Multi-degree-of-freedom ultrasonic knife

Abstract

The invention discloses a multi-degree-of-freedom ultrasonic knife, and relates to the technical field of medical instruments. In order to solve the problems that due to the fact that an existing ultrasonic knife is insufficient in freedom degree, the operation flexibility is poor, and the existing ultrasonic knife is difficult to adapt to the complex operation environment, the ultrasonic knife comprises a knife head, a bent rod, a knife rod, a shell and a control panel which are sequentially connected, a suspension plate is arranged in the shell, and a transmission assembly and an ultrasonic assembly are installed on the suspension plate and connected with the knife rod and the bent rod; the ultrasonic assembly is connected with the tool bit, the control panel is movably connected with the suspension plate through the sleeving piece, the suspension plate and the bending rod move respectively through different operations of the control panel, and then the tool bit is driven to move in multiple directions. The multi-angle surgical scalpel is compact in structure and flexible to operate, multi-angle accurate control over the scalpel head can be achieved, and the accuracy and safety of an operation are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of ultrasonic surgical instruments, and in particular to a multi-degree-of-freedom ultrasonic scalpel. Background Art

[0002] With the rapid development of modern medicine, ultrasonic surgical instruments have been increasingly used in clinical surgical procedures. Applying ultrasonic energy to surgical procedures, they offer advantages such as precise, safe, tissue-selective cutting, and cryogenic hemostasis. This has greatly enriched surgical procedures, improved the quality of surgical procedures, and alleviated patients' pain to a certain extent. An example of this is the ultrasonic scalpel. The ultrasonic scalpel, a surgical instrument that uses ultrasound to generate high-frequency mechanical vibrations, is capable of cutting and grinding soft and bone tissue. Due to its numerous advantages, such as minimal damage to blood vessels and nerves, minimal bleeding, and low smoke generation, it is increasingly used in minimally invasive surgery and robotic-assisted surgery.

[0003] Although the current ultrasonic scalpel has the above advantages, it still has disadvantages such as a single movement mode and lack of flexibility. Therefore, some existing technologies, such as the composite vibration ultrasonic bone surgical instrument disclosed in the patent with publication number CN1732861A, install a drive motor on the basis of the transducer to drive the transducer and the amplitude rod to rotate or swing, which can realize composite ultrasonic vibration and solve some of the above problems. However, there is still room for improvement to make the ultrasonic scalpel have more degrees of freedom and more convenient and flexible operation to adapt to complex surgical environments (such as the spine, abdominal cavity, etc.) and improve the efficiency of the operation. Summary of the Invention

[0004] The purpose of the present invention is to provide a multi-degree-of-freedom ultrasonic scalpel to solve the problem that the existing ultrasonic scalpel has insufficient degrees of freedom, resulting in poor operational flexibility and difficulty in adapting to complex surgical environments.

[0005] The technical solution of the present invention to solve the above technical problems is as follows: A multi-degree-of-freedom ultrasonic scalpel includes a cutter head, a bending rod, a cutter bar, a shell and a control panel connected in sequence. A suspension plate is provided inside the shell and a transmission assembly and an ultrasonic assembly are mounted on the suspension plate. The transmission assembly is connected to the cutter bar and the bending rod, and the ultrasonic assembly is connected to the cutter head. The control panel is movably connected to the suspension plate via a socket. Different operations of the control panel cause the suspension plate and the bending rod to move separately, thereby driving the cutter head to move in multiple directions.

[0006] Furthermore, the transmission assembly includes a gear motor, a bending gear, a transmission line for bending the cutter head, and a rotating motor, a rotating internal gear and a rotating external gear housing for rotating the cutter head; the ultrasonic assembly includes an ultrasonic transducer, a variable amplitude rod and a waveguide rod, and the ultrasonic transducer is connected to the waveguide rod through the variable amplitude rod.

[0007] Furthermore, connecting sleeves are provided at both ends of the suspension plate, and a motor mounting platform is also provided at the rear end, with mounting holes reserved on the motor mounting platform.

[0008] Furthermore, two bending gears are provided, the two bending gears are symmetrically arranged and respectively mesh with the gear motors, one end of the transmission line is wound around the bending gear, and the other end is fixedly connected to the bending rod.

[0009] Furthermore, the gear motor is a gear coaxially sleeved on the motor housing, and the stator of the gear motor is fixedly connected to the motor mounting platform.

[0010] Furthermore, the control panel includes a support column, buttons, and a circuit board. The control panel is an arc-shaped plate structure, with buttons symmetrically arranged at both ends of the convex surface, support columns arranged along the normal direction of the concave surface, and a circuit board arranged on the concave surface of the control panel, which is communicatively connected to the control host.

[0011] Furthermore, it also includes a connecting sleeve, a slider, and a ring. The sleeve is an annular cylindrical structure. A rectangular limit column is provided in the normal direction of the outer side of the annular cylinder. A slider is provided in the middle of the sleeve. The top of the sleeve is hollowed out and clamped with the support column. A ring is provided at the bottom of the sleeve and is rotatably connected to the connecting sleeve at the rear end of the suspension plate through a bearing. The control panel can be deflected left and right on the outer shell, and the output shaft of the rotating motor is connected to the connecting sleeve at the rear end.

[0012] Furthermore, it also includes a support plate, contacts, and a slide groove. Contacts and support plates are provided at the left and right deflection positions of the inner wall of the shell and the control panel. The contacts are connected to the control host through wires, and a slide groove is provided on the support plate that is compatible with the slider in the middle of the socket.

[0013] Furthermore, it also includes a splint, the cutter head is connected to the waveguide rod, the front end of the waveguide rod is thin-sheet-shaped and a bending rod is sleeved on the outside, the bending rod is connected to the cutter head, and a splint is provided at the root of the cutter head through a pin for rotation.

[0014] Furthermore, the rotating inner gear is meshed with the rotating outer gear housing and the two can slide relative to each other along the axial direction. The rotating outer gear housing is rotatably mounted on the front end of the housing through the bearing, and the rotating inner gear is connected to the front end connecting sleeve of the suspension plate. The present invention has the following beneficial effects: The present invention adopts a suspension plate integrated transmission system: the ultrasonic transducer, gear motor, curved gear, etc. are integrated into a suspension plate that can rotate as a whole, and the suspension plate is driven by a rotating motor to realize the basic rotation of the cutter head to avoid interference between components, and then a bending rod connected to the transmission line is used to connect the cutter head, and then the button set on the shell is movably connected to the suspension plate through a socket, so that a single button operation can synchronously control the rotation, multi-directional bending and opening and closing actions of the cutter head, breaking through the single degree of freedom limitation of traditional instruments, making the ultrasonic scalpel more flexible, and improving the ability of the ultrasonic scalpel to adapt to complex surgical environments, thereby improving the efficiency of the operation, and the operation is convenient, fast and accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 Schematic diagram of the overall structure of the device of the present invention; Figure 2 A half-sectional view of the structure of the device of the present invention; Figure 3 This is a schematic diagram of the structure of the present invention after the shell is removed; Figure 4 This is a schematic diagram of the internal structure of the housing of the present invention; Figure 5 This is a schematic diagram of the suspension plate structure of the present invention; Figure 6 This is a schematic diagram of the socket structure of the present invention; Figure 7 This is a schematic diagram of the housing structure of the present invention; Figure 8 This is a schematic diagram of the structure of the bending rod portion of the present invention; Figure 9 This is a schematic diagram of the structure of the cutter head of the present invention; Figure 10 This is a schematic diagram of the control panel structure of the present invention.

[0016] Figures 1 to 10 The reference numerals shown in the figure represent respectively as follows: 1-suspension plate, 101-motor mounting platform, 102-connecting sleeve, 2-ultrasonic component, 21-ultrasonic transducer, 22-amplitude transformer, 23-waveguide rod, 3-transmission assembly, 31-gear motor, 32-bending gear, 33-rotating motor, 4-rotating internal gear, 5-rotating external gear housing, 6-housing, 601-support plate, 602-contact, 603-slide, 604-rotating motor mounting plate, 605-bearing limit plate, 7-knife rod, 8-bending rod, 9-knife head, 10-clamp, 11-sleeve, 1101-slider, 1102-ring, 12-transmission line, 13-control panel, 131-support column, 132-button, 133-circuit board. DETAILED DESCRIPTION

[0017] The following is a clear and complete description of the technical solution of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0018] Example 1: As shown in the attached Figures 1 to 4 As shown, a multi-degree-of-freedom ultrasonic knife includes a knife head 9, a bending rod 8, a knife rod 7, a shell 6 and a control panel 13 connected in sequence. A suspension plate 1 is provided in the shell and a transmission assembly 3 and an ultrasonic assembly 2 are installed on the suspension plate. The transmission assembly 3 is connected to the knife rod 7 and the bending rod 8, and the ultrasonic assembly 2 is connected to the knife head 9. The control panel 13 is movably connected to the suspension plate 1 through a socket 11. Through different operations of the control panel 13, the suspension plate 1 and the bending rod 8 are moved respectively, thereby driving the knife head to move in multiple directions. The transmission assembly 3 includes a gear motor 31 for bending the knife head, a bending gear 32, a transmission line 12, and a rotating motor 33 for rotating the knife head, a rotating internal gear 4 and a rotating external gear housing 5.

[0019] The ultrasonic assembly 2 consists of an ultrasonic transducer 21, a horn 22, and a waveguide 23. The surgical ultrasonic transducer 21 is connected to the waveguide 23 via the horn 22. The ultrasonic transducer 21 is made of piezoelectric ceramic material and can convert electrical energy into mechanical vibration energy, generating high-frequency vibrations. The horn 22 is used to amplify the amplitude generated by the ultrasonic transducer 21, ensuring efficient transmission of the vibration energy. The waveguide 23 transmits the vibration energy to the cutting head, achieving both tissue cutting and coagulation functions.

[0020] As attached Figure 5 As shown, the suspension plate 1 is equipped with connecting sleeves 102 at both ends, and a motor mounting platform 101 with mounting holes is located at the rear end. The connecting sleeves are made of stainless steel, which has excellent corrosion resistance and strength, ensuring the stability of the entire device. The mounting holes on the motor mounting platform are precisely designed according to the installation dimensions of the gear motor 31, ensuring that the gear motor 31 is securely installed.

[0021] Two bending gears 32 are symmetrically arranged and mesh with the gear motor 31. A transmission cable is wound around the bending gears 32 at one end and fixedly connected to the bending rod at the other end. The bending gears 32 are made of a high-strength alloy material with excellent wear resistance and strength, ensuring long-term wear resistance. The transmission cable is constructed of high-strength steel wire rope, offering excellent flexibility and tensile strength, effectively transmitting the rotational motion of the bending gears 32 to the bending rod.

[0022] Gear motor 31 consists of a gear coaxially mounted on the motor housing. The motor's output terminal is fixedly connected to the motor mounting platform on the suspension plate 1. Gear motor 31 utilizes a high-precision stepper motor, offering precise angle control and enabling precise bending control of the tool head. The stator of motor 31 is fixedly connected to the motor mounting platform 101, transmitting the motor's rotational motion to the bending gear 32.

[0023] As attached Figure 10 The multi-degree-of-freedom ultrasonic knife also includes a control panel 13, a support column 131, a button 132, and a circuit board 133. The control panel 13 is a curved plate structure with buttons 132 provided at both ends of the convex surface and support columns 131 provided along the normal direction of the concave surface. A circuit board 133 is provided on the concave surface of the control panel 13, and the circuit board 133 is connected to the control host for communication. The control panel 13 is made of engineering plastic material with good feel and durability. The button design conforms to ergonomic principles and is comfortable and convenient to operate. The circuit board adopts a multi-layer PCB design, integrating the control circuit and signal processing circuit to ensure the accurate transmission of the control signal.

[0024] The socket 11 of the multi-freedom ultrasonic knife is an annular cylindrical structure, fixedly arranged inside the shell 6, and fixed to the suspension plate 11 for rotation. A rectangular limiting column is provided in the normal direction of the outer side of the annular cylinder, a slider is provided in the middle of the limiting column, the top of the limiting column is hollowed out, and is clamped with the support column 131. The lower part of the limiting column is rotatably connected to the rear end connecting sleeve of the suspension plate (1) through a bearing, and the control panel 13 can be deflected left and right in the shell 6, and the output shaft of the rotating motor (33) is connected to the rear end connecting sleeve 102. As shown in the attached figure Figure 6 As shown, the sleeve 11 is made of high-strength engineering plastic material with good wear resistance and strength. The design of the rectangular limit column and the slider 1101 ensures that the control panel 13 is stable and reliable when deflected left and right without shaking or loosening.

[0025] As attached Figure 7As shown, contacts 602 are provided at the inner wall of the housing 6 and the left and right deflection positions of the control panel 13. Contacts 602 are connected to the control host via wires. Contacts 602 are designed with metal elastic contacts to ensure reliable contact and transmission of control signals when the control panel 13 is deflected into position. In other optional embodiments, contacts 602 can be implemented using Hall effect sensors, which generate electrical signals based on the distance from the support column 131 based on Hall effect detection. A support plate 601 is also provided in the housing 6 at a position corresponding to the support column 131, and a slide groove 603 is also provided on the surface of the support plate 601 to allow the control panel 13 to slide in the vertical direction. In addition, a bearing limit plate 605 is provided at the front end of the housing 6 to fix the bearing of the hanging plate 1, and a rotary motor mounting plate 604 is provided at the rear end to fix the rotary motor 33. The wires are multi-strand copper core wires with good conductivity and flexibility to ensure stable and reliable signal transmission.

[0026] As attached Figure 8 、 9 As shown, the multi-degree-of-freedom ultrasonic scalpel also includes a splint 10. The blade head 9 is connected to a waveguide rod 23. The waveguide rod 23 has a thin front end and is sheathed with a bending rod 8. The bending rod 8 is connected to the blade head. The splint is installed at the base of the blade head 9 via a pin for rotation. The blade head 9 is made of medical titanium alloy with excellent biocompatibility and strength. The pin is made of stainless steel to ensure a stable and reliable rotational connection between the blade head and the splint. The splint design conforms to the characteristics of human tissue and can effectively clamp and fix tissue, improving surgical efficiency and safety.

[0027] The rotating internal gear 4 meshes with the rotating external gear housing 5, allowing them to slide axially relative to each other. The rotating external gear housing 5 is rotatably mounted within the front end of the housing 6 via a bearing. The rotating internal gear 4 is connected to the front end connecting sleeve of the suspension plate 1. Both the rotating internal gear 4 and the rotating external gear housing 5 are made of high-strength alloy materials, offering excellent wear resistance and strength. Precision ball bearings are used to ensure smooth and flexible rotation of the rotating external gear housing 5 within the housing 6, reducing friction and noise.

[0028] During use, ultrasonic transducer 21 converts electrical energy into mechanical vibration energy. After the amplitude is amplified by horn 22, waveguide rod 23 transmits the vibration energy to blade head 9, achieving both tissue cutting and coagulation. This integrated design enables simultaneous operation of the single control panel 13: left and right deflection controls the bending of blade head 9, forward and backward sliding controls the opening and closing of splint 10, and keystrokes trigger the rotation of blade head 9, ultimately achieving multi-degree-of-freedom compound motion.

[0029] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A multi-degree-of-freedom ultrasonic scalpel, characterized in that: The invention comprises a cutter head (9), a bending rod (8), a cutter bar (7), a shell (6) and a control panel (13) connected in sequence, wherein a suspension plate (1) is provided inside the shell (6) and a transmission component (3) and an ultrasonic component (2) are installed on the suspension plate (1), the transmission component (3) is connected to the cutter bar (7) and the bending rod (8), the ultrasonic component (2) is connected to the cutter head (9), and the control panel (13) is movably connected to the suspension plate (1) via a socket (11). Different operations of the control panel (13) cause the suspension plate (1) and the bending rod (8) to move respectively, thereby driving the cutter head to move in multiple directions.

2. The multi-degree-of-freedom ultrasonic scalpel according to claim 1, characterized in that: The transmission assembly (3) includes a gear motor (31) for bending the cutter head, a bending gear (32), a transmission line (12), and a rotating motor (33) for rotating the cutter head, a rotating internal gear (4), and a rotating external gear housing (5); the ultrasonic assembly (2) includes an ultrasonic transducer (21), a variable amplitude rod (22), and a waveguide rod (23), wherein the ultrasonic transducer (21) is connected to the waveguide rod (23) via the variable amplitude rod (22).

3. The multi-degree-of-freedom ultrasonic scalpel according to claim 1, characterized in that: Both ends of the suspension plate (1) are provided with connecting sleeves (102), and a motor mounting platform (101) is also provided at the rear end, and the motor mounting platform (101) has mounting holes.

4. The multi-degree-of-freedom ultrasonic scalpel according to claim 2, characterized in that: Two bending gears (32) are provided, and the two bending gears (32) are symmetrically arranged and respectively mesh with the gear motor (31); one end of the transmission line (12) is wound around the bending gear (32), and the other end is fixedly connected to the bending rod (8).

5. The multi-degree-of-freedom ultrasonic scalpel according to claim 4, characterized in that: The gear motor (31) is a gear coaxially sleeved on a motor housing, and the stator of the gear motor (31) is fixedly connected to the motor mounting platform (101).

6. The multi-degree-of-freedom ultrasonic scalpel according to claim 2, characterized in that: The control panel (13) comprises a support column (131), a button (132), and a circuit board (133). The control panel (13) is an arc-shaped plate structure, the buttons (132) are symmetrically arranged at both ends of the convex surface, the support column (131) is arranged on the concave surface along the normal direction, and the circuit board (133) is arranged on the concave surface of the control panel (13), and the circuit board (133) is communicatively connected to the control host.

7. The multi-degree-of-freedom ultrasonic scalpel according to claim 6, characterized in that: It also includes a connecting sleeve (102), a slider (1101), and a collar (1102). The sleeve (11) is an annular cylindrical structure. A rectangular limiting column is provided in the normal direction of the outer side of the annular cylinder. The middle part of the sleeve (11) is provided with the slider (1101). The top of the sleeve (11) is hollowed out and is clamped with the support column (131). The lower part of the sleeve (11) is provided with the collar (1102) and is rotatably connected to the connecting sleeve (102) at the rear end of the suspension plate (1) through a bearing. The control panel (13) can be deflected left and right on the housing (6). The output shaft of the rotating motor (33) is connected to the connecting sleeve (102) at the rear end.

8. The multi-degree-of-freedom ultrasonic scalpel according to claim 7, characterized in that: The invention also includes a support plate (601), a contact (602), and a slide groove (603). The contact (602) and the support plate (601) are provided at the left and right deflection positions of the inner wall of the housing (6) and the control panel (13). The contact (602) is connected to the control host through a wire. The support plate (601) is provided with a slide groove (603) adapted to the slider (1101) in the middle of the socket (11).

9. The multi-degree-of-freedom ultrasonic scalpel according to claim 2, characterized in that: It also includes a splint (10), the cutter head (9) is connected to the waveguide rod (23), the front end of the waveguide rod (23) is in a thin sheet shape and the outer side is provided with the bending rod (8), the bending rod (8) is connected to the cutter head (9), and the root of the cutter head (9) is provided with the splint (10) by rotating through a pin.

10. The multi-degree-of-freedom ultrasonic scalpel according to claim 7, characterized in that: The rotating internal gear (4) is meshed with the rotating external gear housing (5) and the two can slide relative to each other in the axial direction. The rotating external gear housing (5) is rotatably mounted on the front end of the inner portion of the outer shell (6) via a bearing. The rotating internal gear (4) is connected to the front end connecting sleeve of the suspension plate (1).

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