End effector and ultrasonic surgical instrument

Abstract

The invention provides an end effector and an ultrasonic surgical instrument. The end effector comprises an ultrasonic transducer assembly and a clamping assembly. The ultrasonic transducer assembly comprises a transducer and a transducer mounting seat, the front end of the transducer extends to form an ultrasonic knife, the ultrasonic knife extends out of the front end of the transducer mounting seat, and the rear portion of the transducer mounting seat is provided with a central slot extending in the axial direction and a strip-shaped hole penetrating in the direction perpendicular to the central slot. The clamping assembly comprises a push-pull inner pipe, a fixed outer pipe, a clamping arm and a traction control piece. The push-and-pull inner pipe is slidably arranged outside the transducer installation base in a sleeving mode and can axially slide between the fixed outer pipe and the transducer. And the fixed outer tube is coaxially sleeved on the outer side of the push-pull inner tube and is fixed relative to the transducer. And the traction control piece is inserted through the central slot, is fixedly connected with the push-pull inner pipe and can axially move in the central slot. And the clamping arm and the ultrasonic knife act synergistically, so that the biological tissue can be stably clamped, and precise cutting can be realized through high-frequency vibration of the ultrasonic knife.

Description

Technical Field

[0001] The present application belongs to the technical field of ultrasonic surgical instruments, and more specifically, relates to an end effector and an ultrasonic surgical instrument. Background Art

[0002] As a basic instrument in surgical operations, surgical forceps are usually designed based on the mechanical linkage structure of the handle and the head, and the functions of grasping, clamping and pulling tissues are achieved through manual operation. However, with the rapid development of minimally invasive surgical technology, the technical limitations of existing instruments in terms of functional integration and operational flexibility have gradually emerged. Traditional instruments are limited to a single functional module design and can only perform basic clamping actions. It is impossible to achieve precise tissue cutting and reliable electrocoagulation hemostasis functions on the same instrument. This forces the surgeon to frequently change different instruments during the operation, which not only prolongs the operation time, but also increases the risk of intraoperative contamination and the probability of secondary tissue damage due to instrument switching.

[0003] In addition, in minimally invasive surgical scenarios with limited space, such as deep laparoscopic surgery or operations in narrow gaps, the traditional rigid forceps structure lacks multi-dimensional steering adjustment capabilities, making it difficult for the forceps head to adaptively adjust the angle according to the requirements of the surgical field. This structural defect can easily lead to insufficient exposure of the surgical field and may even cause unexpected tissue damage due to instrument collision. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide an end effector and an ultrasonic surgical instrument to solve the technical problem in the prior art that traditional surgical forceps have a single function and cannot achieve tissue cutting and electrocoagulation hemostasis functions.

[0005] To achieve the above objectives, the technical solution adopted in this application is:

[0006] An end effector is provided, comprising:

[0007] An ultrasonic transducer assembly comprises a transducer and a transducer mounting base, wherein the front end of the transducer has an ultrasonic blade extending out of the transducer mounting base; the rear portion of the transducer mounting base is provided with a strip hole and a central slot extending in an axial direction, wherein the strip hole passes through in a direction perpendicular to the central slot;

[0008] The clamping assembly includes a push-pull inner tube, a fixed outer tube sleeved on the push-pull inner tube, a clamping arm, and a traction control member; the push-pull inner tube is slidably sleeved on the transducer mounting seat; wherein,

[0009] The traction control member is inserted into the central slot and connected to the push-pull inner tube, and the traction control member can pull the push-pull inner tube to slide axially, so that the distal end of the clamping arm moves closer to or farther away from the ultrasonic knife.

[0010] As a further improvement of the above technical solution:

[0011] Optionally, the end effector includes a first connecting member, which passes through the hole on the push-pull inner tube, the strip hole of the transducer mounting seat and the hole on the traction control member in sequence. The traction control member is connected to the first connecting member and can drive the first connecting member to slide in the strip hole and simultaneously pull the push-pull inner tube to slide back and forth axially.

[0012] Optionally, the transducer includes: an ultrasonic horn, a flange, a piezoelectric ceramic stack, and a rear cover plate, which are coaxially arranged in sequence and compressed by a pre-tightening member;

[0013] The ultrasonic horn is a single component and includes a base cylinder, a nose cylinder, and a knife rod cylinder with diameters from large to small. The front portion of the knife rod cylinder is an ultrasonic knife. The ultrasonic knife is arc-shaped and has multiple cutting surfaces and a cutting edge defined by the multiple cutting surfaces.

[0014] The flange includes an annular body and a plurality of lugs arranged on the annular body, the thickness of the plurality of lugs is less than the thickness of the annular body, the annular body has an outer diameter and an inner diameter of the same size as the piezoelectric ceramic stack, and the position of one of the lugs corresponds to the position of the cutting edge.

[0015] The present application also provides an ultrasonic surgical instrument, comprising the above-mentioned end effector, the ultrasonic surgical instrument comprising a deflection assembly, the deflection assembly comprising a deflection seat, a fixed seat, and a deflection traction control member, the rear end of the transducer mounting seat being fixed in the inner hole of the deflection seat by a pin, the fixed outer tube being coaxially fixed to the front end of the deflection seat, the deflection seat being pivotally connected to the fixed seat, the distal end of the deflection traction control member being hinged to the deflection seat, the deflection traction control member being capable of pulling the deflection seat to swing left and right relative to the fixed seat, and the traction control member passing through the axial through holes of the deflection seat and the fixed seat.

[0016] As a further improvement of the above technical solution:

[0017] Optionally, the deflection seat includes a deflection seat lower seat and a deflection seat cover plate, and the deflection seat lower seat and the deflection seat cover plate are fixed together and form an axial through hole therebetween; the fixed seat includes a fixed seat lower seat and a fixed seat cover plate, and the extension arm at the front end of the fixed seat lower seat and the extension arm at the front end of the fixed seat cover plate can be pivotally connected to the protrusion of the deflection seat lower seat and the protrusion of the deflection seat cover plate respectively, and the fixed seat lower seat and the fixed seat cover plate are fixed together and form an axial through hole therebetween.

[0018] Optionally, the deflection traction control member includes a first traction control member and a second traction control member, and the distal ends of the first traction control member and the second traction control member are hinged to the deflection seat lower seat or the deflection seat cover plate, and are symmetrically arranged on both sides of the axis of the deflection seat lower seat or the deflection seat cover plate.

[0019] Optionally, one of the deflection seat and the fixed seat has one or more positioning grooves arranged at a position coaxial with the transducer along the swing path, and the other of the deflection seat and the fixed seat is provided with a deflection limit assembly, and the deflection limit assembly is arranged in a receiving hole on the deflection seat or the fixed seat, and the deflection limit assembly includes a positioning column, an elastic member and a fastener, and the fastener closes one end of the receiving hole, one end of the elastic member abuts against the fastener, and the other end of the elastic member abuts against the positioning column, and the positioning column can abut against the corresponding positioning groove for limiting.

[0020] Optionally, it further includes a traction steering seat connected to the fixed seat, the traction steering seat has a limiting groove, and the traction control component passes through the limiting groove to limit the steering of the traction control component.

[0021] Optionally, the traction control member is a metal spring or a rope; when the traction control member is a rope, the clamping assembly further includes an elastic reset member, one end of the elastic reset member abuts against the push-pull inner tube, and the other end of the elastic reset member abuts against the deflection seat; when the rope is pulled, the elastic reset member is compressed, the push-pull inner tube moves axially backward, and drives the distal end of the clamping arm close to the ultrasonic knife; when the rope is loosened, the elastic reset member expands, the push-pull inner tube moves axially forward, and drives the distal end of the clamping arm away from the ultrasonic knife.

[0022] Optionally, the deflection traction control component is a traction rope, and a rope coiling rack is provided on the deflection seat. The traction rope is coiled on the rope groove of the rope coiling rack and distributed on both sides of the rope groove after coiling; when the left rope or the right rope of the traction rope is pulled, the deflection seat swings to the left or right.

[0023] Optionally, the deflection seat is a snake-bone tube, which includes at least two joints, each of which is hinged in sequence along the axial direction, and the deflection traction control component is a plurality of traction ropes, and the distal ends of the plurality of traction ropes are fixedly connected to the joints at the distal end of the snake-bone tube; when one of the traction ropes is pulled, the snake-bone tube bends toward the side of traction.

[0024] The beneficial effects of the end effector provided by this application are:

[0025] The end effector provided in this application comprises an ultrasonic transducer assembly and a clamping assembly. The ultrasonic transducer assembly comprises a transducer and a transducer mounting base. The front end of the transducer extends to form an ultrasonic scalpel, which extends from the front end of the transducer mounting base and is used to cut tissue using high-frequency vibration. The rear portion of the transducer mounting base is provided with a central slot extending axially and a strip-shaped hole extending perpendicularly to the central slot. The strip-shaped hole and the central slot form a cross-shaped structure. The clamping assembly comprises a push-pull inner tube, a fixed outer tube, a clamping arm, and a traction control member. The push-pull inner tube is slidably mounted on the outside of the transducer mounting base and can slide axially between the fixed outer tube and the transducer. The fixed outer tube is coaxially mounted on the outside of the push-pull inner tube and remains relatively fixed to the transducer. The traction control member is inserted through the central slot and fixedly connected to the push-pull inner tube, allowing axial movement within the central slot. When driven by an external force, the traction control member drives the push-pull inner tube to slide axially along the transducer mounting base, thereby controlling the opening and closing movement of the distal end of the clamping arm relative to the ultrasonic scalpel. The clamping arm works in synergy with the ultrasonic scalpel, which can not only stably clamp biological tissue but also achieve precise cutting through the high-frequency vibration of the ultrasonic scalpel. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0027] Figure 1 A schematic diagram of the three-dimensional structure of the end effector provided in this application;

[0028] Figure 2 A schematic diagram of the decomposed structure of the end effector provided for this application;

[0029] Figure 3 A partially enlarged structural diagram of the end effector provided in this application;

[0030] Figure 4 This is a schematic diagram of the left-biased structural state of the first end effector provided in this application;

[0031] Figure 5 This is a schematic diagram of the vertical state structure of the first end effector provided in this application;

[0032] Figure 6 This is a schematic diagram of the right-biased structural state of the first end effector provided in this application;

[0033] Figure 7 A schematic cross-sectional view of the deflection limiting assembly of the end effector provided in this application;

[0034] Figure 8 This is a schematic structural diagram of the deflection limit assembly of the end effector provided in this application when it is in a left-biased state;

[0035] Figure 9 This is a schematic structural diagram of the deflection limit assembly of the end effector provided in this application when it is in a right-deflected state;

[0036] Figure 10 A schematic cross-sectional view of the first end effector provided in this application;

[0037] Figure 11 A schematic diagram of the exploded structure of the second end effector provided in this application;

[0038] Figure 12 This is a schematic diagram of the left-biased structural state of the third end effector provided in this application;

[0039] Figure 13 A schematic diagram of the vertical state structure of the third end effector provided in this application;

[0040] Figure 14 This is a schematic diagram of the right-biased structural state of the third end effector provided in this application;

[0041] Figure 15 A schematic diagram of the three-dimensional structure of the ultrasonic surgical instrument provided in this application;

[0042] Figure 16 A schematic diagram of the exploded structure of the first ultrasonic transducer assembly provided in this application;

[0043] Figure 17 A schematic diagram of the three-dimensional structure of the first ultrasonic transducer assembly provided in this application;

[0044] Figure 18 This is a schematic diagram of the main structure of the flange of the ultrasonic transducer assembly provided in this application;

[0045] Figure 19 A schematic side view of the flange structure of the ultrasonic transducer assembly provided in this application;

[0046] Figure 20 A schematic diagram of the three-dimensional structure of the second ultrasonic transducer assembly provided in this application;

[0047] Figure 21 This is a schematic diagram of the three-dimensional structure of the third ultrasonic transducer assembly provided in this application.

[0048] Among them, the reference numerals in the figures are:

[0049] 1. Ultrasonic transducer assembly; 11. Transducer; 111. Ultrasonic horn; 1111. Base cylinder; 1112. Nose cylinder; 1113. Cylinder of shank; 112. Flange; 1121. Ring body; 1122. Lug; 113. Piezoelectric ceramic stack; 114. Back cover; 12. Transducer mounting base; 121. Strip hole; 122. Central slot; 13. Ultrasonic scalpel; 2. Clamping assembly; 21. Push-pull inner tube; 22. Fix outer tube; 23. Clamping arm; 2 4. Traction control member; 25. Elastic reset member; 3. First connecting member; 4. Deflection assembly; 41. Deflection seat; 411. Deflection seat lower seat; 412. Deflection seat cover; 42. Fixed seat; 421. Fixed seat lower seat; 422. Fixed seat cover; 43. Deflection traction control member; 431. First traction control member; 432. Second traction control member; 44. Rope coiling frame; 5. Deflection limit assembly; 51. Positioning column; 52. Elastic member; 53. Fastener; 6. Traction steering seat. DETAILED DESCRIPTION

[0050] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0051] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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 invention.

[0052] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0053] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0054] In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of the present invention.

[0055] In the following description, the direction close to the operator is generally defined as the proximal end, and the direction far from the operator is defined as the distal end.

[0056] The present invention will be further described in detail below through specific embodiments with reference to the accompanying drawings.

[0057] like Figure 1 and Figure 2 As shown, the present application provides an end effector for an ultrasonic surgical instrument. The end effector is suitable for linear ultrasonic surgical instruments and can also be used in deflectable surgical instruments, and has wide clinical application adaptability.

[0058] The end effector comprises an ultrasonic transducer assembly 1 and a clamping assembly 2. The ultrasonic transducer assembly 1 includes a transducer 11 and a transducer mounting base 12. The front end of the transducer 11 extends to form an ultrasonic scalpel 13, which extends beyond the front end of the transducer mounting base 12 and is used to vibrate and cut tissue at high frequencies. The rear portion of the transducer mounting base 12 is provided with an axially extending central slot 122 and a strip-shaped hole 121 extending perpendicularly to the central slot 122. The strip-shaped hole 121 and the central slot 122 form a cross-shaped structure.

[0059] The clamping assembly 2 includes a push-pull inner tube 21, a fixed outer tube 22, a clamping arm 23 and a traction control member 24. The push-pull inner tube 21 is slidably sleeved on the outside of the transducer mounting seat 12 and can slide axially between the fixed outer tube 22 and the transducer 11. The fixed outer tube 22 is coaxially sleeved on the outside of the push-pull inner tube 21 and remains relatively fixed with the transducer 11. Its front end is a tapered conical structure to optimize the passability of the instrument when entering the surgical area. The traction control member 24 is inserted through the central slot 122 and fixedly connected to the push-pull inner tube 21, and can move axially in the central slot 122. When the traction control member 24 is driven by an external force, it drives the push-pull inner tube 21 to slide axially along the transducer mounting seat 12, thereby controlling the opening and closing movement of the distal end of the clamping arm 23 relative to the ultrasonic knife 13. The length of the strip hole 121 limits the sliding stroke of the push-pull inner tube 21, ensuring that the motion range of the clamping arm 23 is controllable. The clamping arm 23 works in conjunction with the ultrasonic scalpel 13 to stably clamp biological tissue while achieving precise cutting through the high-frequency vibrations of the ultrasonic scalpel 13. The coordinated cooperation between the ultrasonic transducer assembly 1 and the clamping assembly 2 enables the end effector to perform both tissue clamping and ultrasonic cutting, making it suitable for a variety of minimally invasive surgical procedures.

[0060] like Figure 1 and Figure 2 As shown, in one embodiment of the present application, the end effector further includes a first connecting member 3, preferably a pin structure. The first connecting member 3 sequentially extends through the connection hole provided on the push-pull inner tube 21, the strip-shaped hole 121 of the transducer mounting base 12, and the corresponding hole in the traction control member 24, forming a mechanical linkage structure. The traction control member 24 is fixedly connected to the first connecting member 3. When the traction control member 24 is subjected to an axial force, it can cause the first connecting member 3 to slide along the extension direction of the strip-shaped hole 121. This sliding motion simultaneously drives the push-pull inner tube 21 to axially displace relative to the transducer mounting base 12, thereby controlling the opening and closing of the clamping arm 23. The length of the strip-shaped hole 121 limits the sliding travel of the first connecting member 3, thereby precisely controlling the axial movement range of the push-pull inner tube 21. This connection ensures highly reliable and accurate motion transmission between the push-pull inner tube 21 and the traction control member 24.

[0061] like Figure 3 As shown, in a specific embodiment of the present application, the transducer 11 includes an ultrasonic horn 111 , a flange 112 , a piezoelectric ceramic stack 113 , and a rear cover plate 114 , which are coaxially arranged in sequence and compressed by a pre-tightening member.

[0062] The preload element is a high-strength stainless steel preload screw, one end of which is connected to the internal thread of the ultrasonic horn 111. It passes through the flange 112, the piezoelectric ceramic stack 113, and finally presses against the rear cover 114. By screwing the preload element, the internal components can be axially compressed. This preload screw has good wear and corrosion resistance. Its main function is to accurately adjust the preload force between the various components within the transducer. By rotating it, the degree of compression between the flange 112, the piezoelectric ceramic stack 113, and the rear cover 114 can be changed, thereby achieving precise control of the working state of the piezoelectric ceramic stack 113.

[0063] The ultrasonic horn 111 is a one-piece structure, comprising a base cylinder 1111, a nose cylinder 1112, and a shank cylinder 1113—three cylindrical sections of successively decreasing diameter. The front end of the shank cylinder 1113 is curved, forming multiple cutting surfaces and cutting edges defined by these surfaces. Alternatively, the front end of the shank cylinder 1113 can be linear, with multiple cutting surfaces and cutting edges defined by these surfaces.

[0064] like Figure 18 and Figure 19 As shown, the flange 112 includes an annular body 1121 and a plurality of lugs 1122 disposed thereon. The thickness of the lugs 1122 can be the same as that of the annular body 1121. In a preferred embodiment, the thickness of the lugs 1122 is less than that of the annular body 1121. The outer diameter of the annular body 1121 is consistent with the outer diameter of the piezoelectric ceramic stack 113, and the inner diameter of the annular body 1121 is consistent with the inner diameter of the piezoelectric ceramic stack 113. This allows the transducer to have better acoustic impedance matching characteristics, enabling the transducer to generate a larger amplitude under the same current conditions and reducing the heat generated by the transducer. The lugs 1122 are used to match the corresponding mounting grooves when the flange 112 is assembled to improve the installation and positioning accuracy of the flange 112, and the thickness difference between the annular body 1121 and the lugs 1122 facilitates radial fixation during assembly. In particular, the position of one of the lugs 1122 corresponds to the cutting edge of the ultrasonic horn 111. The specific corresponding relationship is that the center line of the lug 1122, the center line of the cutting edge, and the center line of the entire transducer are substantially on the same straight line.

[0065] The piezoelectric ceramic stack 113 is made of high-performance piezoelectric material that has been polarized, and can efficiently convert electrical energy into ultrasonic vibration energy.

[0066] The rear cover plate 114 is used to absorb ultrasonic energy propagating backward, reduce energy reflection, support and protect the piezoelectric ceramic stack 113 , and improve acoustic impedance matching performance.

[0067] In a specific embodiment of the present application, the flange 112 is made of aluminum alloy. Compared to the titanium alloy used in the ultrasonic horn 111, aluminum alloy has a higher thermal conductivity, allowing the heat generated by the transducer during operation to be more efficiently transferred to the external structural housing, thereby achieving rapid heat dissipation and ensuring that the transducer maintains a stable operating state. In terms of manufacturing technology, the aluminum flange 112 requires a special heat treatment process after completing preliminary machining. Specifically, it includes two process stages: solution treatment and aging treatment to improve the mechanical properties of the flange 112, such as strength and hardness.

[0068] In one specific embodiment of the present application, the cylindrical nose portion 1112 of the ultrasonic horn 111 is provided with two symmetrical, parallel flat portions. The midlines of the two lugs 1122 lie on the extended midlines of the two flat portions. The two flat portions correspond to the concave and convex surfaces of the curved front portion, respectively. The cutting surface of the cutting edge is perpendicular to the extended plane of the flat portions, ensuring the optimal working orientation of the cutting edge during ultrasonic vibration.

[0069] like Figure 16 and Figure 17 As shown, in one specific embodiment of the present application, the piezoelectric ceramic stack 113 includes multiple piezoelectric ceramics, one positive electrode sheet or multiple positive electrode sheets connected in series, and one negative electrode sheet or multiple negative electrode sheets connected in series, interleaved between the multiple piezoelectric ceramics. The arrangement order is: negative electrode sheet, piezoelectric ceramic, positive electrode sheet, piezoelectric ceramic, negative electrode sheet... piezoelectric ceramic, negative electrode sheet. The piezoelectric ceramic is made of PZT-8 lead zirconate titanate (PbZrTiO3) material and has an outer diameter of 6 mm, an inner diameter of 2.5 mm, and a thickness of 2 mm.

[0070] The lead wires of a positive electrode sheet or multiple positive electrode sheets connected in series and a negative electrode sheet or multiple negative electrode sheets connected in series are all led out from a position close to the flange 112 to facilitate circuit connection and improve assembly reliability. It can also effectively prevent the lead wires from being broken due to welding or excessive mass and being at a place where the transducer amplitude is large, thereby ensuring stable operation of the transducer.

[0071] like Figure 21 、 Figure 20 and Figure 17As shown, in a specific embodiment of the present application, the number of piezoelectric ceramics can be flexibly configured according to different application requirements, such as 2, 4, or 6 pieces. The specific configuration scheme of piezoelectric ceramics and positive / negative electrode sheets includes but is not limited to: when 2 piezoelectric ceramics are used, the electrode sheet configuration scheme is 2 negative electrode sheets and 1 positive electrode sheet, or 1 negative electrode sheet and 2 positive electrode sheets; when 4 piezoelectric ceramics are used, the electrode sheet configuration scheme is 3 negative electrode sheets and 2 positive electrode sheets, or 2 negative electrode sheets and 3 positive electrode sheets; when 6 piezoelectric ceramics are used, the electrode sheet configuration scheme is 4 negative electrode sheets and 3 positive electrode sheets, or 3 negative electrode sheets and 4 positive electrode sheets. The piezoelectric ceramic stack can adapt to the application requirements of different power output and frequency characteristics, and select the optimal number of piezoelectric ceramic sheets and electrode configuration scheme.

[0072] like Figure 16 and Figure 17 As shown, in one specific embodiment of the present application, the lead wires of the positive electrode sheet include long strips of electrode sheets extending from the main body of the positive electrode sheet, and the lead wires of the negative electrode sheet also include long strips of electrode sheets extending from the main body of the negative electrode sheet. The total length of these extended long strips of electrode sheets is not less than the total axial length of the piezoelectric ceramic stack 113, so as to facilitate electrical connection with the terminals at the rear end of the transducer and avoid connection failure caused by insufficient electrode length.

[0073] In a specific embodiment of the present application, a positive electrode sheet or multiple positive electrode sheets connected in series, the bridging portion of each positive electrode sheet bracket, and the long strip electrode sheet extending from the positive electrode sheet are formed integrally with the following materials: a gold sheet, a silver sheet, a copper sheet or an aluminum sheet; or an aluminum sheet with gold, silver, or copper on the surface; or a copper sheet with gold or silver on the surface, so as to meet the requirements of its structural toughness and conductivity.

[0074] In a specific embodiment of the present application, a negative electrode sheet or multiple negative electrode sheets connected in series, the bridging portion of each negative electrode sheet bracket, and the long strip electrode sheet extending from the negative electrode sheet are integrally formed from the following materials: a gold sheet, a silver sheet, a copper sheet, or an aluminum sheet; or an aluminum sheet with gold, silver, or copper on the surface; or a copper sheet with gold or silver on the surface, so as to meet the requirements of its structural toughness and conductivity.

[0075] like Figure 16 and Figure 17As shown, in a specific embodiment of the present application, the rear cover plate 114 adopts a circular flat plate structure, and a circular hole is provided at the center of its rear end to accommodate and hide the head of the preloaded part. The rear cover plate 114 is made of high-density soft stainless steel material, which can absorb the backward-propagating ultrasonic energy generated by the piezoelectric ceramic stack 113, reduce energy reflection, thereby improving the working efficiency and operating stability of the transducer; at the same time, it provides necessary support and protection for the piezoelectric ceramic stack 113. The thickness selection of the rear cover plate 114 needs to balance the following factors: appropriately increasing the thickness is conducive to improving the ultrasonic energy absorption efficiency, but will lead to an increase in the overall weight and volume of the transducer; insufficient thickness will affect the energy absorption effect and may cause energy reflection problems.

[0076] In a specific embodiment of the present application, when the number of piezoelectric ceramics is 6, the total length of the ultrasonic transducer is less than or equal to 61mm; when the number of piezoelectric ceramics is 4, the total length of the ultrasonic transducer is less than or equal to 57mm; when the number of piezoelectric ceramics is 2, the total length of the ultrasonic transducer is less than or equal to 53mm. Compared with traditional ultrasonic transducers, this structure is more compact, ensuring that the transducer can achieve a large degree of directional adjustment after entering the human body, providing the necessary flexibility for surgical operations.

[0077] In a specific embodiment of the present application, the base cylinder 1111, the body of the flange 112, the piezoelectric ceramic stack 113, and the back cover 114 have the same outer diameter. The uniform outer diameter simplifies the assembly process and improves assembly efficiency. Secondly, it can also ensure that the various components naturally maintain coaxiality during the assembly process, avoiding assembly errors caused by dimensional deviations.

[0078] In one specific embodiment of the present application, the outer diameter of the piezoelectric ceramic stack 113 is 6mm, compared to the 8mm-25mm outer diameter range of conventional ultrasonic transducers. This reduces the overall size and enables the transducer to achieve ultrasonic vibration output with multiple degrees of freedom. The small size improves the transducer's flexibility, enabling multi-angle operation within confined surgical spaces. While ensuring output power, it meets the functional requirements of a multi-degree-of-freedom ultrasonic scalpel for precise cutting and effective coagulation in complex anatomical areas.

[0079] In a specific embodiment of the present application, each adjacent contact surface of the ultrasonic horn 111, flange 112, multiple piezoelectric ceramics, a positive electrode sheet or a series of positive electrode sheets, a negative electrode sheet or a plurality of series-connected negative electrode sheets, and the back cover 114 is coated with epoxy adhesive to enhance the connection stability of each contact part. In addition, the acoustic impedance matching characteristics of the contact interface of each component can be optimized to effectively reduce the impedance mismatch during the transmission of ultrasonic energy. Good acoustic impedance matching can improve the electromechanical coupling efficiency of the transducer and make the conversion of electrical energy to mechanical energy more complete. In addition, it also reduces the heat loss during the energy conversion process, effectively controls the operating temperature rise of the transducer, and ensures its stable operation during long-term surgery.

[0080] In a specific embodiment of the present application, the outer sides of the ceramic sheets and electrode sheets of the piezoelectric ceramic stack 113 are coated with insulating paint to effectively prevent surface discharge that may occur in the high-voltage electrodes during operation, thereby improving electrical safety; secondly, the insulating layer blocks the corrosion of the electrode material by the external environment, thereby enhancing the long-term reliability of the piezoelectric ceramic stack 113 in a humid surgical environment.

[0081] In a specific embodiment of the present application, the transducer needs to be heat-cured after assembly. The specific process parameters are: the assembled transducer is placed in a constant temperature oven and maintained at a temperature range of 60°C-100°C for 30-90 minutes to fully cure the epoxy adhesive and the insulating varnish, ensuring the bonding strength between the ultrasonic horn 111, the flange 112, the piezoelectric ceramic stack 113 and the back cover 114 and other components, and forming a uniform and dense insulating protective layer; and avoiding the thermal damage that high temperature may cause to the piezoelectric ceramics and electrode sheets. By precisely controlling the baking temperature and time parameters, it is ensured that the adhesive and the insulating varnish achieve the best curing effect, thereby ensuring the structural stability and electrical reliability of the transducer during long-term use.

[0082] In a specific embodiment of the present application, the base cylinder 1111 is provided with an internal thread for achieving a detachable connection with a transducer or other external components. The nose cylinder 1112 extends axially from the front end of the base cylinder 1111, and is provided with two symmetrical and mutually parallel flat portions on its circumferential surface. The flat portions are used to cooperate with the aluminum flange of the transducer to ensure the accurate positioning of the direction of the cutter head and facilitate pre-tightening during assembly. The arbor cylinder 1113 extends from the front end of the nose cylinder 1112, and its front portion is an arc-shaped structure. The arc-shaped structure can adjust the vibration mode of the cutter head so that bending vibration is superimposed on the longitudinal vibration, thereby forming a longer effective cutting line. Compared with traditional longitudinal vibration cutting, bending vibration can improve cutting efficiency. The arc-shaped front portion of the arbor cylinder 1113 is provided with a cutting blade defined by multiple cutting surfaces. Compared with traditional cylindrical blades, its blade width and cutting area are larger, and better coagulation and sealing effects can be obtained. The cutting surface where the cutting blade is located is perpendicular to the extension plane of the flat portion to accurately control the vibration direction of the arc front. It should be noted that the vertical relationship between the cutting surface where the cutting blade is located and the extension plane of the flat portion, in addition to being strictly limited to 90° intersection, has deviations within a certain angle range, such as 85° intersection or 100° intersection, etc., which are all equivalent replacements of plane angles and should also fall within the scope of protection of this application. The base cylinder 1111, the nose cylinder 1112 and the shank cylinder 1113 are integrally formed of metal materials to ensure the mechanical strength and vibration transmission efficiency of the overall structure, while avoiding energy loss due to connection gaps.

[0083] like Figure 1 and Figure 2 As shown, in a specific embodiment of the present application, the front portion of the arbor cylinder 1113 adopts an arc structure to increase the radial vibration of the cutter head and thereby realize two-dimensional composite vibration of the cutter head to achieve a better cutting effect.

[0084] In a specific embodiment of the present application, the arc-shaped front portion of the tool rod cylinder 1113 is provided with a specific cutting surface structure, including a convex cutting surface located on the convex surface of the arc and a concave cutting surface located on the concave surface of the arc. The arc radius of the convex cutting surface is 75 mm, and the arc radius of the convex cutting surface is 10 mm. When the arc radius is too large, the tool vibration mode will shift to short-wavelength bending vibration, which will not only reduce the energy transfer efficiency, but also produce obvious sharp noise; and when the arc radius is too small, the vibration mode will be too close to pure longitudinal vibration, resulting in insufficient cutting line length, affecting the actual cutting effect. This parameter selection not only ensures the working efficiency of the cutting blade of the tool head, but also reduces its working noise. The cutting blade is specifically cut by the side of the tool rod cylinder 1113 defined between the convex cutting surface and the concave cutting surface, thereby forming a double-sided cutting structure, so that the tool can use the convex and concave surfaces to perform cutting operations at the same time during the vibration process.

[0085] In a specific embodiment of the present application, the front end of the arc-shaped front part, that is, the position of the blade tip, is provided with a plurality of chamfers. Specifically, there is a chamfer R1 where the convex cutting surface meets the front end, a chamfer R2 where the concave cutting surface meets the front end, and a chamfer R3 where the cutting surface where the cutting edge is located meets the front end. The radius range of the aforementioned chamfers is controlled between 0.3mm and 1.5mm, so as to effectively reduce the risk of accidental damage to non-target tissues during surgery while ensuring cutting efficiency. It should be noted that when the chamfer radius is less than 0.3mm, its protective effect is insufficient; and when it exceeds 1.5mm, it will affect the sharpness of the cutting edge and the energy transfer efficiency. The synergistic effect of the three chamfers enables the ultrasonic scalpel to improve the safety of surgical operations while maintaining cutting performance.

[0086] In a specific embodiment of the present application, the width of the cutting blade ranges from 0.35mm to 0.45mm. The setting of this size range is based on the consideration of the balance between cutting speed and tissue closure effect: when the cutting blade width is in the range of 0.35mm to 0.40mm, its narrower blade structure is conducive to increasing the cutting speed; and when the width increases to the range of 0.40mm to 0.45mm, the increased blade contact area can significantly improve the tissue closure effect. Experimental data show that a width range of 0.38mm to 0.42mm can achieve the best balance between cutting efficiency and hemostatic effect. This parameter design allows the surgeon to select an appropriate cutting blade width according to specific surgical needs, while ensuring surgical efficiency and meeting the processing requirements of different tissue characteristics. By precisely controlling the width parameters of the cutting blade, this embodiment achieves adjustable optimization of cutting performance while maintaining the efficiency of ultrasonic vibration energy transmission.

[0087] In a specific embodiment of the present application, a conical transition portion is provided between the nose cylinder 1112 and the shank cylinder 1113. The transition portion adopts a gradual structure, wherein the base is connected to the nose cylinder 1112 having a diameter of 4.6 mm, and the tip forms a smooth transition with the shank cylinder 1113 having a diameter of 1.6 mm. The conical transition portion can effectively improve the stress distribution while adjusting the transducer amplitude ratio, reduce the stress concentration phenomenon at the connection between the nose cylinder 1112 and the shank cylinder 1113, and thus improve the structural reliability of the instrument during operation. In order to further enhance the vibration transmission efficiency, an amplitude step of a specific size can be provided between the base cylinder 1111 and the nose cylinder 1112, which can increase the output amplitude of the transducer without increasing the overall size.

[0088] In a specific embodiment of the present application, the ultrasonic horn 111 is specifically formed by one-piece molding of titanium alloy rods, or by 3D printing one-piece molding. In addition, the ultrasonic horn 111 is also heat treated and surface treated. The heat treatment process includes two stages: aging treatment and tempering treatment. By controlling parameters such as heating temperature, holding time and cooling rate, the microstructure of the titanium alloy material is optimized. The mechanical properties of the base cylinder 1111, the nose cylinder 1112 and the shank cylinder 1113 after heat treatment are significantly improved, and their tensile strength is improved while maintaining sufficient toughness. In addition, the heat treatment process also eliminates the residual stress generated during the processing process, so that the horn maintains dimensional stability during long-term use, ensuring the accurate transmission of ultrasonic vibration energy. The surface treatment includes sputtering coating process for the base cylinder 1111, the nose cylinder 1112 and the knife rod cylinder 1113, which can effectively reduce tissue adhesion during surgery, improve the biocompatibility of the knife head part, improve the corrosion resistance of the knife head, ensure the long-term stability and reliability of the components in the surgical environment, and provide solid guarantee for the stable operation of the transducer.

[0089] like Figure 15 As shown, the present application also provides an ultrasonic surgical instrument, including the end effector in the above embodiment, and also including a deflection assembly 4, through which the controllable deflection function of the end effector is realized.

[0090] like Figures 4 to 6 As shown, the deflection assembly 4 includes a deflection seat 41, a fixed seat 42, and a deflection traction control member 43. The rear end of the transducer mounting seat 12 is fixed to the inner hole of the deflection seat 41 by a pin, and the fixed outer tube 22 is coaxially fixedly connected to the front end of the deflection seat 41. The deflection seat 41 is rotatably engaged with the fixed seat 42 via a pivot connection structure, and the distal end of the deflection traction control member 43 is hingedly connected to the deflection seat 41. When the deflection traction control member 43 is subjected to traction, it can drive the deflection seat 41 to swing left and right relative to the fixed seat 42, thereby achieving directional deflection of the end effector. The traction control member 24 is disposed through the axial through-holes of the deflection seat 41 and the fixed seat 42, maintaining the transmission function of axial motion during the deflection process. The ultrasonic surgical instrument of the present application has a controllable end deflection capability while maintaining the tissue cutting function, thereby improving the flexibility and precision of the surgical operation.

[0091] like Figure 2As shown, in a specific embodiment of the present application, the deflection seat 41 adopts a split structural design, comprising a deflection seat lower seat 411 and a deflection seat cover plate 412. The deflection seat lower seat 411 and the deflection seat cover plate 412 are fixedly connected by fasteners, and when they cooperate, they form a complete axial through-hole structure. The fixed seat 42 also adopts a split structure, consisting of a fixed seat lower seat 421 and a fixed seat cover plate 422. The front end of the fixed seat lower seat 421 is provided with an extension arm, which is pivotally connected to the protrusion of the deflection seat lower seat 411. The front end of the fixed seat cover plate 422 is also provided with an extension arm, which is pivotally connected to the protrusion of the deflection seat cover plate 412. When the fixed seat lower seat 421 and the fixed seat cover plate 422 are fixedly connected by fasteners, a complete axial through-hole is formed between them. This split structural design facilitates the processing and assembly of various components, while ensuring a stable and reliable pivotal connection between the deflection seat 41 and the fixed seat 42. The provision of the axial through hole ensures that the traction control member 24 can smoothly pass through the entire assembly, thereby achieving effective force transmission.

[0092] like Figures 4 to 6 As shown, in a specific embodiment of the present application, the deflection traction control member 43 specifically includes a first traction control member 431 and a second traction control member 432. The distal ends of the first traction control member 431 and the second traction control member 432 are both hinged to the deflection seat lower seat 411 or the deflection seat cover plate 412, and the two are symmetrically arranged with the axis of the deflection seat lower seat 411 or the deflection seat cover plate 412 as the center of symmetry. This symmetrical dual-traction structure can ensure that the deflection seat 41 is subjected to balanced force during the left and right swing process, avoiding unstable deflection caused by unilateral force. The coordinated action of the first traction control member 431 and the second traction control member 432 can accurately control the swing angle and direction of the deflection seat 41, thereby improving the stability and controllability of the end effector's deflection movement.

[0093] like Figures 7 to 9 As shown, in a specific embodiment of the present application, one of the deflection seat 41 and the fixed seat 42 has one or more positioning grooves arranged along the swing path and at a position coaxial with the transducer 11, and the other of the deflection seat 41 and the fixed seat 42 is provided with a deflection limiting assembly 5. The deflection limiting assembly 5 is arranged in a receiving hole on the deflection seat 41 or the fixed seat 42, and the deflection limiting assembly 5 includes a positioning column 51, an elastic member 52 and a fastener 53. The fastener 53 closes one end of the receiving hole, and the two ends of the elastic member 52 respectively abut the fastener 53 and the positioning column 51, so that the positioning column 51 maintains an elastic pre-tightened state. When the deflection seat 41 swings relative to the fixed seat 42, the positioning column 51 forms an elastic fit with the corresponding positioning groove under the action of the elastic member 52, thereby limiting the swing angle. This structure can not only ensure the freedom of deflection movement, but also effectively control the deflection angle range, ensuring operational stability and safety.

[0094] like Figure 2 As shown, in one specific embodiment of the present application, the ultrasonic surgical instrument further includes a traction steering seat 6 connected to a fixed seat 42. The traction steering seat 6 has a limiting slot, through which the traction control member 24 is disposed. The limiting slot effectively constrains the motion trajectory of the traction control member 24, ensuring that it maintains the correct steering angle and direction during deflection. This limiting mechanism not only ensures the stability of the traction control member 24 during deflection, but also avoids control failure caused by trajectory deviation.

[0095] like Figure 10 As shown, in a specific embodiment of the present application, the traction control member 24 can be implemented in two ways: a metal spring or a rope. When the traction control member 24 adopts a rope structure, the clamping assembly 2 is also provided with an elastic reset member 25. One end of the elastic reset member 25 abuts against the push-pull inner tube 21, and the other end abuts against the deflection seat 41, forming an elastic support structure. During operation, when the traction rope is subjected to tension, the elastic reset member 25 is compressed and deformed, pushing the push-pull inner tube 21 to move axially backward, thereby driving the distal end of the clamping arm 23 toward the ultrasonic scalpel 13, thereby achieving the clamping function. When the tension of the traction rope is released, the elastic reset member 25 relies on its elastic restoring force to expand and reset, pushing the push-pull inner tube 21 to move axially forward, so that the distal end of the clamping arm 23 is away from the ultrasonic scalpel 13, completing the loosening action. Through the compression and expansion of the elastic reset member 25, the opening and closing movement between the clamping arm 23 and the ultrasonic scalpel 13 is achieved, ensuring the reliability and stability of the clamping operation. The provision of the elastic reset member 25 not only ensures timely response of the clamping action, but also avoids the problem of control failure caused by rope slack.

[0096] like Figure 11 As shown, in one embodiment of the present application, the deflection and traction control member 43 utilizes a traction rope structure. A rope coiling frame 44 is mounted on the deflection seat 41. This rope coiling frame 44 has a rope groove structure. The traction rope is coiled within the rope groove of the rope coiling frame 44 and evenly distributed on both sides of the rope groove after coiling. When the operator pulls the left traction rope, the traction rope is driven by the rope coiling frame 44, causing the deflection seat 41 to swing to the left. Similarly, when the right traction rope is pulled, the deflection seat 41 swings to the right.

[0097] like Figures 12 to 14As shown, in a specific embodiment of the present application, the deflection seat 41 is specifically adopted as a serpentine tube structure. The serpentine tube includes at least two segments, each segment is hinged in sequence along the axial direction, and the relative rotational freedom is maintained between the segments. The deflection traction control member 43 is composed of multiple traction ropes, and the distal ends of each traction rope are respectively fixedly connected to the segment at the farthest end of the serpentine tube. When a traction force is applied to one of the traction ropes, the traction force is transmitted through the hinge structure of the serpentine tube, causing the entire serpentine tube to produce controllable bending deformation toward the traction side, which can achieve precise bending control in multiple directions while maintaining the structural stability of each bending position. The hinge structure between each segment ensures a smooth transition of the bending movement and avoids the problem of local stress concentration.

[0098] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. An end effector, characterized in that: include: An ultrasonic transducer assembly (1) comprises a transducer (11) and a transducer mounting seat (12), wherein the front end of the transducer (11) is provided with an ultrasonic knife (13) extending out of the transducer mounting seat (12); a rear portion of the transducer mounting seat (12) is provided with a strip hole (121) and a central slot (122) extending in an axial direction, wherein the strip hole (121) is passed through in a direction perpendicular to the central slot (122); The clamping assembly (2) comprises a push-pull inner tube (21), a fixed outer tube (22) sleeved on the push-pull inner tube (21), a clamping arm (23) and a traction control member (24); the push-pull inner tube (21) is slidably sleeved on the transducer mounting seat (12); wherein, The traction control member (24) is inserted into the central slot (122) and connected to the push-pull inner tube (21), and the traction control member (24) can pull the push-pull inner tube (21) to slide axially, so that the distal end of the clamping arm (23) moves closer to or farther away from the ultrasonic knife (13).

2. The end effector according to claim 1, wherein: The invention comprises a first connecting member (3), wherein the first connecting member (3) passes through the hole on the push-pull inner tube (21), the strip hole (121) of the transducer mounting seat (12), and the hole on the traction control member (24) in sequence; the traction control member (24) is connected to the first connecting member (3) and can drive the first connecting member (3) to slide in the strip hole (121), and at the same time pull the push-pull inner tube (21) to slide forward and backward along the axial direction.

3. The end effector according to claim 1 or 2, characterized in that: The transducer (11) comprises: an ultrasonic horn (111), a flange (112), a piezoelectric ceramic stack (113), and a rear cover plate (114), which are coaxially arranged in sequence and compressed by a pre-tightening member; The ultrasonic horn (111) is a single component and comprises a base cylinder (1111), a nose cylinder (1112) and a knife rod cylinder (1113) with diameters from large to small, the front portion of the knife rod cylinder (1113) is an ultrasonic knife (13), and the ultrasonic knife (13) is arc-shaped and has multiple cutting surfaces and a cutting edge defined by the multiple cutting surfaces; The flange (112) includes an annular body (1121) and a plurality of lugs (1122) arranged on the annular body (1121), the thickness of the plurality of lugs (1122) is less than the thickness of the annular body (1121), the annular body (1121) has an outer diameter and an inner diameter of the same size as the piezoelectric ceramic stack (113), and the position of one of the lugs (1122) corresponds to the position of the cutting edge.

4. An ultrasonic surgical instrument comprising the end effector according to any one of claims 1 to 3, characterized in that: The ultrasonic surgical instrument includes a deflection assembly (4), the deflection assembly (4) includes a deflection seat (41), a fixed seat (42), and a deflection traction control member (43), the rear end of the transducer mounting seat (12) is fixed in the inner hole of the deflection seat (41) by a pin, the fixed outer tube (22) is coaxially fixed to the front end of the deflection seat (41), the deflection seat (41) is pivotally connected to the fixed seat (42), the distal end of the deflection traction control member (43) is hinged to the deflection seat (41), the deflection traction control member (43) can pull the deflection seat (41) to swing left and right relative to the fixed seat (42), and the traction control member (24) passes through the axial through holes of the deflection seat (41) and the fixed seat (42).

5. The ultrasonic surgical instrument according to claim 4, wherein: The deflection seat (41) comprises a deflection seat lower seat (411) and a deflection seat cover plate (412), wherein the deflection seat lower seat (411) and the deflection seat cover plate (412) are fixed together and an axial through hole is formed therebetween; the fixed seat (42) comprises a fixed seat lower seat (421) and a fixed seat cover plate (422), wherein an extension arm at the front end of the fixed seat lower seat (421) and an extension arm at the front end of the fixed seat cover plate (422) are pivotally connected to a protrusion of the deflection seat lower seat (411) and a protrusion of the deflection seat cover plate (412), respectively, and the fixed seat lower seat (421) and the fixed seat cover plate (422) are fixed together and an axial through hole is formed therebetween.

6. The ultrasonic surgical instrument according to claim 5, wherein: The deflection traction control member (43) includes a first traction control member (431) and a second traction control member (432). The distal ends of the first traction control member (431) and the second traction control member (432) are both hinged to the deflection seat lower seat (411) or the deflection seat cover plate (412), and are symmetrically arranged on both sides of the axis of the deflection seat lower seat (411) or the deflection seat cover plate (412).

7. The ultrasonic surgical instrument according to any one of claims 4 to 6, wherein: One of the deflection seat (41) and the fixed seat (42) is provided with one or more positioning grooves at a position coaxial with the transducer (11) along the swing path, and the other of the deflection seat (41) and the fixed seat (42) is provided with a deflection limiting assembly (5), and the deflection limiting assembly (5) is arranged in a receiving hole on the deflection seat (41) or the fixed seat (42), and the deflection limiting assembly (5) includes a positioning column (51), an elastic member (52) and a fastener (53), and the fastener (53) closes one end of the receiving hole, one end of the elastic member (52) abuts against the fastener (53), and the other end of the elastic member (52) abuts against the positioning column (51), and the positioning column (51) can abut against the corresponding positioning groove for limiting.

8. The ultrasonic surgical instrument according to any one of claims 4 to 6, wherein: It also includes a traction steering seat (6) connected to the fixing seat (42), the traction steering seat (6) having a limiting groove, and the traction control member (24) passes through the limiting groove to limit the steering of the traction control member (24).

9. The ultrasonic surgical instrument according to any one of claims 4 to 6, wherein: The traction control member (24) is a metal spring or a rope; when the traction control member (24) is a rope, the clamping assembly (2) further includes an elastic reset member (25), one end of the elastic reset member (25) abuts against the push-pull inner tube (21), and the other end of the elastic reset member (25) abuts against the deflection seat (41); when the rope is pulled, the elastic reset member (25) is compressed, the push-pull inner tube (21) moves axially backward, and drives the distal end of the clamping arm (23) close to the ultrasonic knife (13); when the rope is loosened, the elastic reset member (25) is unfolded, the push-pull inner tube (21) moves axially forward, and drives the distal end of the clamping arm (23) away from the ultrasonic knife (13).

10. The ultrasonic surgical instrument according to claim 4 or 5, characterized in that: The deflection traction control member (43) is a traction rope. A rope coiling frame (44) is provided on the deflection seat (41). The traction rope is coiled on a rope groove of the rope coiling frame (44) and distributed on both sides of the rope groove after coiling. When the left rope or the right rope of the traction rope is pulled, the deflection seat (41) swings to the left or right.

11. The ultrasonic surgical instrument according to claim 4, wherein: The deflection seat (41) is a serpentine tube, which includes at least two joints, each of which is hinged in sequence along the axial direction. The deflection traction control member (43) is a plurality of traction ropes, and the distal ends of the plurality of traction ropes are fixedly connected to the joints at the distal end of the serpentine tube; when one of the traction ropes is pulled, the serpentine tube bends toward the side being pulled.

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