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 surgical tool assembly includes an ultrasonic surgical tool and an auxiliary surgical tool. The ultrasonic surgical tool comprises a cutter bar assembly located at the far end of the ultrasonic surgical 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; and the assembling structure is arranged on the cutter bar assembly. The auxiliary surgical tool is used for driving an ultrasonic surgical tool to move and comprises an arm body; the assembling mechanism is arranged at the far end of the arm body and comprises an assembling head located at the far end of the assembling mechanism, and the assembling head is used for being detachably connected with the assembling structure; and the rotating mechanism is arranged at the near end of the assembling head, and the rotating mechanism can drive the assembling head to rotate. 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; and The assembly mechanism is arranged at the distal end of the arm body and includes: an assembly head, located at a distal end of the assembly mechanism, the assembly head being configured to be detachably connected to the assembly structure; and The rotating mechanism is arranged at the proximal end of the assembly head and can drive the assembly head to rotate.

[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 bottom-view 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 showing a partial structure of an auxiliary surgical tool according to some embodiments of the present disclosure; Figure 3C 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 5A and Figure 5B A schematic structural diagram showing an operating handle of an ultrasonic surgical tool according to some embodiments of the present disclosure is shown; Figure 6A and Figure 6B A schematic structural diagram showing an operating handle of an ultrasonic surgical tool according to other embodiments of the present disclosure; 7A to 7C A schematic structural diagram showing an ultrasonic surgical tool according to other embodiments of the present disclosure; Figure 8 A schematic structural diagram showing an assembleable ultrasonic surgical tool assembly according to other embodiments of the present disclosure; Figures 9A to 9C A schematic structural diagram showing an ultrasonic surgical tool according to some further embodiments of the present disclosure is shown; Figure 10 A schematic structural diagram showing an assembleable ultrasonic surgical tool assembly according to yet other embodiments of the present disclosure; Figure 11AA 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 FIG. 1 is a schematic structural diagram of an assembleable ultrasonic surgical tool assembly 10 according to some embodiments of the present disclosure. 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 FIG2 is a bottom view schematic diagram showing the assembly structure of the 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 1 As 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. The blade head structure can extend from the blade rod housing 112 to contact and operate on patient tissue. In some embodiments, the distal section of the blade rod 111 can have a smaller transverse dimension than the proximal section to increase the amplitude of the vibrations transmitted by the blade rod 111 and improve the efficiency of tissue cutting or coagulation.

[0016] In some embodiments, as Figure 2CAs shown, the distal end of the knife rod 111 may extend along a curved arc (e.g., arc hx1) 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 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 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 passing the plurality of wires.

[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 and an assembly mechanism 22. The assembly mechanism 22 may be disposed at the distal end of the arm 210. The assembly mechanism 22 may include an assembly head 220 and a rotation mechanism 230. The assembly head 220 may be located at the distal end of the assembly mechanism 22 and may be configured to be detachably connected to the assembly structure 130 of the ultrasonic surgical tool 100. The rotation mechanism 230 may be disposed at the proximal end of the assembly head 220 and may be configured to drive the assembly head 220 to rotate.

[0022] In some embodiments, the rotating mechanism 230 may include a rotating body 231. The assembly head 220 may be provided at the distal end of the rotating body 231. In some embodiments, the assembly head 220 may be fixedly provided at the distal end of the rotating body 231 by appropriate means such as welding, bonding, and integral molding. The rotating body 231 may rotate, and the assembly head 220 may also rotate with the rotating body 231, such as performing movements such as looking up and down. For example, the assembly head 220 may be rotated to a position convenient for assembly with the assembly structure 130 of the ultrasonic surgical tool 100. When the ultrasonic surgical tool 100 is assembled with the auxiliary surgical tool 200, the assembly head 220 may be rotated to adjust the posture of the end of the mountable ultrasonic surgical tool assembly 10 to facilitate movement in the patient's body or to perform surgical operations. Those skilled in the art will appreciate that in Figure 1 and Figure 3A In some embodiments, the rotating body 231 may include any movable mechanism, such as a hinge joint, a pulley joint, a gear joint, or other joint mechanism.

[0023] In some embodiments, the rotating mechanism 230 may further include at least one drive wire (not shown). The at least one drive wire may be connected to the rotating body 231, and the drive wire may be used to receive a push or pull force to drive the rotating body 231 to rotate. In some embodiments, the at least one drive wire may include two drive wires, and the two drive wires may be connected to both sides of the rotating body 231 respectively. One of the two drive wires may be pulled and the other drive wire may be pushed to drive the rotating body 231 to rotate forward or reverse. In some embodiments, the at least one drive wire may include a single drive wire, and the single drive wire may be wound around the connecting rotating body 231. The rotating body 231 may be driven to rotate forward or reverse by pulling the two ends of the drive wire respectively or pushing and pulling the two ends of the drive wire respectively.

[0024] Figure 3B FIG2 is a bottom view showing a partial structure of an auxiliary surgical tool 200 according to some embodiments of the present disclosure. It can be understood by those skilled in the art that Figure 3B The assembly head 220 at the distal end of the rotating body 231 is not shown. In some embodiments, at least one drive wire may include a drive wire 232, and the drive wire 232 may be wound around the rotating body 231 to be connected to the rotating body 231. Both ends of the drive wire extend toward the proximal end around the rotating body 231, and one end of the drive wire can be pulled or one end can be pulled and the other end can be pushed at the same time to drive the rotating body 231 to rotate forward or reverse. The rotating body 231 may include a wire groove 2311, and the drive wire 232 can be wound in the wire groove 2311 of the rotating body 231. The drive wire 231 may include a suitable structure such as a nickel-titanium alloy wire, a steel wire rope, a cable, a belt structure, a chain structure, etc.

[0025] In some embodiments, as Figure 3A or Figure 3B As shown, the rotating mechanism 230 may further include a base 233. The base 233 may be fixedly disposed at the distal end of the arm 210, for example, by welding, bonding, thermoplasticization, or other suitable means. The rotating body 231 may be rotatably disposed on the base 233. In some embodiments, as Figure 3B As shown, the base 233 may include two symmetrically arranged portions F1 and F2 extending distally, and the rotating body 231 may be rotatably disposed between F1 and F2. The rotating body 231 may be rotatably disposed between the two portions F1 and F2 of the base 233 via a pivot Z1. Thus, the rotating body 231 may rotate about the central axis of the pivot Z1, and the assembly head 220 may also rotate about the central axis of the pivot Z1. A wire groove 2311 of the rotating body 231 may be disposed within the rotating body 231 around the central axis of the pivot Z1, so that a drive wire 232 wound within the wire groove 2311 can drive the rotating body 231 to rotate.

[0026] The base 233 may include a drive wire guide hole (not shown in the figure) for the drive wire 232 to pass through. The drive wire 232 can pass through the drive wire guide hole of the base 233 and extend to the proximal end, and then pass through the arm body 210 of the auxiliary surgical tool 200 (for example, the central through hole of the arm body 210) to connect to the drive device set at the proximal end of the arm body 210, thereby receiving the push or pull driving force.

[0027] Figure 3C 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 3C 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 a rotating body 231 (see Figure 3A or Figure 3B ) is fixed to the distal end of the rotating body 231 by, for example, welding, bonding, integral molding or other suitable means. Figure 3C As shown, the boss 222 may include a first track 2221 and a second track 2222 that are disposed opposite to each other. For example, the first track 2221 and the second track 2222 may be disposed on both sides of the bottom of the boss 222. The first track 2221 and the second track 2222 may be used to mate with the assembly structure 130 of the ultrasonic surgical tool 100 (see FIG. Figure 2C ) are detachably connected. In some embodiments, when the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 are assembled, the boss 222 can extend into the ultrasonic surgical tool 100 (e.g., the shank housing 112). Through the boss 222 of the auxiliary surgical tool 200 and the assembly structure 130 of the ultrasonic surgical tool 100, the auxiliary surgical tool 200 and the ultrasonic surgical tool 100 can establish a rigid connection, thereby facilitating the auxiliary surgical tool 200 to drive the ultrasonic surgical tool 100 for movement within the patient's body.

[0028] Those skilled in the art will appreciate that the assembly head 220 can include any suitable structure for assembly with the assembly structure 130 of the ultrasonic surgical tool 100. For example, as an alternative embodiment to the boss 222, the assembly head 220 can include a protrusion protruding from the body 221, and the protrusion can extend into the assembly structure 130 of the ultrasonic surgical tool 100 for assembly. Alternatively, the assembly head 220 can include a collar that can be connected to the assembly structure 130 for assembly.

[0029] In some embodiments, as Figure 1 As shown, 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 diagram of the structure of an ultrasonic surgical tool 100 in a state to be assembled according to some embodiments of the present disclosure. Figure 4 As 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.

[0030] 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.

[0031] 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.

[0032] During surgery, the distal end of the knife rod outer shell 1121 is located inside the patient's body, and the proximal end is located outside the patient's body. The user can operate the proximal end of the knife rod outer shell 1121 to move the distal end of the outer shell proximal section 1121b closer to or away from the outer shell distal section 1121a. In some embodiments, as Figure 1 As shown, the ultrasonic surgical tool 100 may further include a knife rod housing drive assembly 150, which may be disposed at the proximal end of the outer housing proximal segment 1121b. The knife rod housing drive assembly 150 may be used to drive the outer housing proximal segment 1121b to move distally or proximally to approach or move away from the outer housing distal segment 1121a for assembly or disassembly.

[0033] like Figure 1As shown, in some embodiments, the knife bar housing drive assembly 150 may include a fixed member 151, a movable member 152, and a first elastic member 153. The fixed member 151 is located at the proximal end of the knife bar housing drive assembly 150, the movable member 152 is located at the distal end of the knife bar housing drive assembly 150, and the first elastic member 153 is disposed between the fixed member 151 and the movable member 152.

[0034] like Figure 1 As 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.

[0035] The first elastic member 153 can be used to apply a force to the outer shell proximal section 1121b to move the outer shell proximal section 1121b toward the distal end. The first elastic member 153 can be any suitable elastic element such as a coil spring, a gas spring, a rubber spring, etc. A person skilled in the art will understand that based on the action of the first elastic member 153, when the shank housing drive assembly 150 is not subjected to an external force, such as Figure 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.

[0036] During surgery, the blade bar housing drive assembly 150 can be located outside the patient's body for easy user operation. The user can operate the movable member 152 proximally to move the outer housing proximal segment 1121b away from the outer housing distal segment 1121a, or operate the movable member 152 distally to move the outer housing proximal segment 1121b closer to the outer housing distal segment 1121a, thereby performing assembly or disassembly. In some embodiments, the user can directly operate the blade bar housing drive assembly 150. In some embodiments, the ultrasonic surgical tool 100 may further include an operating handle 140 connected to the blade bar housing drive assembly 150. The operating handle 140 can be used to drive the movable member 153 or the outer housing proximal segment 1121b to move proximally or distally. The user can operate the operating handle 140 to perform assembly or disassembly.

[0037] Figure 5A and Figure 5BSchematic diagrams of the structure of the operating handle 140 of the ultrasonic surgical tool 100 according to some embodiments of the present disclosure are respectively shown. Figure 5A and Figure 5B As shown, the operating handle 140 may include a gripping portion 141 and an operating portion 142. The gripping portion 141 may be fixedly connected to the fixing member 151 of the arbor housing drive assembly 150. The gripping portion 141 may be used for holding by the user. The user may hold the gripping portion 141 during surgery to stabilize the ultrasonic surgical tool 100 or adjust the position of the distal end of the ultrasonic surgical tool 100, or hold the gripping portion 141 during assembly or disassembly to facilitate operation of the operating handle 140. Figure 5A and Figure 5B 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.

[0038] like Figure 5A As shown, the handle 141 can be fixedly connected to the fixing member 151. In some embodiments, as shown in FIG. Figure 5A As shown, the operating handle 140 may further include a first 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 first connecting portion 143. In some embodiments, the first 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 first connecting portion 143 may snap-fit with the first groove to be fixedly connected to the fixing member 151. In some embodiments, the first connecting portion 143 may have a suitable shape, such as an annular plate or an arcuate plate, to snap-fit with the first groove of the fixing member 151.

[0039] The operation unit 142 can be used for the user to operate. Figure 5A 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 5A As shown, the operating handle 140 may further include a second connecting portion 144, and the operating portion 142 may be connected to the movable member 152 via the second connecting portion 144. The second 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 second 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 5AAs shown, the operating handle 140 may further include a first connecting rod 145 , one end of which may be hinged to the operating portion 142 , and the other end of which may be hinged to the second connecting portion 144 or the movable member 152 .

[0040] 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 5A 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 5A In some embodiments, the operating portion 142 receives a direction such as Figure 5A 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 5B The state close to the grip portion 141 is shown. The rotation of the operating portion 142 can push the first connecting rod 145 to move proximally, and the first connecting rod 145 can push the movable member 152 and the outer shell proximal section 1121b to move proximally, and the outer shell proximal section 1121b is away from the outer shell distal section 1121a, so that assembly can be performed by the assembly structure 130 provided on the outer shell proximal section 1121b.

[0041] 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.

[0042] like Figure 5A or Figure 5B 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 distal end of 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.

[0043] As an alternative embodiment of the operating handle 140 , the ultrasonic surgical tool 100 may further include an operating handle 140 a . Figure 6A and Figure 6BSchematic diagrams of the structure of the operating handle 140a of the ultrasonic surgical tool 100 according to other embodiments of the present disclosure are respectively shown. Figure 6A and Figure 6B As shown, the operating handle 140a may include a grip portion 141a for the user to hold, and an operating portion 142a for the user to operate. In some embodiments, the operating portion 142a may be connected to the movable member 152 via a second connecting rod 144a. The distal end of the second connecting rod 144a may be hinged to the operating portion 142a, and the proximal end of the second connecting rod 144a may be connected to (e.g., abutted against) the movable member 152. In some embodiments, as shown in FIG. Figure 6A or Figure 6B As shown, the operating handle 140a may further include a connecting member 145a, and the grip portion 141a and the operating portion 142a are hingedly connected to the connecting member 145a at opposite sides of the connecting member 145a, for example, at points jd2 and jd3, respectively.

[0044] like Figure 6A and Figure 6B As shown, the operating handle 140a may further include connecting members 143a and 146a. The grip portion 141a may be fixedly connected to the connecting member 143a, which may be connected to the fixing member 151 to secure the grip portion 141a in place. For example, the connecting member 143a may be sleeved onto the fixing member 151 or engage with a groove provided axially along the fixing member 151. The connecting member 143a may have any suitable shape, such as an arcuate plate or a U-shaped plate, to facilitate connection with the fixing member 151. The distal end of the grip portion 141a may be fixedly connected to the connecting member 146a, which may be connected to the proximal end section 1121b of the outer shell. The connecting member 146a may have any suitable shape, such as an arcuate plate, and may be sleeved onto the proximal end of the proximal end section 1121b of the outer shell. In some embodiments, the connector 143a can be detachably connected to the fixing member 151, and the connector 146a can be detachably connected to the proximal end section 1121b of the outer shell. Based on this, the operating handle 140a can be easily separated from the other parts of the ultrasonic surgical tool 100, and the operating handle 140a can be reused multiple times.

[0045] For the operating handle 140a, after receiving the direction Figure 6A Under the torque indicated by the arrow J2, the connecting member 145a rotates counterclockwise around the hinge point jd3, causing the operating portion 142a to move toward the proximal end. The operating portion 142a rotates along the direction indicated by the arrow J2 and around the hinge point jd2. The movement of the operating portion 142a can push the second 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 6BWhen in the position shown, the outer shell proximal section 1121b can be moved away from the outer shell distal section 1121a, so that the ultrasonic surgical tool 100 can be assembled or disassembled through the assembly structure 130 provided on the outer shell proximal section 1121b.

[0046] In some embodiments, the operating handle 140a may further include a connecting torsion spring (not shown in the figure), which may be disposed between the operating portion 142a and the second connecting rod 144a (for example, disposed between the operating portion 142a and the second connecting rod 144a). Figure 6A (The position indicated by L1 in the figure) is indicated by a connecting torsion spring, which applies a torque to second connecting rod 144a, causing the proximal end of second connecting rod 144a to approach proximal end section 1121b of the outer housing. This allows the proximal end of second 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.

[0047] 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.

[0048] The assembly structure 130 of the ultrasonic surgical tool 100 may include a structure that can cooperate with the structure of the assembly head 220 to facilitate assembly with the auxiliary surgical tool 200. Figure 2C As shown, in some embodiments, the shank housing 112 may include an assembly structure 130, which may include a first slot structure C1 disposed at the distal end of the outer housing proximal segment 1121b. The first slot structure C1 may be used to assemble or disassemble the ultrasonic surgical tool 100. In some embodiments, the first slot structure C1 may connect with at least a portion (e.g., the boss 222) of the auxiliary surgical tool 200 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 may 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.

[0049] 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.

[0050] like Figure 4 As shown, in some embodiments, the user can operate the operating handle (such as the operating handle 140 or 140a) to move the outer shell proximal section 1121b toward the proximal end, 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 (such as 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.

[0051] 7A to 7C FIG. 1 is a schematic structural diagram of an ultrasonic surgical tool 300 according to some embodiments of the present disclosure. Figure 8 Schematic diagrams of the structure of an installable ultrasonic surgical tool assembly 10 according to other embodiments of the present disclosure are shown. The ultrasonic surgical tool 300 can serve as an alternative embodiment of the ultrasonic surgical tool 100. In some embodiments, the installable ultrasonic surgical tool assembly 10 can include the ultrasonic surgical tool 300 and the auxiliary surgical tool 200. The ultrasonic surgical tool 300 can include a shank assembly 310, an ultrasonic transducer (not shown in the figure), an assembly structure 330, an operating handle (not shown in the figure), and a shank housing drive assembly (not shown in the figure). The shank assembly 310, ultrasonic transducer, operating handle, and shank housing drive assembly can be similar to the aforementioned portions of the ultrasonic surgical tool 100 and will not be described again here to reduce repetition.

[0052] As an alternative embodiment of the ultrasonic surgical tool 100, the assembly structure 330 of the ultrasonic surgical tool 300 can be used to be detachably connected to the auxiliary surgical tool 200. 7A to 7C As shown, in some embodiments, the assembly structure 330 can be connected to the knife bar housing 312 (eg, including the knife bar outer shell 3121 and the knife bar inner shell 3122). 7A to 7C As shown, the assembly structure 330 may include a knife bar connector 331 and an assembly connector 332. Figure 7BAs 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 7B The shape shown can also be any suitable shape, such as U-shape, arc shape, etc.

[0053] like Figure 7A and Figure 7B 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.

[0054] In some embodiments, as Figure 7A and Figure 7B 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 some embodiments, in the assembled state, the first connecting arm B1 and the second connecting arm B2 may respectively connect to the first track 2221 and the second track 2222 of the boss 222 of the auxiliary surgical tool 200, thereby engaging the boss 222 with the second slot structure C2. In other embodiments, the distal assembly portion 3322 may include a retaining ring, which may connect to the auxiliary surgical tool 200 in the assembled state, for example, by being positioned over the boss 222 of the auxiliary surgical tool 200 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.

[0055] like Figure 7A and Figure 7B 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.

[0056] like Figure 7A and Figure 7B 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.

[0057] like Figure 7C 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.

[0058] like Figure 7C 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 7A and Figure 7B ) so that the assembly connector 332 converges to the outer shell 3121 of the arbor. Figure 7C 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 7C As shown, the distal assembly portion 3322 can converge to the third groove structure C3. In some embodiments, as shown in FIG. Figure 7A 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 .

[0059] When assembling the ultrasonic surgical tool 300 and the auxiliary surgical tool 200, the user can operate the operating handle of the ultrasonic surgical tool 300 to move the proximal end section 3121b of the outer shell toward the proximal end so as to move away from the distal end section 3121a of the outer shell, for example, to the position as shown in FIG. Figure 7A or Figure 7B Under the action of the assembly torsion spring 333, the assembly connector 332 can extend out of the outer shell proximal section 3121b, the second slot structure C2 faces the outside of the knife rod 111 and the distal end of the second slot structure C2 is open. Figure 8 As shown, the boss 222 of the auxiliary surgical tool 200 can be connected to the protruding assembly connector 332 through the second groove structure C2 with an open distal end.

[0060] On this basis, the user can operate the operating handle to move the proximal end section 3121b of the outer shell distally until it is close to the distal end section 3121a of the outer shell. The distal end of the proximal end section 3121b of the outer shell can cover the proximal end connection portion 3321 of the assembly connector 332, thereby allowing the assembly connector 332 to converge into the third groove structure C3 and drive the boss 222 of the auxiliary surgical tool 200 to converge into the outer shell 3121 of the knife bar. In this way, a stable connection can be established between the auxiliary surgical tool 200 and the ultrasonic surgical tool 300.

[0061] When disassembling the assembled ultrasonic surgical tool 300 and the auxiliary surgical tool 200, the user can operate the operating handle of the ultrasonic surgical tool 300 to move the proximal end section 3121b of the outer shell toward the proximal end, for example, to the position as shown in FIG. Figure 7A or Figure 7B The assembly connector 332 can extend from the proximal end section 3121b of the outer shell, and the boss 222 of the auxiliary surgical tool 200 can be separated from the assembly connector 332 through the distal open side of the second groove structure C2 facing outward, thereby being detached from the ultrasonic surgical tool 300.

[0062] Figures 9A to 9C FIG. 5 is a schematic structural diagram of an ultrasonic surgical tool 500 according to yet other embodiments of the present disclosure. Figure 10The following is a schematic structural diagram of an assembled ultrasonic surgical tool assembly 10 according to some further embodiments of the present disclosure. The ultrasonic surgical tool 500 can serve as an alternative embodiment of the ultrasonic surgical tool 100 or 300. In some embodiments, the assembled ultrasonic surgical tool assembly 10 can include the ultrasonic surgical tool 500 and the auxiliary surgical tool 200. The ultrasonic surgical tool 500 can include a knife bar assembly 510, an ultrasonic transducer (not shown in the figure), an assembly structure 530, an operating handle (not shown in the figure), and a knife bar housing drive assembly (not shown in the figure). The knife bar assembly 510, the ultrasonic transducer, the operating handle, and the knife bar housing drive assembly can be similar to the above-mentioned parts of the ultrasonic surgical tool 100 or 300, and will not be described again to reduce repetition.

[0063] As an alternative embodiment of the ultrasonic surgical tool 100, 300, the assembly structure 530 of the ultrasonic surgical tool 500 can be used to be detachably connected to the auxiliary surgical tool 200. In some embodiments, the knife bar connector 531 (see Figure 9C ) 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.

[0064] like Figure 9C 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 connecting member 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 connecting member 531 by a suitable means such as bonding, welding, or thermoforming.

[0065] In some embodiments, as Figure 9C As shown, the assembly structure reset assembly 580 may include a reset assembly base 581 and a second elastic member 582. The reset assembly base 581 may be fixedly connected to the inner shell 5122 of the knife bar. The second elastic member 582 may be disposed between the reset assembly base 581 and the knife bar connector 531. The second elastic member 582 may be used to apply a force to the knife bar connector 531 to cause the knife bar connector 531 to move toward the distal end. Figure 9C As shown, the second elastic member 582 can be sleeved on the inner shell 5122 of the knife bar. In some embodiments, the second elastic member 582 can be any suitable elastic element such as a coil spring, a gas spring, a rubber spring, etc.

[0066] In some embodiments, as Figure 9C 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 9C 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 9C As shown, when the assembly structure 530 is not subjected to external force, due to the force applied by the second elastic member 582 , the knife rod connecting member 531 is located at the far end and abuts against the limit block 583 .

[0067] In some embodiments, as Figures 9A to 9C As shown, the shank connector 531 may include a first stop pin XX1, and the outer housing proximal section 5121b may include a first stop slot XC1. The first stop slot XC1 may be located distally of the outer housing proximal section 5121b and extend along the length of the outer housing proximal section 5121b. The first stop pin XX1 may be slidably connected to the first stop slot XC1. Therefore, when the outer housing proximal section 5121b moves proximally, the first stop slot XC1 may pull the first stop pin XX1 proximally, thereby driving the assembly structure 530 to move proximally.

[0068] like Figure 9A 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 9B ) at the proximal end connection portion, the assembly connector 532 converges to the outer shell 5121 of the shank.

[0069] In such Figure 9A In the position shown, the outer housing proximal section 5121b can be moved proximally to assemble the ultrasonic surgical tool 500. In some embodiments, the user can operate the operating handle of the ultrasonic surgical tool 500 to move the outer housing proximal section 5121b proximally. For example, the outer housing proximal section 5121b can be moved proximally a distance equal to the length of the first limiting groove XC1, thereby positioning the first limiting pin XX1 distal to the first limiting groove XC1. At this point, the outer housing proximal section 5121b releases the proximal connection portion of the assembly connector 532, allowing the assembly connector 532 to extend from the distal end of the outer housing proximal section 5121b.

[0070] On this basis, the user can continue to operate the operating handle to make the outer shell proximal section 5121b continue to move proximally, for example, to Figure 9B As shown in the position. Figure 9B In the position shown, the auxiliary surgical tool 200 can be operated so that the boss 222 of the auxiliary surgical tool 200 is located at the distal end of the assembly connector 532. At this time, the user can operate the operating handle to move the proximal end section 5121b of the outer shell toward the distal end. Under the action of the force applied by the second elastic member 582 of the assembly structure reset component 580, the assembly structure 530 follows the proximal end section 5121b of the outer shell toward the distal end. Before moving to the point where the knife rod connector 531 abuts the limit block 583, the first limit pin XX1 can remain located at the distal end of the first limit slot XC1, so that the assembly connector 532 can remain in a state of extending out of the knife rod outer shell 5121. Based on this, the assembly connector 532 can establish a connection with the boss 222 of the auxiliary surgical tool 200 during the process of moving toward the distal end.

[0071] The user can continue to operate the operating handle to cause the outer housing proximal section 5121b to continue to move distally until it approaches the outer housing distal section 5121a. The distal end of the outer housing proximal section 5121b can cover the proximal end of the assembly connector 532, causing the assembly connector 532 to retract into the outer housing proximal section 5121b and drive the boss 222 of the auxiliary surgical tool 200 to retract into the knife shaft outer housing 5121. This allows the auxiliary surgical tool 200 to establish a stable connection with the ultrasonic surgical tool 500.

[0072] To disassemble the assembled ultrasonic surgical tool 500 and auxiliary surgical tool 200, the user can manipulate the operating handle of the ultrasonic surgical tool 500 to move the outer housing proximal section 5121b proximally, allowing the assembly connector 532 to extend from the outer housing proximal section 5121b. Continued proximal movement of the outer housing proximal section 5121b allows the assembly connector 532 to move proximally while remaining extended from the outer housing proximal section 5121b under the action of the second elastic member 582. This allows the assembly structure 530 to separate from the boss 222 of the auxiliary surgical tool 200, thereby enabling the disassembly of the ultrasonic surgical tool 500 and auxiliary surgical tool 200.

[0073] In some embodiments, ultrasonic surgical tools (e.g., ultrasonic surgical tools 100, 300, and 500) may further include a clamp assembly and a clamp drive assembly to implement a clamping function, thereby enabling the clamping of patient tissue during surgery. The following description uses the clamp assembly 160 and clamp drive assembly 170 of ultrasonic surgical tool 100 as an example. The corresponding components of ultrasonic surgical tools 300 and 500 are similar and are not further described to avoid repetition.

[0074] like Figures 2A to 2C As shown, the clamp assembly 160 is located at the distal end of the ultrasonic surgical tool 100. The clamp assembly 160 may include a connecting portion 161 and a clamp body 162. The connecting portion 161 may be rotatably connected to the distal end of the distal end section 1121a of the outer housing. The connecting portion 161 may include two parts symmetrically disposed axially on either side of the ultrasonic surgical tool 100. The two parts of the connecting portion 161 may be hingedly connected to the distal end of the distal end section 1121a of the outer housing at point A and a point symmetrical to point A (not shown in the figure) on either side of the ultrasonic surgical tool 100. The clamp body 162 may be disposed at the distal end of the connecting portion 161. The clamp body 162 may be fixedly connected to the connecting portion 161, for example, by welding, integral molding, or other suitable means. During surgery, the clamp body 162 and the distal end of the blade 111 may form a clamp to clamp the patient's tissue. In addition, the forceps body 162 and the distal end of the knife rod 111 can constitute a bipolar electrosurgical tool, which can perform a coagulation operation on the biological tissue when the forceps body 162 and the distal end of the knife rod 111 clamp the biological tissue.

[0075] Figure 2D A schematic structural diagram of the clamp drive assembly 170 of the ultrasonic surgical tool 100 according to some embodiments of the present disclosure is shown. 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. The clamp drive assembly 170 can move linearly toward the proximal end or the distal end, thereby driving the connecting portion 161 of the clamp assembly 160 connected thereto to move, and then driving the clamp body 162 of the clamp assembly 160 to open and close. In some embodiments, the auxiliary surgical tool 200 can be connected to the clamp drive assembly 170 and drive the clamp drive assembly 170 to move, so as to drive the clamp body 162 of the ultrasonic surgical tool 100 to open and close.

[0076] like Figure 2DAs shown, the clamp drive assembly 170 may include a longitudinal portion 173 extending along the length of the ultrasonic surgical tool 100 and a transverse portion 172 extending perpendicularly to the longitudinal portion 173. The transverse portion 172 may be located at the proximal end of the clamp drive assembly 170, and the longitudinal portion 173 may be located at the distal end of the clamp drive assembly 170. The transverse portion 172 and the longitudinal portion 173 are fixedly connected, for example, by welding, integral molding, or other suitable means. In some embodiments, the axis of the transverse cross-section of the longitudinal portion 173 may be an arc to prevent contact between the clamp drive assembly 170 and the inner housing 1122 of the tool bar during movement. In some embodiments, the transverse portion 172 may be annular and may be sleeved onto the inner housing 1122 of the tool bar. In some embodiments, the transverse portion 172 may include two portions symmetrically disposed on opposite sides of the tool bar assembly 110, each of which may be fixedly connected to the proximal end of the longitudinal portion 173 of the clamp drive assembly 170.

[0077] In some embodiments, the clamp drive assembly 170 can cover at least a portion of the distal end of the inner housing 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 housing 1122 of the cutter bar. The distal end section 1121a of the outer housing 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 housing 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 auxiliary surgical tool 200 can be connected to the clamp drive assembly 170 via the portion of the clamp drive assembly 170 exposed by the fourth slot structure C4, driving the clamp drive assembly 170 to move, thereby causing the clamp body 162 to open and close.

[0078] In some embodiments, as Figure 2C and Figure 2D As shown, the clamp drive assembly 170 may further include a first pin structure 175. The first pin structure 175 may be disposed at the proximal end of the clamp drive assembly 170 (eg, Figure 2D In some embodiments, a first pin structure 175 can be fixedly connected to the transverse portion 172, such as by welding or other suitable means. The first pin structure 175 can be used to receive a drive for the clamp assembly 160.

[0079] 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 first pin structure 175. Based on this, the auxiliary surgical tool 200 can be connected to the first pin structure 175 via the portion of the first pin structure 175 exposed by the fifth slot structure C5 and apply a driving force to the first pin structure 175 (for example, a driving force along the length direction of the ultrasonic surgical tool 100), thereby driving 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.

[0080] The auxiliary surgical tool 200 may include any suitable connection structure that can be connected to the first pin structure 175 to drive the clamp driving assembly 170 to move. The connection structure may be provided on the assembly head 220 to facilitate connection with the first pin structure 175 of the ultrasonic surgical tool 100. Figure 3C As shown, in some embodiments, the assembly head 220 of the auxiliary surgical tool 200 may include a drive slider 223, which can 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. The drive slider 223 may include at least one slot structure 2232 provided on the upper portion of the drive slider 223. The at least one slot structure 2232 can be used to connect with the first pin structure 175 of the clamp drive assembly 170.

[0081] like Figure 3C 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 opposite sides of the sliding space 2211. The first arm 221a and the second arm 221b may be disposed on opposite sides of the sliding space 2211 and extend toward the distal end of the arm body 210. In one embodiment, the first arm 221a and the second arm 221b may be connected together, as shown in FIG. Figure 3C 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.

[0082] like Figure 3CAs shown, the first arm 221a may include a first drive slot 2212, and the second arm 221b may include a second drive slot 2213. The drive slider 223 may be connected to the first drive slot 2212 and the second drive slot 2213 to slide linearly in the sliding space 2211. The drive slider 223 may be slidably connected to the first drive slot 2212 and the second drive slot 2213 by at least one pin or protrusion 2231. In some embodiments, 2231 may be a pin structure that passes through the lower portion of the drive slider 223 in the transverse direction, and the two ends of the pin structure 2231 are slidably connected to the first drive slot 2212 and the second drive slot 2213, respectively. In some embodiments, as Figure 3C As shown, the pin structure 2231 may include two pins that slide in the first drive slot 2212 and the second drive slot 2213 to improve the sliding stability of the drive slider 223. In some embodiments, 2231 may be raised structures disposed on opposite sides of the lower portion of the drive slider 223, with the raised structures 2231 slidably connected to the first drive slot 2212 and the second drive slot 2213, respectively. Those skilled in the art will appreciate that when the pins 2231 slide in the first drive slot 2212 and the second drive slot 2213, the drive slider 223 can move within the sliding space 2211.

[0083] The upper portion of at least one slot structure 2232 can extend beyond the sliding space 2211 to connect with the first pin structure 175 of the ultrasonic surgical tool 100. In some embodiments, the auxiliary surgical tool 200 may further include a slider drive wire (not shown) connected to the drive slider 223. The slider drive wire can be used to drive the linear motion of the drive slider 223. In some embodiments, the distal end of the slider drive wire is connected to the drive slider 223, while the proximal end can pass through the main body 221 of the assembly head 220, bypass the rotating body 231 of the rotating mechanism 230, pass through the base 233, and then pass through the arm body 210, thereby connecting to the drive device disposed at the proximal end of the arm body 210. For example, the slider drive wire can pass through the main body 221 of the assembly head 220 through a guide hole (not shown) extending along the length thereof, pass through the base 233 through a guide hole (not shown) disposed in the base 233, and finally pass through the arm body 210 through the central through-hole of the arm body 210. The driving device can push and pull the slider drive wire to cause the drive slider 223 to move linearly in the sliding space 2211, thereby driving the clamp drive assembly 170 connected to the drive slider 223 to move linearly, and further driving the clamp assembly 160 in the ultrasonic surgical tool 100 to open and close. In some embodiments, the slider drive wire can be a nickel-titanium alloy wire.

[0084] In some embodiments, as Figure 3CAs shown, the driving slider 223 may further include at least one arcuate groove 2233 disposed on the upper portion of the driving slider 223. The opening of the at least one arcuate groove 2233 may be upward, which helps to prevent friction and collision between the driving slider 223 and the ultrasonic surgical tool 100 when the driving slider 223 slides along the first driving groove 2212 and the second driving groove 2213 in the assembled state. It will be appreciated by those skilled in the art that other suitable structures may be provided on the upper portion of the driving slider 223 to avoid the ultrasonic surgical tool 100 when the driving slider 223 slides, such as a square groove.

[0085] In some embodiments, the clamp drive assembly 170 and the connecting portion 161 of the clamp assembly 160 can be connected through various suitable mutually cooperating structures so that when the clamp drive assembly 170 moves, it can drive the connecting portion 161 connected to it to move, and then drive the clamp body 162 fixedly connected to the connecting portion 161 to open and close.

[0086] like Figures 2A to 2D As shown, in some embodiments, the connecting portion 161 of the clamp assembly 160 may include a third drive slot 1611 and a fourth drive slot (not shown), wherein the third drive slot 1611 and the fourth drive slot may be disposed on opposite sides of the connecting portion 161. The clamp drive assembly 170 may include a second pin structure 171, which may be disposed at the distal end of the clamp drive assembly 170. The two ends of the second pin structure 171 may be slidably connected to the third drive slot 1611 and the fourth drive slot, respectively. Therefore, when the clamp drive assembly 170 moves distally, the two ends of the second pin structure 171 can move distally within the third drive slot 1611 and the fourth drive slot. During this movement, the connecting portion 161 of the clamp assembly 160 is pushed distally, thereby causing the jaw body 162 to open.

[0087] 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. The second pin structure 171 may extend transversely through the boss 174, with both ends extending out of the boss 174 to connect with the third drive slot 1611 and the fourth drive slot of the connecting portion 161 of the clamp assembly 160. In some embodiments, the second 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 third drive slot 1611 and the fourth 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 second pin structure 171 may include two portions disposed on the two ear structures to connect with the third drive slot 1611 and the fourth drive slot, respectively.

[0088] In some embodiments, the clamp drive assembly 170 may also be slidably connected to the outer housing distal end section 1121a to enhance the stability of the linear motion of the clamp drive assembly 170. Figure 2A 、 Figure 2B 、 Figure 2D As shown, in some embodiments, the outer housing distal segment 1121a may further include a fifth drive slot 11213 and a sixth drive slot (not shown) disposed opposite each other. The fifth drive slot 11213 and the sixth 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 fifth 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 2D A 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 sixth 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 fifth drive slot 11213 and the sixth drive slot.

[0090] In some embodiments, as Figures 2A to 2DAs 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, 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 2D The 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.

[0092] 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).

[0093] 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.

[0094] Figure 11A A schematic diagram of the structure of an assemblable ultrasonic surgical tool assembly 10 in a ready-to-assemble state according to some embodiments of the present disclosure is shown. Those skilled in the art will appreciate that during surgery, the distal portion of the blade shaft assembly 110, assembly structure 130, clamp assembly 160, and clamp drive assembly 170 of the ultrasonic surgical tool 100 can be placed inside the patient's body; the distal portion of the arm 210, assembly head 220, and rotation mechanism 230 of the auxiliary surgical tool 100 can 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., operating handle 140 or 140a), and the blade shaft housing drive assembly 150 can be located outside the body.

[0095] 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.

[0096] The user can operate the operating handle of the ultrasonic surgical tool 100 to move the ultrasonic surgical tool 100 to a position convenient for assembly. The user can also issue control instructions through the surgical robot system to drive the auxiliary surgical tool 200 to move as a whole and drive the rotating mechanism 230 to rotate, so that the auxiliary surgical tool 200 is in a position convenient for assembly. Figure 11A As shown, the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 can be moved until the slot structure 2232 on the upper portion of the driving slider 223 of the auxiliary surgical tool 200 is aligned with the first pin structure 175 of the ultrasonic surgical tool 100 to facilitate assembly.

[0097] Under the action of the clamp torsion spring, when the clamp driving assembly 170 of the ultrasonic surgical tool 100 is not subjected to external force, the clamp body 162 is closed, the clamp driving assembly 170 is located at the proximal position, and the first pin structure 175 is located at a position close to the proximal end of the fourth slot structure C4 (see Figure 2C Based on this, during assembly, the driving slider 223 of the auxiliary surgical tool 200 can be located at the proximal end of the sliding space 2211, for example, by pulling the driving slider 223 to the proximal end of the sliding space 2211 through the slider driving wire. Figure 11A Position shown.

[0098] 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 5B or make the operating handle 140a be in the state shown in FIG. Figure 6B As shown in the state, the outer shell proximal section 1121b moves proximally (for example, moves to 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.

[0099] Under the above operation, the groove structure 2232 on the upper portion of the driving slider 223 can be connected to the first pin structure 175, and the boss 222 can extend between the proximal end section 1121b of the outer shell and the distal end section 1121a of the outer shell. Figure 5A or make the operating handle 140a be in the state shown in FIG. Figure 6A In the state shown, the proximal end section 1121b of the outer shell moves toward the distal end.

[0100] Figure 11B The schematic diagram of the assembled ultrasonic surgical tool assembly 10 according to some embodiments of the present disclosure is shown. Under the user's operation, the proximal end section 1121b of the outer shell moves toward the distal end, and the first groove structure C1 at the distal end of the proximal end section 1121b of the outer shell can be connected with 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.

[0101] 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, by controlling the linear movement of the auxiliary surgical tool 200, the ultrasonic surgical tool 100 can be moved linearly, or by controlling the rotation mechanism 230 of the auxiliary surgical tool 200 to rotate, the ultrasonic surgical tool can be moved upward or downward. This facilitates movement of the ultrasonic surgical tool 100 to different locations within the patient's body for surgical operations.

[0102] The user can also issue control instructions through the surgical robot system to control the opening and closing of the clamp assembly 160 of the ultrasonic surgical tool 100 to perform operations such as clamping tissue and bipolar coagulation. Figure 11C A schematic diagram showing an expanded jaw assembly that can be equipped with an ultrasonic surgical tool assembly according to some embodiments of the present disclosure.

[0103] Due to the action of the clamp torsion spring, when the clamp assembly 160 is not subjected to external force, the clamp assembly 160 remains as Figure 11B On this basis, the user can issue a control instruction to push the slider 223 to move to the far end. Figure 11B and Figure 11CAs shown, the pin 2231 at the bottom of the slider 223 moves distally along the first drive slot 2212 and the second drive slot. The slider 223 drives the clamp drive assembly 170 connected thereto to move distally, and the two ends of the second pin structure 171 of the clamp drive assembly 170 move distally in the third drive slot 1611 and the fourth drive slot, and the first short pin structure 1721 and the second short pin structure move distally in the fifth drive slot 11213 and the sixth drive slot respectively. 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 as shown in FIG. Figure 11B The closed state shown is rotated as Figure 11C Shown in the open state.

[0104] 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 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.

[0105] 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.

[0106] 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. The master control cart 420 may include at least one master manipulator 421, which can be used to receive user commands. During surgery, the user can operate the master manipulator 421 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 master 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. In addition, the user can also control the opening and closing of the clamp assembly of the ultrasonic surgical tool by operating the main operator 421.

[0107] In some embodiments, the surgical robot system 400 may further include an equipment cart 430. The equipment cart 430 may include a power supply (not shown) for connecting to an ultrasonic surgical tool (e.g., ultrasonic surgical tool 100, 300, 500) in an attachable ultrasonic surgical tool assembly (e.g., attachable ultrasonic surgical tool assembly 10, 30, 50) to supply power to an ultrasonic transducer (e.g., Figure 1 The ultrasonic transducer 120 shown in the figure provides energy. In some embodiments, the power supply provides a high-frequency voltage to the ultrasonic transducer segment of 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 to perform cutting or coagulation operations on biological tissue.

[0108] 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 operating trolley 410 may include a single robotic arm 411, and a plurality of driving devices 413 may be provided on the robotic arm 411. Those skilled in the art will appreciate that the operating trolley of the surgical robot system 400 may also include a plurality of robotic arms.

[0109] At least one driving device 413 may include a rotary driving device for driving the rotation mechanism 230 of the auxiliary surgical tool 200 to rotate. The distal end of the rotary driving device may be connected to the driving wire 232 of the rotation mechanism 230 (see Figure 3B) is connected to the proximal end of the driving wire 232 through a transmission device (which may include a screw rod, a nut, etc.) to push or pull the two ends of the driving wire 232 respectively, thereby driving the rotation of the rotating mechanism 230.

[0110] In some embodiments, the driving device may further include a driving slider 223 for driving the auxiliary surgical tool 200 (see Figure 3C ) for forward and backward movement. The distal end of the slider drive device can be connected to the drive slider 223 via a suitable structure such as a drive wire or a drive rod, thereby pushing or pulling the slider drive 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 drive slider 223 to move forward and backward, thereby driving the clamp assembly 160 of the ultrasonic surgical tool 100 to open and close.

[0111] 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.

[0112] 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.

[0113] 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.

[0114] In some embodiments, the auxiliary surgical tool 200 includes a rotation mechanism 230 disposed at the distal end of the arm 210, and an assembly head 220 disposed at the distal end of the rotation 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, and help improve the flexibility of the assembly of the ultrasonic surgical tool assembly in the patient's body.

[0115] 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.

[0116] 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; and The assembly mechanism is arranged at the distal end of the arm body and comprises: an assembly head, located at a distal end of the assembly mechanism, the assembly head being configured to be detachably connected to the assembly structure; and The rotating mechanism is arranged at the proximal end of the assembly head, and the rotating mechanism can drive the assembly head to rotate.

2. The assembleable ultrasonic surgical tool assembly according to claim 1, wherein: The rotating mechanism comprises: a rotating body, the assembly head being disposed at a distal end of the rotating body; and At least one driving wire is connected to the rotating body, and the driving wire is used to receive a pushing or pulling force to drive the rotating body to rotate.

3. The assemblable ultrasonic surgical tool assembly according to claim 2, wherein: The rotating mechanism further comprises: The base is fixedly arranged at the distal end of the arm body, and the rotating body is rotatably arranged on the base.

4. The assembleable ultrasonic surgical tool assembly according to claim 1, wherein: The assembly head comprises: a main body disposed at a distal end of the rotating 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.

5. The assembleable ultrasonic surgical tool assembly according to claim 4, 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.

6. The assembleable ultrasonic surgical tool assembly according to claim 5, wherein: Ultrasonic surgical tools also include: 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.

7. The assembleable ultrasonic surgical tool assembly according to claim 6, 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 first elastic member is disposed between the fixed member and the movable member, and is used for applying a force to the proximal end section of the outer shell to move the proximal end section of the outer shell toward the distal end.

8. The mountable ultrasonic surgical tool assembly according to claim 7, 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 assembly, and is used to drive the movable part or the proximal end section of the outer shell to move toward the proximal end or the distal end.

9. The mountable ultrasonic surgical tool assembly according to claim 8, 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.

10. The mountable ultrasonic surgical tool assembly according to claim 5, 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.

11. The mountable ultrasonic surgical tool assembly according to claim 5, 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.

12. The mountable ultrasonic surgical tool assembly according to claim 11, 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.

13. The mountable ultrasonic surgical tool assembly according to claim 11, 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.

14. The mountable ultrasonic surgical tool assembly according to claim 13, 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.

15. The mountable ultrasonic surgical tool assembly according to claim 11, 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 second elastic member is arranged between the reset assembly base and the knife rod connecting member, and the second elastic member is used to apply a force to the knife rod connecting member to make the knife rod connecting member move toward the distal end.

16. The mountable ultrasonic surgical tool assembly according to claim 15, wherein: The assembly structure reset component also includes: The limit block is fixedly arranged 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.

17. The mountable ultrasonic surgical tool assembly according to claim 15, wherein: The knife bar connecting piece includes: 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.

18. The mountable ultrasonic surgical tool assembly according to claim 5, wherein: The ultrasonic surgical tool further comprises: A clamp assembly is located at the distal end of the ultrasonic surgical tool, and the clamp assembly includes: a connecting portion rotatably connected to the distal end of the distal end section of the outer shell; and a clamp body, disposed at the distal end of the connecting portion; A clamp driving assembly is connected to the proximal end of the connecting portion of the clamp assembly, and the clamp driving assembly is used to drive the clamp body to open and close.

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

20. The mountable ultrasonic surgical tool assembly according to claim 19, wherein: The clamp drive assembly further includes: a first 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 first pin structure.

21. The mountable ultrasonic surgical tool assembly according to claim 20, 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 first driving slot, and the second arm includes a second driving slot. The assembly head also includes: A driving slider, wherein the driving slider is slidably connected to the first driving slide groove and the second driving slide groove via at least one pin or protrusion, and the driving slider receives a push or pull force via a driving wire to slide along the first driving slide groove and the second driving slide groove, and the driving slider comprises: At least one slot structure is provided on the upper portion of the driving slider and the upper portion of the at least one slot structure extends out of the sliding space, and the at least one slot structure is used to be connected to the first pin structure.

22. The mountable ultrasonic surgical tool assembly according to claim 18, wherein: The connecting portion of the clamp assembly comprises: a third driving chute and a fourth driving chute, the third driving chute and the fourth driving chute being arranged oppositely on both sides of the connecting portion; The clamp drive assembly includes: The second pin structure is arranged at the distal end of the clamp driving assembly, and both ends of the second pin structure are slidably connected to the third driving slide groove and the fourth driving slide groove respectively.

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

24. 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 23, 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.

25. The surgical robot system according to claim 24, 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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