tool 200 to disassemble or assemble the ultrasonic surgical tool 300 with the auxiliary surgical tool 200. In some embodiments, the assembly connector 332 can include a proximal connecting portion 3321 and a distal assembly portion 3322. The proximal end of the proximal connecting portion 3321 can be connected to the blade shaft connector 331. The distal assembly portion 3322 can be disposed at the distal end of the proximal connecting portion 3321 and can be used to assemble or disassemble the ultrasonic surgical tool 300.

[0045] In some embodiments, as Figure 6A and Figure 6B As shown, the distal assembly portion 3322 may include a second slot structure C2 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 second slot structure C2. In the assembled state, the second slot structure C2 may engage with at least a portion of the auxiliary surgical tool 200 (e.g., the boss 222), 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 3322 may include a retaining ring, which may be connected to the auxiliary surgical tool 200 in the assembled state, for example, by being positioned over at least a portion of the auxiliary surgical tool 200 (e.g., the boss 222) or engaging with at least a portion of the auxiliary surgical tool 200. In other embodiments, the distal assembly portion 3322 may include at least one connecting arm, which may extend into at least a portion of the auxiliary surgical tool 200, such as at least one slot structure of the auxiliary surgical tool 200, in the assembled state. Those skilled in the art will appreciate that the structure of the distal assembly portion 3322 is not limited to the aforementioned structures, but may be any suitable structure.

[0046] like Figure 6A and Figure 6B As shown, when the assembly connector 332 extends out of the proximal end section 3121b of the outer shell, the second groove structure C2, the first connecting arm B1 and the second connecting arm B2 of the distal assembly portion 3322 are circumferentially oriented toward the outside of the knife rod assembly 310, thereby facilitating the assembly or disassembly of the ultrasonic surgical tool 300.

[0047] like Figure 6A and Figure 6B As shown, in some embodiments, the assembly structure 330 may further include an assembly torsion spring 333 to enable the assembly connector 332 to extend out of the knife bar outer shell 3121. The assembly torsion spring 333 may be disposed between the knife bar connector 331 and the assembly connector 332, and the assembly torsion spring 333 may be used to apply a torque to the assembly connector 332 that causes the assembly connector 332 to tend to extend out of the knife bar outer shell 3121.

[0048] like Figure 6C As shown, in some embodiments, the assembly connector 332 can be retracted into the outer housing 3121 of the blade shaft. In some embodiments, the assembly connector 332 can be retracted into the proximal end section 3121b of the outer housing. When the ultrasonic surgical tool 300 is in an unassembled state, the assembly connector 332 is retracted into the outer housing 3121 of the blade shaft, facilitating insertion and removal of the ultrasonic surgical tool 300 into and out of a patient's body, such as through an opening. When the ultrasonic surgical tool 300 is in an assembled state, the assembly connector 332 is retracted into the outer housing 3121 of the blade shaft, allowing at least a portion of the auxiliary surgical tool 200 (e.g., the boss 222) to be retracted into the outer housing 3121 of the blade shaft of the ultrasonic surgical tool 300, thereby enhancing the stability of the connection between the auxiliary surgical tool 200 and the outer housing 3121 of the blade shaft of the ultrasonic surgical tool 300.

[0049] like Figure 6C As shown, in some embodiments, the outer shell proximal section 3121b can cover the proximal connection portion 3321 of the assembly connector 332 (see Figure 6A and Figure 6B ) so that the assembly connector 332 converges to the outer shell 3121 of the arbor. Figure 6C As shown, in some embodiments, the outer shell proximal section 3121b may include a third groove structure C3. The third groove structure C3 may be located at the distal end of the outer shell proximal section 3121b. In some embodiments, as shown Figure 6C As shown, the distal assembly portion 3322 can converge to the third groove structure C3. In some embodiments, as shown in FIG. Figure 6A As shown, the assembly connector 332 can extend from the third slot structure C3 to the outer shell proximal end section 3121 b so as to assemble or disassemble the ultrasonic surgical tool 300 .

[0050] like Figure 6CAs shown, when the outer shell proximal segment 3121b is close to the outer shell distal segment 3121a, the distal end of the outer shell proximal segment 3121b can cover the proximal connection portion 3321 of the assembly connector 332, and the assembly connector 332 can converge to the third groove structure C3.

[0051] like Figure 5 or Figure 6A As shown, in some embodiments, the proximal segment 3121b of the outer shell can move proximally, and the proximal segment 3121b of the outer shell can thereby move away from the distal segment 3121a of the outer shell. Under the action of the assembly torsion spring 333, the assembly connector 332 can extend out of the proximal segment 3121b of the outer shell, and the second slot structure C2 faces the outside of the knife rod 111 and the distal side of the second slot structure C2 is open. The boss 222 of the auxiliary surgical tool 200 can thereby be connected to the extended assembly connector 332 through the second slot structure C2 that is open at the distal end, or be separated from the assembly connector 332 through the second slot structure C2, so that it can be assembled or disassembled with the ultrasonic surgical tool 300. In some embodiments, the surgical robot system can issue a control instruction to control the rotation of the joint mechanism 230 to adjust the assembly head 220 at the distal end of the joint mechanism 230 to a position that is convenient for assembly or disassembly, for example Figure 5 Position shown.

[0052] Other embodiments of the present disclosure further provide an installable ultrasonic surgical tool assembly 50 . Figure 7 FIG. 5 is a schematic diagram showing the structure of an assembleable ultrasonic surgical tool assembly 50 according to other embodiments of the present disclosure. Figure 7 As shown, the mountable ultrasonic surgical tool assembly 50 may include an ultrasonic surgical tool 500 and an auxiliary surgical tool 200. The mountable ultrasonic surgical tool assembly 50 may be used in any suitable surgical robot system, such as a laparoscopic surgical robot system.

[0053] Figure 8A and Figure 8B Schematic diagrams of the structures of the ultrasonic surgical tool 500 in different states according to some other embodiments of the present disclosure are respectively shown. Figure 8C A schematic diagram of the assembly structure resetting assembly 580 of an ultrasonic surgical tool 500 according to some embodiments of the present disclosure is shown. The ultrasonic surgical tool 500 may include a shank assembly 510, an ultrasonic transducer (not shown), and an assembly structure 530. The shank assembly 510 and ultrasonic transducer may be similar to those described above in ultrasonic surgical tools 100 and 300, respectively, and will not be described again to reduce repetition.

[0054] In some embodiments, the knife bar connector 531 (see Figure 8C) can be slidably connected to the inner shell 5122 of the blade rod. Based on this, when assembling or disassembling the ultrasonic surgical tool 500, for example, when assembling it with the auxiliary surgical tool 200, the assembly structure 530 can be slid toward the proximal end, thereby leaving more space for assembly or disassembly, thereby facilitating assembly or disassembly.

[0055] like Figure 8C As shown, the ultrasonic surgical tool 500 may further include an assembly structure resetting assembly 580. The assembly structure resetting assembly 580 may be disposed at the proximal end of the assembly structure 530 and configured to apply a force to the assembly structure 530 to cause the assembly structure 530 to move distally. In some embodiments, the distal end of the assembly structure resetting assembly 580 may abut the assembly structure 530 (e.g., the blade rod connector 531) to apply the force to the assembly structure 530. In some embodiments, the assembly structure resetting assembly 580 may be fixedly connected to the blade rod connector 531 by a suitable means, such as bonding, welding, or thermoforming.

[0056] In some embodiments, as Figure 8C As shown, the assembly structure reset assembly 580 may include a reset assembly base 581 and a first elastic member 582. The reset assembly base 581 may be fixedly connected to the inner shell 5122 of the knife bar. The first elastic member 582 may be disposed between the reset assembly base 581 and the knife bar connector 531. The first elastic member 582 may be used to apply a force to the knife bar connector 531 to cause the knife bar connector 531 to move toward the distal end. Figure 8C As shown, the first elastic member 582 can be sleeved on the inner shell 5122 of the knife bar. In some embodiments, the first elastic member 582 can be any suitable elastic element such as a coil spring, a gas spring, a rubber spring, etc. In some embodiments, as Figure 8C As shown, the assembly structure reset component 580 may further include a limit block 583, which may be provided on the inner shell 5122 of the cutter bar, for example, fixedly connected to the inner shell 5122 of the cutter bar. Figure 8C As shown, the limit block 583 can be located at the distal end of the knife rod connector 531. The limit block 583 can be used to prevent the knife rod connector 531 from moving toward the distal end. Figure 8C As shown, when the assembly structure 530 is not subjected to external force, due to the force applied by the first elastic member 582 , the knife rod connecting member 531 is located at the far end and abuts against the limit block 583 .

[0057] In some embodiments, as Figures 8A to 8CAs shown, the shank connector 531 may include a first stop pin XX1, and the outer housing proximal section 5121b may include a first stop slot XC1. The first stop slot XC1 may be located distally of the outer housing proximal section 5121b and extend along the length of the outer housing proximal section 5121b. The first stop pin XX1 may be slidably connected to the first stop slot XC1. Therefore, when the outer housing proximal section 5121b moves proximally, the first stop slot XC1 may pull the first stop pin XX1 proximally, thereby driving the assembly structure 530 to move proximally.

[0058] like Figure 8A As shown, when the outer shell proximal section 5121b is close to the outer shell distal section 5121a, the first limiting pin XX1 is located at the proximal end of the first limiting slot XC1. At this time, the distal end of the outer shell proximal section 5121b covers the assembly connector 532 (see Figure 8B ) of the proximal connection portion, the assembly connector 532 converges to the outer shell 5121 of the shank. Figure 8A In the position shown, the outer shell proximal section 5121b can be moved proximally to disassemble or assemble the ultrasonic surgical tool 500.

[0059] In some embodiments, the outer shell proximal section 5121b can move proximally, for example, a distance equal to the length of the first limiting groove XC1, so that the first limiting pin XX1 is located at the distal end of the first limiting groove XC1. At this time, the outer shell proximal section 5121b releases the proximal connection portion of the assembly connector 532, and the assembly connector 532 can extend from the distal end of the outer shell proximal section 5121b.

[0060] On this basis, the outer shell proximal section 5121b can continue to move proximally, for example, to Figure 8B During this process, the first limiting slide XC1 can pull the first limiting pin XX1 toward the proximal end, thereby driving the assembly structure 530 to move toward the proximal end. Figure 8B As shown, the assembly structure 530 moves proximally, and the assembly connector 532 remains extended from the proximal end section 5121b of the outer housing during this process. The boss 222 of the auxiliary surgical tool 200 can thus be assembled with the ultrasonic surgical tool 500 via the extended assembly connector 532, or separated from the extended assembly connector 532 for disassembly. In some embodiments, the surgical robot system can issue control commands to rotate the joint mechanism 230, thereby adjusting the assembly head 220 at the distal end of the joint mechanism 230 to a position convenient for assembly or disassembly, thereby facilitating assembly or disassembly with the ultrasonic surgical tool 500.

[0061] Those skilled in the art will appreciate that, when assembling, pulling the assembly structure 530 proximally can expand the space for assembly, thereby facilitating assembly. When disassembling, pulling the assembly structure 530 proximally can separate the assembly structure 530 (e.g., the assembly connector 532) from the auxiliary surgical tool 200, thereby facilitating disassembly.

[0062] When the ultrasonic surgical tool 500 arrives Figure 8B The position shown allows the proximal end section 5121b of the outer housing to move distally. Under the action of the first elastic member 582 of the assembly structure reset assembly 580, the assembly structure 530 follows the proximal end section 5121b of the outer housing in distal movement. Until the blade connecting member 531 of the assembly structure 530 abuts the stop block 583, the assembly connecting member 532 remains extended from the proximal end section 5121b of the outer housing, thereby establishing a connection with the auxiliary surgical tool 200 (e.g., the boss 222) during this distal movement.

[0063] In some embodiments, an ultrasonic surgical tool (e.g., ultrasonic surgical tool 100, 300, 500) that can be equipped with an ultrasonic surgical tool assembly (e.g., ultrasonic surgical tool assemblies 10, 30, 50) may further include a shank housing drive assembly for driving the proximal end section of the outer housing toward or away from the distal end section of the outer housing, thereby enabling assembly or disassembly. The following description uses the shank housing drive assembly 150 of the ultrasonic surgical tool 100 as an example to describe the shank housing drive assembly. Those skilled in the art will appreciate that the shank housing drive assemblies of the ultrasonic surgical tools 300 and 500 are similar to the shank housing drive assembly 150, and to reduce repetition, a detailed description thereof will be omitted.

[0064] In some embodiments, as Figure 1 As shown, the knife bar housing drive assembly 150 can be set at the proximal end of the outer housing proximal section 1121b, and the knife bar housing drive assembly 150 can be used to drive the outer housing proximal section 1121b to move toward the distal end or proximal end to approach or move away from the outer housing distal section 1121a.

[0065] like Figure 1 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.

[0066] like Figure 1As shown, the fixing member 151 can be fixedly connected to the proximal end of the inner shell 1122 of the knife bar to fix the position of the fixing member 151, for example, by welding, bonding, thermoplasticization or any other suitable method. In some embodiments, the fixing member 151 can be any suitable structure such as an annular structure or a plate-like structure with a central through hole, so that it can be sleeved on the inner shell 1122 of the knife bar. Figure 1 As shown, the movable member 152 can be connected to the proximal end of the outer shell proximal section 1121b, for example, fixedly connected, abutted, etc. In some embodiments, the movable member 152 can be any suitable structure, such as a ring structure or a plate structure with a central through hole, so that it can be sleeved on the outer shell proximal section 1121b.

[0067] The second elastic member 153 can be used to apply a force to the proximal end section 1121b of the outer shell to move the proximal end section 1121b toward the distal end. The second elastic member 153 can be any suitable elastic element such as a coil spring, a gas spring, a rubber spring, etc. A person skilled in the art will understand that based on the action of the second elastic member 153, when the shank housing drive assembly 150 is not subjected to an external force, such as Figure 1 As shown, the movable member 152 is located at the distal position, and the outer shell proximal section 1121b is close to the outer shell distal section 1121a.

[0068] During surgery, the arbor housing drive assembly 150 is located outside the patient's body. The user can operate the arbor housing drive assembly 150 to assemble or disassemble the distal ends of the ultrasonic surgical tool 100 and auxiliary surgical tool 200 located within the patient's body. In some embodiments, the user can directly operate the arbor housing drive assembly 150, for example, by operating the movable member 152 to move proximally or distally, thereby driving the proximal or distal movement of the outer housing proximal segment 1121b to perform assembly or disassembly. In some embodiments, the ultrasonic surgical tool 100 may further include an operating handle 140 connected to the arbor housing drive assembly 150. The operating handle 140 can be used to drive the movable member 152 or the proximal segment 1121b of the outer housing proximally or distally. The operating handle 140 can be located outside the patient's body, and the user can operate the operating handle 140 to perform assembly or disassembly. The ultrasonic surgical tools 300 and 500 may also include an operating handle similar to the operating handle 140, which will not be described in detail to reduce repetition.

[0069] Figure 9A and Figure 9B Schematic diagrams of the structure of the operating handle 140 in different states according to some embodiments of the present disclosure are shown respectively. Figure 9A and Figure 9BAs shown, the operating handle 140 may include a grip portion 141 and an operating portion 142. The grip portion 141 may be fixedly connected to the fixing member 151 of the arbor housing drive assembly 150. The grip portion 141 may be used for holding by a user. The user may hold the grip portion 141 to stabilize the ultrasonic surgical tool 100 during surgery, and may hold the grip portion 141 to facilitate operation of the operating handle 140 during assembly or disassembly. Figure 9A and Figure 9B As shown, in some embodiments, the holding portion 141 can be cylindrical, and the holding portion 141 can cover the knife rod housing drive assembly 150 and a part of the proximal end of the outer housing proximal section 1121b, so as to facilitate the user to hold the holding portion 141.

[0070] like Figure 9A As shown, the handle 141 can be fixedly connected to the fixing member 151. In some embodiments, as shown in FIG. Figure 9A As shown, the operating handle 140 may further include a second connecting portion 143, which may be fixedly connected to the grip portion 141, and the grip portion 141 may be fixedly connected to the fixing member 151 via the second connecting portion 143. In some embodiments, the second connecting portion 143 may be fixedly connected to the fixing member 151 by welding, thermoplasticization, snap-fitting, or other suitable means. In some embodiments, the fixing member 151 may include a first groove arranged along the circumference, and the second connecting portion 143 may snap-fit with the first groove to be fixedly connected to the fixing member 151. In some embodiments, the second connecting portion 143 may have a suitable shape, such as an annular shape, an arc shape, or a U-shape, to snap-fit with the first groove of the fixing member 151.

[0071] The operation unit 142 can be used for the user to operate. Figure 9A As shown, the distal end of the operating portion 142 can be rotatably connected to the handle portion 141, for example, hinged to the handle portion 141 at point jd1 inside the handle portion 141, or pivotally connected via a pivot. In some embodiments, the operating portion 142 can be connected to the movable member 152, for example, by abutting, directly connecting, or connecting via a connecting member. In some embodiments, as Figure 9A As shown, the operating handle 140 may further include a first connecting portion 144, and the operating portion 142 may be connected to the movable member 152 via the first connecting portion 144. The first connecting portion 144 may be fixedly connected to the movable member 152 by welding, thermoplasticization, snap-fitting, or other suitable means. In some embodiments, the first connecting portion 144 may be in a suitable shape such as a ring or an arc to facilitate connection with the movable member 152. Figure 9A As shown, the operating handle 140 may further include a second connecting rod 145 , and both ends of the second connecting rod 145 may be hinged to the operating portion 142 and the first connecting portion 144 or the movable member 152 , respectively.

[0072] The operating portion 142 can be used to receive a torque to move the movable member 152 toward the proximal end, thereby driving the outer shell proximal section 1121b to move toward the proximal end. Figure 9A As shown, under the action of the second elastic member 153, in the absence of external force, the movable member 152 is located at the far end, and the operating portion 142 connected to the movable member 152 is in the position shown in FIG. Figure 9A In some embodiments, the operating portion 142 receives a direction such as Figure 9A The moment indicated by the arrow J1 in the middle, under the action of the moment, the operating portion 142 rotates along the direction indicated by the arrow J1 around the hinge point jd1, for example, to Figure 9B The state close to the grip portion 141 is shown. The rotation of the operating portion 142 can push the second connecting rod 145 and the first connecting portion 144 to move proximally, thereby driving the movable member 152 and the outer shell proximal section 1121b to move proximally, thereby enabling the assembly structure 130 (e.g. Figure 2C The first slot structure C1) is shown transformed into an open state to perform assembly.

[0073] In some embodiments, the operating handle 140 can also be connected to the blade rod housing drive assembly 150 and the blade rod housing 112 to drive the outer housing proximal end section 1121b to move. The operating portion 142 of the operating handle 140 can be directly connected to the outer housing proximal end section 1121b without passing through the movable member 152, and the operating portion 142 can receive torque to drive the outer housing proximal end section 1121b to move proximally. In some embodiments, the operating portion 142 can be connected to the outer housing proximal end section 1121b via a connecting structure or directly connected to the outer housing proximal end section 1121b.

[0074] like Figure 9A or Figure 9B As shown, the operating portion 142 can be rod-shaped, and the cylindrical handle portion 141 can cover a portion of the distal end of the operating portion 142. In some embodiments, the operating portion 142 can extend into the internal cavity of the handle portion 141 through the opening at the distal end of the handle portion 141, and the opening at the distal end of the handle portion 141 can accommodate the distal end of the operating portion 142 to rotate within the opening.

[0075] As an alternative embodiment of the operating handle 140 , the ultrasonic surgical tool 100 may further include an operating handle 140 a . Figure 10A and Figure 10B Schematic diagrams of the structure of the operating handle 140a in different states according to other embodiments of the present disclosure are shown respectively. Figure 10A and Figure 10BAs shown, the operating handle 140a may include a grip portion 141a for the user to hold, and an operating portion 142a for the user to operate. In some embodiments, the operating portion 142a may be connected to the movable member 152 via a first connecting rod 144a. The distal end of the first connecting rod 144a may be hinged to the operating portion 142a, and the proximal end of the first connecting rod 144a may be connected to (e.g., abutted against) the movable member 152. In some embodiments, as shown in FIG. Figure 10A or Figure 10B As shown, the operating handle 140a may further include a connecting member 145a, and the grip portion 141a and the operating portion 142a are hingedly connected to the connecting member 145a at opposite sides of the connecting member 145a, for example, at points jd2 and jd3, respectively.

[0076] like Figure 10A and Figure 10B As shown, the operating handle 140a may further include connectors 143a and 146a. The grip portion 141a may be fixedly connected to the connector 143a, which in turn may be connected to the fixing member 151. The distal end of the grip portion 141a may be fixedly connected to the connector 146a, which in turn may be slidably connected to the distal end of the proximal end section 1121b of the outer shell. In some embodiments, the connector 143a may be detachably connected to the fixing member 151, and the connector 146a may be detachably connected to the proximal end section 1121b of the outer shell. This facilitates separation of the operating handle 140a from the rest of the ultrasonic surgical tool 100.

[0077] For the operating handle 140a, after receiving the direction Figure 10A Under the torque indicated by the arrow J2, the connecting member 145a rotates counterclockwise around the hinge point jd3, causing the operating portion 142a to move toward the proximal end. The operating portion 142a rotates in the direction indicated by the arrow J2 and around the hinge point jd2. The movement of the operating portion 142a can push the first connecting rod 144a to move toward the proximal end, thereby driving the movable member 152 and the outer shell proximal section 1121b to move toward the proximal end. For example, when the movable member 152 moves toward the proximal end, the movable member 152 and the outer shell proximal section 1121b can move toward the proximal end. Figure 10B When the outer shell proximal section 1121b is in the position shown, the assembly structure 130 (e.g. Figure 2C The first slot structure C1 is shown as being transformed into an open state, so that the ultrasonic surgical tool 100 can be assembled or disassembled.

[0078] In some embodiments, the operating handle 140a may further include a connecting torsion spring (not shown in the figure), which may be provided between the operating portion 142a and the first connecting rod 144a (for example, provided between the operating portion 142a and the first connecting rod 144a). Figure 10A(L1 in the figure) is indicated by a connecting torsion spring for applying a torque to first connecting rod 144a, causing the proximal end of first connecting rod 144a to approach proximal end section 1121b of the outer housing. This allows the proximal end of first connecting rod 144a to consistently abut proximal end section 1121b of the outer housing. This facilitates the abutment of first connecting rod 162 against and proximally pushes movable member 152 during proximal movement of operating portion 142a.

[0079] When the operating handle (e.g., operating handle 140 or 140a) is operated to cause the proximal end section 1121b of the blade rod housing to move proximally, the proximal end section 1121b of the outer housing will move relative to the inner housing 1122 of the blade rod. In some embodiments, the stability of the movement of the outer housing of the blade rod can be enhanced through various suitable means. 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 outer circumferential surface of the inner housing 1122 of the blade rod. Therefore, when the proximal end section 1121b of the outer housing moves proximally or distally, the inner housing 1122 of the blade rod can move within the channel formed by the multiple annular bosses, thereby preventing the inner housing 1122 from swaying within the outer housing of the blade rod.

[0080] In some embodiments, the operating handle (eg, operating handle 140 or 140 a ) may be detachably connected to the arbor housing drive assembly 150 , and the operating handle may be reused multiple times.

[0081] Figure 2D FIG. 1 is a schematic diagram showing the structure of the clamp drive assembly 170 of the ultrasonic surgical tool 100 according to some embodiments of the present disclosure. Figures 2A to 2D As shown, the ultrasonic surgical tool 100 may further include a clamp assembly 160 and a clamp drive assembly 170 .

[0082] The clamp assembly 160 can be arranged at the distal end of the ultrasonic surgical tool 100. The clamp assembly 160 can include a connecting portion 161 and a clamp body 162. The connecting portion 161 can be hinged to the distal end of the distal segment 1121a of the outer shell. For example, it can be hinged to the distal end of the distal segment 1121a of the outer shell at point A. The clamp body 162 can be arranged at the distal end of the connecting portion 161. The clamp body 162 can be fixedly connected to the connecting portion 161. In some embodiments, the clamp body 162 and the connecting portion 161 can be integrally formed. During surgery, the clamp body 162 can form a clamp with the blade structure formed at the distal end of the knife rod 111 to clamp the patient's tissue. In addition, the blade structure formed by the clamp body 162 and 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 clamp body 162 and the distal end of the knife rod 111 clamp the biological tissue.

[0083] The clamp drive assembly 170 can be used to drive the clamp body 162 to open and close. In some embodiments, the clamp drive assembly 170 can be connected to the proximal end of the connecting portion 161 of the clamp assembly 160. In some embodiments, the clamp drive assembly 170 and the connecting portion 161 can be connected through various suitable mutually cooperating structures, so that when the clamp drive assembly 170 moves, the connecting portion 161 connected thereto can move, thereby driving the clamp body 162 fixedly connected to the connecting portion 161 to open and close.

[0084] like Figures 2A to 2D As shown, in some embodiments, the connecting portion 161 of the clamp assembly 160 may include a first drive slot 1611 and a second drive slot (not shown), wherein the first drive slot 1611 and the second drive slot may be disposed on opposite sides of the connecting portion 161. The clamp drive assembly 170 may include a first pin structure 171, which may be disposed at the distal end of the clamp drive assembly 170. Both ends of the first pin structure 171 may be slidably connected to the first drive slot 1611 and the second drive slot, respectively.

[0085] In some embodiments, as Figure 2D As shown, the clamp drive assembly 170 may include a longitudinal portion 173 extending along the length direction of the ultrasonic surgical tool 100 and a transverse portion 172 distributed perpendicular to the longitudinal portion 173. The transverse portion 172 may be located at the proximal end of the clamp drive assembly 170, and the longitudinal portion 173 may be located at the distal end of the clamp drive assembly 170. The transverse portion 172 and the longitudinal portion 173 are fixedly connected. In some embodiments, the transverse portion 172 and the longitudinal portion 173 may be integrally formed. In some embodiments, the axis of the transverse cross-section of the longitudinal portion 173 may be an arc line to reduce the contact between the clamp drive assembly 170 and the knife bar assembly 110 (e.g., the knife bar inner shell 1122) during movement. In some embodiments, as Figure 2D As shown, the transverse portion 172 can be annular and can be sleeved on the inner shell 1122 of the knife bar. In some embodiments, the transverse portion 172 can include two oppositely disposed portions, which can be respectively connected to the proximal ends of the longitudinal portion 173 of the clamp drive assembly 170.

[0086] In some embodiments, as Figure 2DAs shown, the clamp drive assembly 170 may further include a boss 174 disposed at the distal end of the longitudinal portion 173. The boss 174 may protrude upward from the upper surface of the longitudinal portion 173 and extend transversely along the longitudinal portion 173. A first pin structure 171 may extend transversely through the boss 174, with both ends extending out of the boss 174 to connect with the first drive slot 1611 and the second drive slot of the connecting portion 161 of the clamp assembly 160. In some embodiments, the first pin structure 171 may include two short pins disposed on either side of the boss 174, the two short pins being slidably connected to the first drive slot 1611 and the second drive slot, respectively. In some embodiments, as an alternative to the boss 174, the distal end of the clamp drive assembly 170 may include two raised ear structures on either side, and the first pin structure 171 may include two portions disposed on the ear structures to connect with the first drive slot 1611 and the second drive slot, respectively.

[0087] In some embodiments, as Figure 2D As shown, the clamp drive assembly 170 can cover at least a portion of the distal end of the inner shell 1122 of the cutter bar. For example, the transverse portion 172 and the longitudinal portion 173 of the clamp drive assembly 170 can each cover a portion of the inner shell 1122 of the cutter bar. The distal end section 1121a of the outer shell can cover at least a portion of the clamp drive assembly 170. In some embodiments, as shown in FIG. Figure 2C As shown, the distal end section 1121a of the outer shell may include a fourth slot structure C4. The fourth slot structure C4 exposes at least a portion of the clamp drive assembly 170. Based on this, the portion of the clamp drive assembly 170 exposed by the fourth slot structure C4 can be used to move the clamp drive assembly 170, thereby driving the clamp body 162 to open and close.

[0088] like Figure 2A 、 Figure 2B 、 Figure 2D As shown, in some embodiments, the outer housing distal segment 1121a may further include a third drive slot 11213 and a fourth drive slot (not shown) disposed opposite each other. The third drive slot 11213 and the fourth drive slot may both extend along the length of the outer housing distal segment 1121a. The clamp drive assembly 170 may further include at least one first short pin structure or first protrusion structure 1721 disposed on a first side of the proximal end of the clamp drive assembly 170 (e.g., the transverse portion 172 of the clamp drive assembly 170). The first short pin structure or first protrusion structure 1721 may be slidably coupled to the third drive slot 11213 of the outer housing distal segment 1121a.

[0089] The clamp drive assembly 170 may further include at least one proximal end of the clamp drive assembly 170 (e.g., Figure 2DA second short pin structure or second protrusion structure (not shown) is provided on a second side of the transverse portion 172 of the clamp drive assembly 170 (shown in the figure). At least one second short pin structure or second protrusion structure can be positioned opposite at least one short pin structure or first protrusion structure 1721. At least one second short pin structure or second protrusion structure can be slidably connected to the fourth drive slot. In this manner, the clamp drive assembly 170 can slide relative to the fixed distal end section 1121a of the outer shell along the third drive slot 11213 and the fourth drive slot.

[0090] In some embodiments, as Figures 2A to 2D As shown, the at least one first short pin structure 1721 may include two short pin structures arranged in parallel along the axis to improve the sliding stability of the clamp driving assembly 170. The at least one second short pin structure may also include two short pin structures arranged in parallel along the axis.

[0091] In some embodiments, as Figure 2C and Figure 2D As shown, the clamp drive assembly 170 may further include a second pin structure 175. The second pin structure 175 may be disposed at the proximal end of the clamp drive assembly 170 (eg, Figure 2D In some embodiments, the second pin structure 175 can be fixedly connected to the transverse portion 172, such as by welding or other suitable means. The second pin structure 175 can be used to receive a drive for the clamp assembly 160.

[0092] In some embodiments, as Figure 2C As shown, the clamp driving assembly 170 may further include a fifth slot structure C5, which may be provided at the proximal end of the clamp driving assembly 170, for example, at the lower portion of the transverse portion 172 of the clamp driving assembly 170. Figure 2C As shown, the fifth slot structure C5 can expose at least a portion of the second pin structure 175. Based on this, a driving force (e.g., a driving force along the length direction of the ultrasonic surgical tool 100) can be applied to the second pin structure 175 through the portion of the second pin structure 175 exposed through the fifth slot structure C5. When the second pin structure 175 receives the driving force, it drives the clamp driving assembly 170 to slide along the length direction, thereby driving the clamp assembly 160 connected to the clamp driving assembly 170 to open and close.

[0093] In some embodiments, the clamp assembly 160 may further include a clamp torsion spring (not shown). The clamp torsion spring may be disposed between the distal end section 1121a of the outer shell and the clamp body 162, for example Figure 2DThe position indicated by the arrow nh is shown. The clamp torsion spring can be used to apply a torque to the clamp body 162 to force the clamp body 162 to close. Under the action of the force applied by the clamp torsion spring, when the clamp drive assembly 170 is not subjected to external force, the clamp body 162 remains closed, facilitating the ultrasonic surgical tool 100 to enter and exit the patient's body or move within the patient.

[0094] Under the action of the clamp torsion spring, when the clamp driving assembly 170 is not subjected to external force, as shown in FIG. Figure 2C As shown, the second pin structure 175 is located near the proximal end of the fourth slot structure C4; the first short pin structure or the first protrusion structure 1721 is located at the proximal end of the third drive slot 11213, and the second short pin structure or the second protrusion structure is located at the proximal end of the fourth drive slot (not shown in the figure); both ends of the first pin structure 171 are located at the proximal ends of the first drive slot 1611 and the second drive slot.

[0095] When the clamp driving assembly 170 is pushed by an external force, for example, the second pin structure 175 is pushed by an external force, for example, Figure 2C The force in the direction indicated by the arrow jp shown in the figure causes the second pin structure 175 to move distally along the length direction of the ultrasonic surgical tool 100 and drives the clamp driving assembly 170 to move distally. Figure 2B As shown, the first short pin structure or the first protrusion structure 1721 of the clamp driving assembly 170 can move to the distal end of the third driving slot 11213, and the second short pin structure or the second protrusion structure can move to the distal end of the fourth driving slot; the first end of the first pin structure 171 can move to the distal end of the first driving slot 1611, and the second end of the first pin structure 171 can move to the distal end of the second slot. When the first pin structure 171 moves toward the distal end, it pushes the fixedly connected connecting portion 161 and the clamp body 162 to rotate clockwise around the hinge point A. The clamp body 162 is as shown in FIG. Figure 2A The closed state shown is rotated as Figure 2B Shown in the open state.

[0096] In some embodiments, the clamp assembly 160 may further include a clamp pad (not shown). The clamp pad may be disposed on the clamp body 162 and connected to the clamp body 162, for example, via a T-slot. In some embodiments, the clamp pad may be made of a soft material such as PTFE (polytetrafluoroethylene) or PEEK (polyetheretherketone), thereby preventing damage to the high-speed vibrating knife rod 111 when the clamp body 162 is fully closed (fitting against the distal end of the knife rod 111).

[0097] In some embodiments, the clamp assembly 160 and the clamp drive assembly 170 can both be disposable. In some embodiments, for example, after surgery, the disposable portion of the ultrasonic surgical tool 100 can be replaced by removing the operating handle and disconnecting the blade 111 from the ultrasonic transducer 120, thereby facilitating the replacement of consumables.

[0098] In some embodiments, the auxiliary surgical tool 200 may include a connection structure connected to the clamp drive assembly 170 of the ultrasonic surgical tool 100 and used to drive the movement of the clamp drive assembly 170. The auxiliary surgical tool 200 can be mounted on the distal end of the robotic arm of the surgical robot system. The surgical robot system can issue control commands to drive the connection structure of the auxiliary surgical tool 200 to move, thereby controlling the movement of the clamp drive assembly 170 of the ultrasonic surgical tool 100, thereby controlling the opening and closing of the clamp assembly 160.

[0099] In some embodiments, as Figure 3E As shown, the assembly head 220 may further include a second slider 223, which may be connected to the clamp drive assembly 170 to drive the clamp drive assembly 170 to move, thereby driving the clamp assembly 160 to open and close. Figure 3E 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 first arm 221a and a second arm 221b disposed on both sides of the sliding space 2211. The first arm 221a and the second arm 221b may be disposed on both sides of the sliding space 2211 and extend toward the distal end of the arm body 210. Figure 3E 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 3E 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.

[0100] The second slider 223 can 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 can be a pin structure that passes through the lower portion of the second slider 223 in the transverse direction, and the two ends of the pin structure 2231 are slidably connected to the fifth drive slot 2212 and the sixth drive slot 2213 respectively. In some embodiments, as Figure 3EAs 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 second slider 223. In some embodiments, 2231 may be raised structures disposed on opposite sides of the lower portion of the second 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 pins 2231 slide in the fifth drive slot 2212 and the sixth drive slot 2213, the second slider 223 can move within the sliding space 2211.

[0101] like Figure 3E As shown, the second slider 223 may include at least one slot structure 2232 disposed on an upper portion of the second slider 223. The upper portion of the at least one slot structure 2232 extends out of the sliding space 2211. The at least one slot structure 2232 may be used to connect with the second pin structure 175 of the clamp drive assembly 170. Based on this, when the ultrasonic surgical tool 100 is connected to the auxiliary surgical tool 200, the second slider 223 of the auxiliary surgical tool 200 can be driven to move along the fifth drive slot 2212 and the sixth drive slot 2213, so that the second slider 223 drives the clamp drive assembly 170 connected thereto to move along the length direction of the ultrasonic surgical tool 100, thereby driving the clamp assembly 160 connected to the clamp drive assembly 170 to open and close.

[0102] In some embodiments, the auxiliary surgical tool 200 may further include a drive wire (not shown) connected to the second slider 223, which can be used to drive the second slider 223 to slide along the fifth drive slot 2212 and the sixth drive slot 2213. In some embodiments, the distal end of the drive wire can pass through the bracket 232 and the wrist joint base 2311, bypass the wrist joint rotation mechanism 2312 (see FIG. Figures 3A to 3C ) and then pass through the main body 221 of the assembly head 220 to connect to the second slider 223. For example, the distal end of the drive wire can pass through the bracket 232 through the drive wire guide holes (not shown) provided on the proximal plate B1 and distal plate B2 of the bracket 232, pass through the wrist joint base 2311 through the guide hole (not shown) provided on the wrist joint base 2311, and pass through the main body 221 of the assembly head 220 through the guide hole (not shown) provided on the main body 221 and extending along the length. The proximal end of the drive wire can pass through the arm 210 to connect to the drive device that provides driving force for the movement of the second slider 223. The drive device can push and pull the drive wire to cause the second slider 223 to move within the sliding space 2211, thereby driving the opening and closing of the clamp assembly 160 of the ultrasonic surgical tool 100. In some embodiments, the drive wire may be a nickel-titanium alloy wire.

[0103] In some embodiments, as Figure 3E As shown, the second slider 223 may further include at least one arcuate groove 2233 disposed on the upper portion of the second slider 223. The opening of the at least one arcuate groove 2233 may be upward, which helps prevent friction and collision between the second slider 223 and the ultrasonic surgical tool 100 when the second slider 223 slides along the fifth drive groove 2212 and the sixth drive groove 2213 in the assembled state. Those skilled in the art will appreciate that other suitable structures may be provided on the upper portion of the second slider 223 to avoid the ultrasonic surgical tool 100 when the second slider 223 slides, such as a square groove.

[0104] Figure 11A The schematic diagram of the structure of the assembled ultrasonic surgical tool assembly 10 in the state to be assembled according to some embodiments of the present disclosure is shown. In some embodiments, the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 can be operated separately and moved to the following positions: Figure 11A In some embodiments, the user can issue control commands through the surgical robot system to rotate the joint mechanism 230 of the auxiliary surgical tool 200 and the assembly head 220 located at the distal end of the joint mechanism 230. For example, the groove structure 2232 on the upper portion of the second slider 223 of the assembly head 220 is rotated to align with the second pin structure 175 of the clamp drive assembly 170 of the ultrasonic surgical tool 100, facilitating assembly.

[0105] Those skilled in the art will appreciate that, during surgery, the distal portion of the blade shaft assembly 110, the assembly structure 130, the clamp assembly 160, and the clamp drive assembly 170 of the ultrasonic surgical tool 100 may be placed inside the patient's body; the distal portion of the arm 210, the assembly head 220, and the joint mechanism 230 of the auxiliary surgical tool 100 may also be placed inside the patient's body. Meanwhile, the proximal portion of the arm 210 of the auxiliary surgical tool 200, the proximal portion of the blade shaft assembly 110 of the ultrasonic surgical tool 100, the ultrasonic transducer 120, the operating handle (e.g., the operating handle 140 or 140 a), and the blade shaft housing drive assembly 150 may be located outside the body.

[0106] The ultrasonic surgical tool 100 can be inserted into the patient's body through an opening (e.g., a natural opening or an incision). During operation, the user can hold an operating handle (e.g., the grip portion of operating handle 140 or 140a) to insert the distal end of the ultrasonic surgical tool 100 into the patient's body. The auxiliary surgical tool 200 can be inserted into the patient's body through a sheath connected to the opening in the patient's body. In some embodiments, the auxiliary surgical tool 200 can be mounted on the distal end of a robotic arm of a surgical robot system, and the user can issue control commands through the surgical robot system to control the distal end of the auxiliary surgical tool 200 to enter the patient's body.

[0107] During the assembly process, the user can adjust the position of the distal end of the ultrasonic surgical tool 100 by operating the operating handle (e.g., operating handle 140 or 140a). The user can also issue control commands through the surgical robot system to rotate the joint mechanism 230 to adjust the position of the distal end of the auxiliary surgical tool 200.

[0108] Upon arrival Figure 11A After the relative posture is shown, the user can operate the operating handle, for example, to make the operating handle 140 be in the following position. Figure 9B or make the operating handle 140a be in the state shown in FIG. Figure 10B The state shown in FIG. 1 is such that the outer shell proximal section 1121b moves proximally (e.g., moves to a position as shown in FIG. 1 ). Figure 4 On this basis, the user can control the auxiliary surgical tool 200 to move along the Figure 11A The ultrasonic surgical tool 100 is moved in the direction indicated by the arrow J3 to connect with the ultrasonic surgical tool 100. As an alternative embodiment, the user can also control the ultrasonic surgical tool 100 to move in the direction indicated by the arrow J3 to connect with the ultrasonic surgical tool 100. Figure 11A Move in the opposite direction of the middle arrow J3 to connect with the auxiliary surgical tool 200.

[0109] Due to the action of the clamp torsion spring, the clamp assembly 160 of the ultrasonic surgical tool 100 is in a closed state, and the second pin structure 175 of the clamp drive assembly 170 is located at the proximal end of the fourth slot structure C4. During assembly, the slider 223 of the auxiliary surgical tool 200 can be moved to the proximal end to connect with the second pin structure 175. Based on this, when the auxiliary surgical tool 200 moves in the direction indicated by the arrow J3, the slider 223 of the auxiliary surgical tool 200 (for example, the slot structure 2232 on the upper portion of the slider 223) can connect with the second pin structure 175, and the boss 222 can extend into the portion between the proximal end section 1121b of the outer shell and the distal end section 1121a of the outer shell (see Figure 4 ).

[0110] At this time, the user can operate the operating handle, for example, to make the operating handle 140 Figure 9A or make the operating handle 140a be in the state shown in FIG. Figure 10A In the state shown, the proximal end section 1121b of the outer shell moves toward the distal end. Figure 11B The following is a schematic diagram showing the structure of the assembled ultrasonic surgical tool assembly 10 according to some embodiments of the present disclosure. Under the user's operation, the proximal end section 1121b of the outer shell moves toward the distal end, and the assembly structure 130 (e.g., the first groove structure C1) at the distal end of the proximal end section 1121b of the outer shell can be connected to the boss 222 of the auxiliary surgical tool 200. Based on this, the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 can establish a rigid connection and be assembled as follows: Figure 11B The status shown.

[0111] Those skilled in the art will appreciate that the steps involved in assembling the installable ultrasonic surgical tool assembly 10 are not limited to the steps described above, nor are they limited to the order of the steps described above. After completing assembly of the installable ultrasonic surgical tool assembly 10, the user can use the surgical robot system to issue control commands to control the movement of the auxiliary surgical tool 200, thereby driving the ultrasonic surgical tool 100 within the human body. For example, controlling the linear movement of the auxiliary surgical tool 200 can cause the ultrasonic surgical tool 100 to move linearly, or controlling the rotation of the joint mechanism 230 of the auxiliary surgical tool 200 can cause the ultrasonic surgical tool 100 to move upward or downward. This facilitates movement of the ultrasonic surgical tool 100 to different locations within the patient's body for surgical procedures.

[0112] The user can also control the opening and closing of the clamp assembly 160 of the ultrasonic surgical tool 100 by issuing control instructions through the surgical robot system to perform operations such as clamping tissue and bipolar electrocoagulation. Under the action of the clamp torsion spring, when there is no external force, the clamp assembly 160 is in a closed state, and the ultrasonic surgical tool assembly 100 can be assembled in a state such as Figure 11B In some embodiments, a pushing force can be applied to the slider 223 to move the slider 223 toward the distal end, so that the clamp assembly 160 is opened.

[0113] Figure 11C A schematic diagram showing the opening of a clamp assembly that can be equipped with an ultrasonic surgical tool assembly according to some embodiments of the present disclosure. Figure 11B and Figure 11C As shown, when the slider 223 is pushed, the pin 2231 at the bottom of the slider 223 moves distally along the fifth drive slot 2212 and the sixth drive slot. Since the slider 223 is connected to the second pin structure 175 of the clamp drive assembly 170, the movement of the slider 223 drives the clamp drive assembly 170 to move distally. The movement of the clamp drive assembly 170 pushes the connecting portion 161 of the clamp assembly 160 connected thereto to move distally, thereby causing the clamp body 162 to rotate around the hinge point A. The clamp body 162 is rotated as shown in FIG. Figure 11B The closed state shown is rotated as Figure 11C Shown in the open state.

[0114] In some embodiments, the arm 210 of the auxiliary surgical tool 200 may include a rigid segment. A user can adjust the position of the distal end of the auxiliary surgical tool 200 within the patient's body by operating an operating handle (e.g., operating handle 140 or 140a), or by issuing control commands through the surgical robot system to control the rotation of the joint mechanism 230 to adjust the position of the distal end of the auxiliary surgical tool 200. In some embodiments, the arm 210 of the auxiliary surgical tool 200 may also include a deformable arm. For example, the arm 210 may include at least one continuous structure, a serpentine structure, a flexible arm, or the like. Based on this, the arm 210 can achieve multi-degree-of-freedom motion, thereby improving the flexibility of the auxiliary surgical tool 200 within the body and, in turn, improving the flexibility of the ultrasonic surgical tool (e.g., ultrasonic surgical tool 100, 300, 500) connected to the auxiliary surgical tool 200.

[0115] In some embodiments, the proximal end of the arm 210 of the auxiliary surgical tool 200 can be connected to a driving device (not shown) of the surgical robot system. The driving device may include a joint driving device for driving the joint mechanism 230 of the auxiliary surgical tool 200 to rotate. The distal end of the joint driving device can be connected to the driving rod 2314 of the wrist joint assembly 231 (see FIG. Figures 3B to 3D ) is connected to the proximal end of the drive rod 2314, for example, through a transmission device (which may include a screw rod, a nut, etc.) to push or pull the drive rod 2314, thereby driving the wrist joint drive wire 2313 connected to the drive rod 2314 to rotate back and forth in the loop, thereby driving the rotation of the joint mechanism 230.

[0116] In some embodiments, the driving device may further include a slider 223 for driving the auxiliary surgical tool 200 (see Figure 3E ) for forward and backward movement. The distal end of the slider drive device can be connected to the slider 223 via a suitable structure such as a drive wire or a drive rod, thereby pushing or pulling the slider 223, thereby driving the clamp drive assembly of the ultrasonic surgical tool (e.g., the clamp drive assembly 170 of the ultrasonic surgical tool 100) connected to the slider 223 to move forward and backward, thereby driving the clamp assembly 160 of the ultrasonic surgical tool 100 to open and close.

[0117] In some embodiments, the drive device may further include a linear drive device for driving the linear motion of the auxiliary surgical tool 200. The linear drive device may be connected to the arm 210 of the auxiliary surgical tool 200 to drive the arm 210 forward or backward, thereby enabling the auxiliary surgical tool 200 to advance or retreat within the patient's body and, in turn, drive the ultrasonic surgical tool (e.g., ultrasonic surgical tool 100, 300, 500) to advance or retreat within the patient's body. Alternatively, when the auxiliary surgical tool 200 is not connected to an ultrasonic surgical tool, the auxiliary surgical tool 200 can be moved into or out of the patient's body.

[0118] In some embodiments, when the arm 210 includes a continuum structure, the driving device may further include a continuum driving device for driving the continuum structure. The continuum driving device can drive the continuum structure to bend in different directions in space, thereby adjusting the position of the assembly head 220 disposed at the distal end of the arm 210.

[0119] Some embodiments of the present disclosure also provide a surgical robot system. Figure 12 FIG. 4 is a schematic diagram showing a surgical robot system 400 according to some embodiments of the present disclosure. Figure 12 As shown, the surgical robot system 400 may include a surgical trolley 410 and an ultrasonic surgical tool assembly (e.g., ultrasonic surgical tool assembly 10, 30, 50) as described in any of the embodiments of the present disclosure. The surgical trolley 410 may include at least one robotic arm 411. The at least one robotic arm 411 may be a Figure 12 The positioning arm of the surgical robot is shown. At least one robotic arm 411 of the surgical trolley 410 can carry at least one surgical tool 412 (e.g., clamps, shears, etc.). An auxiliary surgical tool (e.g., auxiliary surgical tool 200) capable of being equipped with an ultrasonic surgical tool assembly can be positioned at the distal end of the at least one robotic arm 411.

[0120] In some embodiments, the surgical robotic system 400 may also include a master control cart 420. The surgical cart 410 and the master control cart 420 may be connected via wired or wireless transmission. During surgery, the user operates the main manipulator 421 included in the master control cart 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 cart 410. The surgical cart 410 is typically located at the patient's side and responds to control commands from the master control cart 420 to perform surgical operations on the patient. In some embodiments, the user can also operate the main manipulator 421 to adjust the position of the auxiliary surgical tool 200 located at the distal end of at least one robotic arm, thereby adjusting the position of the ultrasonic surgical tools (e.g., ultrasonic surgical tools 100, 300, 500) in the attachable ultrasonic surgical tool assembly. Furthermore, the user can also operate the main manipulator 421 to control the opening and closing of the ultrasonic surgical tool's jaws.

[0121] In some embodiments, the surgical robotic system 400 may further include an equipment cart 430. The equipment cart 430 may include a power supply (not shown) that is connected to an ultrasonic surgical tool (e.g., ultrasonic surgical tool 100, 300, 500) in an attachable ultrasonic surgical tool assembly (e.g., attachable ultrasonic surgical tool assembly 10, 30, 50) to provide energy to the ultrasonic transducer (e.g., ultrasonic transducer 120 shown in FIG. 3 ) of the ultrasonic surgical tool. 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, enabling the blade structure of the ultrasonic surgical tool to perform cutting or coagulation operations on biological tissue.

[0122] 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 12 As shown, the surgical trolley 410 may include a single robotic arm 411, and multiple drive devices 413 may be provided on the robotic arm 411. Those skilled in the art will appreciate that the surgical trolley of the surgical robotic system 400 may also include multiple robotic arms. The at least one drive device 413 may include a joint drive device, a slide drive device, a linear drive device, and a continuum drive device.

[0123] 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.

[0124] In some embodiments, the auxiliary surgical tool 200 includes a joint mechanism 230 disposed at the distal end of the arm 210, and an assembly head 220 disposed at the distal end of the joint mechanism 230. Based on this, the assembly head 220 can rotate, for example, it can be tilted up and down, so as to facilitate assembly with the assembly structure 130 of the ultrasonic surgical tool 100.

[0125] In some embodiments, the wrist joint assembly 231 of the auxiliary surgical tool 200 may further include a deformable seal 2314m, which allows the drive rod 2314 to form an integral seal with the arm 210, thereby preventing bodily fluids from entering the interior of the arm 210. During cleaning and disinfection, the distal end of the auxiliary surgical tool 200 need not be disassembled, allowing the assembly head 220 to be repeatedly cleaned and disinfected, thereby reducing or preventing secondary infection caused by bodily fluids entering the interior of the arm 210.

[0126] When performing laparoscopic surgery using a surgical robot, surgical instruments often need to be inserted into the patient's body through a sheath. To enable ultrasonic surgical tools to enter the sheath, the size of the ultrasonic surgical tools, particularly the larger ultrasonic transducer within the tool, needs to be limited. The upper limit of an ultrasonic transducer's output power is positively correlated with the volume of the piezoelectric ceramic within the ultrasonic transducer (upper limit output power = piezoelectric ceramic power density x piezoelectric ceramic volume). Therefore, ultrasonic surgical tools used by surgical robots typically employ miniature ultrasonic transducers, whose piezoelectric ceramics are relatively small. This limits their output power and reduces tissue cutting efficiency. However, according to some embodiments of the present disclosure, the mountable ultrasonic surgical tool assemblies (e.g., mountable ultrasonic surgical tool assemblies 10, 30, 50) allow the distal end of the ultrasonic surgical tool (e.g., ultrasonic surgical tool 100, 300, 500) to be inserted into the patient's body through an opening (e.g., an incision or natural opening) without occupying the passageway provided by the sheath for surgical instrument entry. On the other hand, the ultrasonic transducer of the ultrasonic surgical tool can be located outside the patient's body, and the ultrasonic surgical tool can use a larger ultrasonic transducer (for example, the ultrasonic transducer can include a larger piezoelectric ceramic with a larger size and volume), which is beneficial to improving the output power of the ultrasonic transducer.

[0127] 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 assemblable ultrasonic surgical tool assembly, characterized in that: include: Ultrasonic surgical tools, including: The knife rod assembly is located at the distal end of the ultrasonic surgical tool, and the knife rod assembly includes a knife rod; an ultrasonic transducer coupled to the proximal end of the knife rod to output vibration to the knife rod; and An assembly structure, provided on the knife bar assembly; An auxiliary surgical tool, used to drive the ultrasonic surgical tool to move, comprising: Arm body; a joint mechanism, disposed at the distal end of the arm; and An assembly head is arranged at the distal end of the joint mechanism, and is used for being detachably connected to the assembly structure.

2. The assembleable ultrasonic surgical tool assembly according to claim 1, wherein: The joint mechanism comprises: A wrist joint assembly, comprising: A wrist joint base, fixedly arranged at the distal end of the arm body; The wrist joint rotating mechanism is rotatably arranged on the wrist joint base, and the assembly head is arranged at the distal end of the wrist joint rotating mechanism.

3. The assemblable ultrasonic surgical tool assembly according to claim 2, wherein: The wrist joint assembly further comprises: a wrist joint drive wire connected to the wrist joint rotation mechanism; and A driving rod, the distal end of which is connected to the wrist joint driving wire, and the proximal end of which is used to receive a drive to push or pull the wrist joint driving wire to rotate the wrist joint rotation mechanism.

4. The assemblable ultrasonic surgical tool assembly according to claim 3, wherein: The wrist joint drive wire forms a loop on the wrist joint rotation mechanism, and the wrist joint assembly further includes: A fixed pulley is provided at the proximal end of the wrist joint rotation mechanism, the proximal end of the wrist joint drive wire is wound around the fixed pulley, and the distal end of the wrist joint drive wire is wound around the wrist joint rotation mechanism.

5. The assembleable ultrasonic surgical tool assembly according to claim 4, wherein: The joint mechanism further comprises: The bracket is fixedly arranged at the distal end of the arm body, the wrist joint base is arranged at the distal end of the bracket, and the fixed pulley is rotatably arranged on the bracket.

6. The assembleable ultrasonic surgical tool assembly according to claim 5, wherein: The wrist joint assembly further comprises: A first slider is fixedly connected to the wrist joint driving wire, and the first slider is fixedly connected to the driving rod; and The guide mechanism is fixedly arranged in the bracket along the axial direction of the arm body, and the first sliding block is slidably connected to the guide mechanism.

7. The assemblable ultrasonic surgical tool assembly according to claim 2, wherein: The assembly head comprises: a main body, the main body being disposed at a distal end of the wrist joint rotation mechanism; 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.

8. The mountable ultrasonic surgical tool assembly according to claim 1, wherein: The knife bar assembly further includes a knife bar housing, the assembly structure is provided on the knife bar housing, and the knife bar housing includes: a cutter bar inner shell covering at least a portion of the cutter bar; and The outer shell of the tool bar covers at least a portion of the inner shell of the tool bar, and the outer shell of the tool bar includes: an outer housing distal segment; and The outer shell proximal end section can be moved close to or away from the outer shell distal end section to assemble or disassemble the ultrasonic surgical tool.

9. The mountable ultrasonic surgical tool assembly according to claim 8, wherein: The arbor housing includes the assembly structure, and the assembly structure includes: The first groove structure is provided at the distal end of the proximal end section of the outer shell and is used for assembling or disassembling the ultrasonic surgical tool.

10. The mountable ultrasonic surgical tool assembly according to claim 8, wherein: The arbor housing is connected to the assembly structure, and the assembly structure includes: a knife bar connecting piece connected to the inner outer shell of the knife bar; and An assembly connector can be retracted into the outer shell of the knife rod, and can extend out of the outer shell of the knife rod to disassemble or assemble the ultrasonic surgical tool.

11. The mountable ultrasonic surgical tool assembly according to claim 10, wherein: The assembly structure further includes: An assembly torsion spring is provided between the knife bar connecting piece and the assembly connecting piece, and is used for applying a moment to the assembly connecting piece so as to cause the assembly connecting piece to extend out of the outer shell of the knife bar.

12. The mountable ultrasonic surgical tool assembly according to claim 10, wherein: The assembly connector comprises: a proximal connecting portion, the proximal end of which is connected to the knife rod connecting piece; and The distal assembly portion is provided at the distal end of the proximal connection portion and is used to assemble or disassemble the ultrasonic surgical tool. The distal assembly portion includes: a second slot structure; and The first connecting arm and the second connecting arm are oppositely arranged on two sides of the second slot structure.

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

14. The mountable ultrasonic surgical tool assembly according to claim 10, wherein: The knife rod connecting piece is slidably connected to the inner shell of the knife rod, and the ultrasonic surgical tool further includes: An assembly structure reset component is provided at the proximal end of the assembly structure, and the assembly structure reset component comprises: A reset assembly base is fixedly connected to the inner shell of the cutter bar; and The first elastic member is arranged between the reset assembly base and the knife rod connecting member, and the first elastic member is used to apply a force to the knife rod connecting member to make the knife rod connecting member move toward the distal end.

15. The mountable ultrasonic surgical tool assembly according to claim 14, wherein: The assembly structure reset component also includes: A limit block is provided on the inner shell of the knife rod and is located at the distal end of the knife rod connecting piece. The limit block is used to prevent the knife rod connecting piece from moving toward the distal end.

16. The mountable ultrasonic surgical tool assembly according to claim 14, wherein: The knife bar connecting piece comprises: First limit pin; The proximal end section of the outer shell comprises: The first limiting slide groove is located at the distal end of the proximal end section of the outer shell. The first limiting slide groove extends along the length direction of the proximal end section of the outer shell. The first limiting pin is slidably connected to the first limiting slide groove.

17. The mountable ultrasonic surgical tool assembly according to claim 8, wherein: The ultrasonic surgical tool further comprises: The shank housing driving assembly is arranged at the proximal end of the proximal end section of the outer housing, and is used to drive the proximal end section of the outer housing to move toward the distal end or the proximal end to approach or move away from the distal end section of the outer housing.

18. The mountable ultrasonic surgical tool assembly according to claim 17, 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.

19. The mountable ultrasonic surgical tool assembly according to claim 18, wherein: The ultrasonic surgical tool further comprises: 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 housing, and is used to drive the movable part or the proximal end section of the outer housing to move toward the proximal end or the distal end.

20. The mountable ultrasonic surgical tool assembly according to claim 19, 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 grip portion, and the operating portion is connected to the proximal end section of the outer shell or the movable member, and the operating portion is used to receive a torque to move the proximal end section of the outer shell or the movable member toward the proximal end.

21. The mountable ultrasonic surgical tool assembly according to claim 8, wherein: The ultrasonic surgical tool further comprises: 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.

22. The mountable ultrasonic surgical tool assembly according to claim 21, wherein: The connecting portion of the clamp assembly comprises: a first driving chute and a second driving chute, wherein the first driving chute and the second driving chute are arranged oppositely on two sides of the connecting portion; The clamp drive assembly 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.

23. The mountable ultrasonic surgical tool assembly according to claim 21, wherein: The clamp drive assembly covers at least a portion of the distal end of the inner shell of the knife bar, and the distal end section of the outer shell covers at least a portion of the clamp drive assembly, and the distal end section of the outer shell includes: The fourth slot structure exposes at least a portion of the clamp driving assembly to the outside.

24. The mountable ultrasonic surgical tool assembly according to claim 23, 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 comprises: at least one first short pin structure or first protrusion, disposed on a first side of the proximal end of the clamp drive assembly, 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.

25. The mountable ultrasonic surgical tool assembly according to claim 21, wherein: The clamp drive assembly further comprises: a second pin structure disposed at a proximal end of the clamp drive assembly for receiving a drive to the clamp assembly; and The fifth slot structure is provided at the proximal end of the clamp driving assembly and exposes at least a portion of the second pin structure.

26. The mountable ultrasonic surgical tool assembly according to claim 25, 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 a fifth driving slot, and the second arm includes a sixth driving slot. The assembly head also includes: A second slider, the second slider being slidably connected to the fifth drive slot and the sixth drive slot via at least one pin or protrusion, the second slider receiving a push or pull force via a drive wire to slide along the fifth drive slot and the sixth drive slot, the second slider comprising: At least one slot structure is provided on the upper portion of the second sliding block, 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 second pin structure.

27. A surgical robot system, characterized in that: include: An operating table, comprising at least one robotic arm; The mountable ultrasonic surgical tool assembly according to any one of claims 1 to 26, 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.

28. The surgical robot system according to claim 27, wherein: 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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