In-vivo assemblable ultrasonic probe assembly and surgical robot system

Abstract

The utility model relates to the field of medical instruments, and discloses an in-vivo assemblable ultrasonic probe assembly and a surgical robot system. The ultrasonic probe assembly comprises an ultrasonic probe and a surgical tool, the ultrasonic probe comprises an ultrasonic transducer located at the far end and an assembling section connected with the ultrasonic transducer, the assembling section comprises a connecting feature, the surgical tool comprises an arm body and a tail end assembling body arranged at the far end of the arm body, and the tail end assembling body is used for being detachably connected with the connecting feature. The arm body is used for driving the ultrasonic probe to move. The ultrasonic probe is placed in the body, and the operation tool and the ultrasonic probe are controlled to complete in-vivo assembly, so that the operation tool carries the ultrasonic probe to flexibly move in the body, an ultrasonic image of an organ or an anatomical structure or a focus part in the body is obtained, and a faster and more accurate intraoperative image is provided for a doctor.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and particularly to an in-vivo assemblable ultrasonic probe assembly and a surgical robot system. Background Art

[0002] Minimally invasive surgical procedures cause less trauma to patients and have higher postoperative outcomes, and have occupied an important position in surgical operations. Existing robot-assisted minimally invasive surgical systems mainly adopt a master-slave remote operation mode. For example, an operator issues a motion command to a slave operating device on the patient side through a master manipulator on a master console to control the slave operating device to perform surgical treatment.

[0003] Intraoperative ultrasonic images can help doctors locate lesions, large blood vessels, and other anatomical structures. Mainly using an ultrasonic probe in cooperation with an ultrasonic diagnostic system, electrical energy and acoustic energy are converted to obtain ultrasonic images on the body surface and during surgery for diagnostic examinations. An ultrasonic beam is emitted to the patient through the probe, and ultrasonic images of internal organs are obtained by receiving and processing the reflected ultrasonic signals.

[0004] Existing ultrasonic imaging technologies generally use a relatively large external ultrasonic probe in contact with the patient's skin, and can only obtain ultrasonic images from outside the patient's body. It is impossible to obtain ultrasonic images near the lesion in some surgical procedures, and it is also impossible to obtain ultrasonic images of corresponding organs and anatomical structures for complex organs and anatomical structures that are difficult for the external ultrasonic probe to reach. Summary of the Utility Model

[0005] The present disclosure provides an in-vivo assemblable ultrasonic probe assembly, including:

[0006] An ultrasonic probe, including an ultrasonic transducer at the distal end and an assembly section connected to the ultrasonic transducer, the assembly section including connection features; and

[0007] A surgical tool, including an arm body and a distal end assembly body provided at the distal end of the arm body, the distal end assembly body being used for detachably connecting to the connection features, and the arm body being used for driving the ultrasonic probe to move.

[0008] In some embodiments, the ultrasonic probe includes a housing, the ultrasonic transducer is accommodated in the housing, and the connection features are formed on the housing or fixedly connected to the housing; and / or

[0009] The connection features include a groove structure or a hole structure for assembly; and / or

[0010] The distal end assembly body includes a clamping structure or a protruding structure for assembly.

[0011] In some embodiments, the connection features include:

[0012] Groove;

[0013] A clamping part, located within the groove, the clamping part including a first clamping surface and a second clamping surface facing away from each other; and

[0014] The end assembly includes:

[0015] A clamp base, connected to the distal end of the arm body; and

[0016] A first clamp body and a second clamp body, arranged at the distal end of the clamp base, the proximal end of the first clamp body and / or the second clamp body being hinged to the clamp base, the first clamp body and the second clamp body being configured to at least partially extend into the groove and respectively abut against the first clamping surface and the second clamping surface.

[0017] In some embodiments, the connection feature further includes: at least one limiting post, arranged on the first clamping surface and / or the second clamping surface;

[0018] The first clamp body and / or the second clamp body are provided with at least one through hole in the thickness direction, and the limiting post is configured to pass through the through hole for limiting.

[0019] In some embodiments, the groove extends inward along a direction perpendicular to the axis of the assembly section, or the groove extends inward along a direction at an angle to the axis of the assembly section.

[0020] In some embodiments, the clamping surfaces of the first clamp body and the second clamp body facing each other are provided with a concavo-convex texture structure; and / or

[0021] The first clamping surface and the second clamping surface are provided with a concavo-convex texture structure.

[0022] In some embodiments, the first clamp body is fixedly arranged at the distal end of the clamp base, and the second clamp body is hinged to the distal end of the clamp base so that the second clamp body can open and close with the first clamp body; or

[0023] The first clamp body and the first clamp body are pivotally connected to the distal end of the clamp base through a connecting pin and can open and close with each other.

[0024] In some embodiments, the clamp base includes at least a pair of oppositely arranged base chutes;

[0025] The end assembly further includes a rotating connecting pin and a driving connecting pin;

[0026] The second clamp body further includes a support member, the support member being symmetrically arranged on both sides of the proximal end of the second clamp body, and the support member being pivotally connected to the clamp base through the rotating connecting pin;

[0027] The support member includes a jaw chute, and at least one of the drive connection pins is slidably disposed through the at least one pair of base chutes and the jaw chute.

[0028] In some embodiments, the surgical tool further includes a drive wire and a slider;

[0029] The clamp base includes an internal cavity, the slider is slidably disposed in the internal cavity of the clamp base, and a distal end of the slider is connected to the drive connection pin;

[0030] A distal end of the drive wire is connected to a proximal end of the slider for driving the slider to reciprocate within the clamp base.

[0031] In some embodiments, the connection feature includes a threaded hole that extends radially inward along the assembly section;

[0032] The end assembly includes a screw for mating with the threaded hole;

[0033] The arm body has a degree of freedom of rolling about the axis of the arm body, and the arm body can roll about the axis of the arm body to thread the screw into the threaded hole.

[0034] In some embodiments, the connection feature includes:

[0035] A connection hole that extends radially inward along the assembly section, and a receiving groove is provided axially along the assembly section; and

[0036] An elastic ring located on a sidewall of the receiving groove, and at least a part of the elastic ring protrudes from the sidewall of the receiving groove;

[0037] The end assembly includes:

[0038] A connecting rod for inserting into the connection hole; and

[0039] An annular protrusion provided at an end of the connecting rod, the annular protrusion being configured to compress the elastic ring during insertion of the connecting rod into the connection hole and to be misaligned with the elastic ring to achieve a limit when the connecting rod is fully inserted into the connection hole, and the elastic ring abuts against the connecting rod.

[0040] In some embodiments, the surgical tool further includes a rotation mechanism disposed at a distal end of the arm body, the end assembly is fixedly disposed on the rotation mechanism, and the rotation mechanism is configured to drive the end assembly to rotate relative to the distal end of the arm body.

[0041] In some embodiments, the rotation mechanism includes:

[0042] A base, fixedly arranged at the distal end of the arm body, the base including a receiving space;

[0043] A rotating member, pivotally connected to the receiving space through a pin, the rotating member being fixedly connected or integrally formed with the proximal end of the end assembly, the rotating member being provided with a wire groove along the circumferential direction, and the proximal end of the base including at least one slot; and

[0044] A rotating mechanism driving wire, passing through the slot, wound in the wire groove, and the rotating mechanism driving wire being used to receive a pushing or pulling drive to drive the rotating member to rotate.

[0045] In some embodiments, the arm body includes an articulated arm body, and the articulated arm body includes:

[0046] An arm main body;

[0047] A bendable assembly, arranged at the distal end of the arm main body, and the bendable assembly being configured to drive the end assembly to bend or rotate relative to the arm main body.

[0048] In some embodiments, the bendable assembly includes:

[0049] A snake bone structure, the snake bone structure including a plurality of hollow bamboo joint-shaped bendable units connected end to end, and a radially bendable kinematic pair being formed between adjacent two of the bendable units through mutually nested connecting grooves and connecting protrusions; and

[0050] A plurality of arm body driving wires, penetrating and arranged in the snake bone structure, the distal ends of the arm body driving wires being fixedly connected to the distal end of the snake bone structure, the proximal ends of the plurality of arm body driving wires extending through the arm main body, and the plurality of arm body driving wires being used to drive the snake bone structure to bend in at least one degree of freedom.

[0051] In some embodiments, the arm body includes a continuum structure arm body, and the continuum structure arm body includes:

[0052] At least one distal continuum segment, the distal continuum segment including a plurality of distal structure bones, a distal base plate, a distal stop plate, and at least one distal spacer plate arranged between the distal base plate and the distal stop plate;

[0053] The distal ends of the plurality of distal structure bones are fixedly connected to the distal stop plate, the plurality of distal structure bones slidably pass through the at least one distal spacer plate and the distal base plate, and the proximal ends of the plurality of distal structure bones are used to receive a pushing or pulling drive to drive the distal continuum segment to move.

[0054] In some embodiments, the continuum structure arm body further includes:

[0055] At least one proximal continuum segment, the proximal continuum segment including a plurality of proximal structural bones, a proximal stop plate, a proximal base plate, and at least one proximal spacer plate disposed between the proximal base plate and the proximal stop plate;

[0056] The proximal ends of the plurality of proximal structural bones are fixedly connected to the proximal stop plate, the plurality of proximal structural bones are slidably connected to the at least one proximal spacer plate and the proximal base plate, the distal ends of the proximal structural bones are fixedly connected or integrally formed with the proximal ends of the corresponding distal structural bones among the plurality of distal structural bones, and the proximal ends of the plurality of proximal structural bones are configured to receive pushing or pulling driving to drive the movement of the proximal continuum segment.

[0057] The present disclosure also provides a surgical robot system, including:

[0058] A surgical trolley, including at least one robotic arm; and

[0059] The in-vivo assemblable ultrasonic probe assembly as described in any one of the embodiments of the present disclosure, wherein the surgical tool of the in-vivo assemblable ultrasonic probe assembly is disposed at the distal end of the at least one robotic arm.

[0060] In some embodiments, the equipment trolley includes a power source configured to connect to an ultrasonic probe in the in-vivo assemblable ultrasonic probe assembly to provide energy to an ultrasonic transducer of the ultrasonic probe.

[0061] Some embodiments of the present disclosure have one or more of the following beneficial effects: 1. By placing the ultrasonic probe in the body and controlling the in-vivo assembly of the surgical tool and the ultrasonic probe, the surgical tool can carry the ultrasonic probe to move dexterously in the body to obtain ultrasonic images of internal organs, anatomical structures, or lesion sites, providing doctors with more rapid and accurate intraoperative images; 2. By changing the inclination angle of the connection features on the ultrasonic probe, the ultrasonic probe and the end assembly can be assembled and connected in different postures to improve the applicability of the in-vivo assemblable ultrasonic probe assembly to meet more application scenarios; 3. A rotation mechanism is provided to drive the end assembly to rotate relative to the distal end of the arm body to adjust the relative angle between the ultrasonic probe and the surgical tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following will briefly introduce the drawings required for the description of the embodiments of the present disclosure. The drawings in the following description only show some embodiments of the present disclosure. For those of ordinary skill in the art, other embodiments can be obtained based on the content of the embodiments of the present disclosure and these drawings without creative efforts.

[0063] Figure 1Shows a partial structural schematic diagram of an in-vivo assemblable ultrasonic probe assembly according to some embodiments of the present disclosure;

[0064] Figure 2 Shows a structural schematic diagram of an ultrasonic probe and a surgical tool during the assembly process according to some embodiments of the present disclosure;

[0065] Figure 3A Shows a partial structural schematic diagram of an ultrasonic probe according to some embodiments of the present disclosure;

[0066] Figure 3B Shows a side view of an ultrasonic probe according to some embodiments of the present disclosure;

[0067] Figure 4A Shows a structural schematic diagram of an ultrasonic probe and a distal end assembly in a connected posture according to some embodiments of the present disclosure;

[0068] Figure 4B Shows a structural schematic diagram of an ultrasonic probe and a distal end assembly in another connected posture according to some embodiments of the present disclosure;

[0069] Figure 4C Shows a structural schematic diagram of an ultrasonic probe and a distal end assembly in another connected posture according to some embodiments of the present disclosure;

[0070] Figure 5A Shows a partial three-dimensional structural schematic diagram of a distal end assembly according to some embodiments of the present disclosure;

[0071] Figure 5B Shows a side view of a first jaw body and a second jaw body in an open state according to some embodiments of the present disclosure;

[0072] Figure 5C Shows a top view of a first jaw body and a second jaw body in a closed state according to some embodiments of the present disclosure;

[0073] Figure 6A Shows a partial structural schematic diagram of another in-vivo assemblable ultrasonic probe assembly according to some embodiments of the present disclosure;

[0074] Figure 6B Shows Figure 6A the structural schematic diagram of the ultrasonic probe and the surgical tool during the assembly process in;

[0075] Figure 7A Shows a partial cross-sectional structural schematic diagram of another in-vivo assemblable ultrasonic probe assembly according to some embodiments of the present disclosure;

[0076] Figure 7B Shows Figure 7A the structural schematic diagram of the ultrasonic probe and the surgical tool during the assembly process in;

[0077] Figure 8A Shows a schematic structural diagram of an ultrasonic probe and a surgical tool during the assembly process according to some embodiments of the present disclosure;

[0078] Figure 8B Shows a schematic structural diagram of an ultrasonic probe and a surgical tool at an angle according to some embodiments of the present disclosure;

[0079] Figure 8C Respectively show schematic structural diagrams of an ultrasonic probe and a surgical tool at another angle according to some embodiments of the present disclosure;

[0080] Figure 9A Shows a schematic structural diagram of the cooperation between a rotating mechanism and a distal end assembly according to some embodiments of the present disclosure;

[0081] Figure 9B Shows a schematic longitudinal sectional view of the cooperation between a rotating mechanism and a distal end assembly according to some embodiments of the present disclosure;

[0082] Figure 9C Shows another schematic longitudinal sectional view of the cooperation between a rotating mechanism and a distal end assembly according to some embodiments of the present disclosure;

[0083] Figure 10 Shows a schematic structural diagram of the connection between a rotating member and a distal end assembly according to some embodiments of the present disclosure;

[0084] Figure 11 Shows a schematic structural diagram of a bendable assembly according to some embodiments of the present disclosure;

[0085] Figure 12A Shows a schematic structural diagram of a bending unit according to some embodiments of the present disclosure;

[0086] Figure 12B Shows a schematic structural diagram of the cooperation between adjacent bending units according to some embodiments of the present disclosure;

[0087] Figure 13 Shows a schematic structural diagram of a continuum structure surgical tool according to some embodiments of the present disclosure;

[0088] Figure 14 Shows a schematic structural diagram of a distal continuum segment according to some embodiments of the present disclosure;

[0089] Figure 15 Shows a schematic structural diagram of a driving mechanism according to some embodiments of the present disclosure;

[0090] Figure 16 Shows a schematic structural diagram of a surgical robot system according to some embodiments of the present disclosure.

[0091] 1000. Ultrasonic probe assembly that can be assembled in vivo;

[0092] 100, ultrasonic probe; 110, ultrasonic transducer; 120, assembly section; 121, connection feature; 1211, groove; 1211a, upper groove; 1211b, lower groove; 1212, clamping part; 1213, first clamping surface; 1214, second clamping surface; 1215, limiting post; 130, housing; 131, through hole; 140, cable;

[0093] 200, surgical tool; 210, arm body; 212, bendable assembly; 213, snake bone structure; 2131, bending unit; 2132, connection groove; 2133, connection protrusion; 220, end assembly; 221, clamp base; 2211, base chute; 2212, connection part; 2213, base bracket; 2214, connection hole; 222, first clamp body; 223, second clamp body; 2231, support; 2232, clamp head chute; 2233, connection hole; 2234, through hole; 224, rotating connection pin; 225, driving connection pin; 230, driving wire;

[0094] 2000, in-vivo assemblable ultrasonic probe assembly;

[0095] 300, ultrasonic probe; 320, assembly section; 321, connection feature; 3211, threaded hole;

[0096] 400, surgical tool; 410, arm body; 411, distal continuum segment; 4111, distal structural bone; 4112, distal base plate; 4113, distal stop plate; 4114, distal spacer plate; 411a-b, first and second distal continuum segments 4111a-b, first and second distal structural bones; 4112a, distal base plate; 4113a-b, first and second distal stop plates; 4114a-b, first and second distal spacer plates; 421, proximal continuum segment; 4211, proximal structural bone; 4212, proximal base plate; 4213, proximal stop plate; 4214, proximal spacer plate; 4215, proximal drive structural bone; 420, end assembly; 421, screw; 430, bracket;

[0097] 3000, in-vivo assemblable ultrasonic probe assembly;

[0098] 500, ultrasonic probe; 520, assembly section; 521, connection feature; 5211, connection hole; 5212, receiving groove; 5213, elastic ring; 5214, tapered surface;

[0099] 600, Surgical instrument; 610, Arm body; 620, End effector assembly; 621, Connecting rod; 622, Annular protrusion; 650, Rotating mechanism; 651, Base; 6511, Slot; 652, Rotating member; 6521, Wire groove; 6522, Connecting hole; 6523, Wire groove hole; 653, Rotating mechanism driving wire

[0100] 10, Surgical robot system; 11, Surgical trolley; 101, Robot arm; 102, Driving mechanism; 1021, First driving mechanism; 1022, Second driving mechanism; 1023, Bracket; 1024, Lead screw; 1025, Slide block; 1026, Motor; 1027, Coupling; 1028, Sleeve; 12, Main control trolley; 1201, Main operator; 13, Equipment trolley Detailed implementation manners

[0101] To make the technical problems solved, the technical solutions adopted, and the technical effects achieved by the present disclosure clearer, 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

[0102] In the description of the present disclosure, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present disclosure 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 thus cannot be understood as a limitation to 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 defined and limited, the terms "installed", "connected", "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 directly connected or indirectly connected through an intermediate medium; it can be the internal communication of 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 specific circumstances. In the present disclosure, the end close to the operator (such as a doctor) is defined as the proximal end, the proximal part, the rear end, or the rear part, and the end close to the surgical patient is defined as the distal end, the distal part, the front end, or the front part. Those skilled in the art can understand that the embodiments of the present disclosure can be used for medical devices or surgical robots, or can also be used for other non-medical devices

[0103] Figure 1 Showing a partial structural schematic diagram of an in-vivo assemblable ultrasonic probe assembly 1000 according to some embodiments of the present disclosure Figure 2Shows a schematic structural diagram of an ultrasonic probe 100 and a surgical tool 200 during the assembly process according to some embodiments of the present disclosure. Among them, Figure 1 the surgical tool 200 and the ultrasonic probe 100 are in a state where the assembly is completed, Figure 2 the surgical tool 200 and the ultrasonic probe 100 are in a state ready for connection and assembly. As Figure 1 and Figure 2 shown, the ultrasonic probe assembly 1000 that can be assembled in the body may include an ultrasonic probe 100 and a surgical tool 200. The ultrasonic probe 100 may include an ultrasonic transducer 110 located at the distal end and an assembly section 120 connected to the ultrasonic transducer 110. The assembly section 120 may include a connection feature 121. It should be understood that the ultrasonic transducer 110 is used to transmit and receive ultrasonic signals. In some embodiments, the ultrasonic probe 100 further includes a cable 140 connected to the ultrasonic transducer 110. The cable 140 extends from the distal end to the proximal end and is used to connect to an imaging system outside the body. For example, after the ultrasonic probe 100 enters the human body, ultrasonic beams can be generated in the body, and the reflected ultrasonic signals are converted into electrical signals and transmitted to the imaging system outside the body through the cable 140 to realize the output of intraoperative ultrasonic images. By placing the ultrasonic probe 100 in the body, ultrasonic images of lesions or anatomical structures that cannot be reached by an external ultrasonic probe can be obtained.

[0104] In some embodiments, as Figure 1 and Figure 2 shown, the surgical tool 200 may include an arm body 210 and a terminal assembly 220 provided at the distal end of the arm body 210. The terminal assembly 220 is used to detachably connect to the connection feature 121, and the arm body 210 is used to drive the ultrasonic probe 100 to move. Those skilled in the art should understand that the connection feature 121 may include any connectable structure, and the embodiments disclosed in the present disclosure are merely examples rather than limitations. In some embodiments, the connection feature 121 may include a groove structure or a hole structure for assembly, and the terminal assembly 220 may include a clamping structure or a protruding structure for assembly. The connection feature 121 is clamped by the clamping structure of the terminal assembly 220, or the protruding structure of the terminal assembly 220 is adaptively connected to the groove structure or the hole structure to realize the assembly of the surgical tool 200 and the ultrasonic probe 100.

[0105] It should be understood that the surgical tool 200 can move in multiple degrees of freedom. During the surgical procedure, the ultrasonic probe 100 can be inserted into the patient's body through an incision or opening, and the movement of the arm body 210 of the surgical tool 200 can be controlled to move the distal assembly 220 to an appropriate assembly angle to detachably connect with the connection feature 121 of the ultrasonic probe 100, realizing the in-vivo assembly of the surgical tool 200 and the ultrasonic probe 100. After the assembly is completed, the ultrasonic probe 100 is carried by the surgical tool 200 to move dexterously in the body, obtaining ultrasonic images of internal organs, anatomical structures or lesion sites in the body, providing more rapid and accurate intraoperative images for the doctor.

[0106] In some embodiments, such as Figure 1 and Figure 2 shown, the ultrasonic probe 100 may include a housing 130, and the ultrasonic transducer 110 is accommodated in the housing 130. The proximal section of the housing 130 forms an assembly section 120, and the connection feature 121 is formed on the housing 130 or fixedly connected to the housing. It should be understood that the connection feature 121 can also be a separate part, fixedly arranged on the ultrasonic probe 100 (such as the outer surface of the housing 130) by screws. In some embodiments, such as Figure 1 shown, a through hole 131 is provided at the proximal end of the housing 130, and the cable 140 passes through the through hole 131 of the housing 130 and is hermetically connected to the circumference of the through hole 131.

[0107] Figure 3A and Figure 3B respectively show partial schematic structural views of the ultrasonic probe 100 according to some embodiments of the present disclosure

[0108] and side views. In some embodiments, such as Figure 3A and Figure 3B shown, the connection feature 121 may include a groove 1211

[0109] and a clamping portion 1212. The clamping portion 1212 is located in the groove 1211. The clamping portion 1212 may include a first clamping surface 1213 and a second clamping surface 1214 that face away from each other. For example, the assembly section 120 may be columnar, and the groove 1211 extends inwardly on the opposite upper outer peripheral surface and lower outer peripheral surface of the assembly section 120 (as shown by the arrows in Figure 3B the upward arrow direction is the upper outer peripheral surface direction, and the downward arrow direction is the lower outer peripheral surface direction), to form a middle clamping portion 1212 and upper and lower grooves 1211a and 1211b on both sides of the clamping portion 1212. The bottoms of the upper groove 1211a and the lower groove 1211b respectively form the first clamping surface 1213 and the second clamping surface 1214. In some embodiments, such as Figure 3AAs shown, the groove 1211 can be located on one side of the outer peripheral surface of the assembly section 120, and the length of the groove 1211 extending inward in the radial direction of the assembly section 120 is less than half of the radial dimension of the assembly section 120. In this way, the influence on the measurement accuracy of the ultrasonic probe can be minimized as much as possible.

[0110] Figure 4A , Figure 4B and Figure 4C respectively show schematic structural diagrams of the ultrasonic probe 100 and the end assembly 220 in different connection postures according to some embodiments of the present disclosure. As Figure 4A , Figure 4B and Figure 4C shown, the groove 1211 of the ultrasonic probe 100 can be at different inclination angles respectively. In some embodiments, as Figure 4A shown, the angle formed by the groove 1211 and the axis A of the assembly section 120 can be a right angle, and the groove 1211 can extend inward in a direction perpendicular to the axis A of the assembly section 120, so that the ultrasonic probe 100 and the end assembly 220 of the surgical tool 200 are connected in a vertical posture. In some embodiments, as Figure 4B and Figure 4C shown, the groove 1211 can extend inward in a direction forming an angle with the axis A of the assembly section 120. It should be understood that the angle formed by the groove 1211 and the axis of the assembly section 120 can be a right angle, an acute angle or an obtuse angle, and the specific angle can be set according to actual needs and is not limited here. By changing the angle between the groove 1211 and the axis of the assembly section 120, the ultrasonic probe 100 and the end assembly 220 can be assembled and connected in different postures, so as to improve the applicability of the ultrasonic probe assembly 1000 that can be assembled in the body and meet more application scenarios.

[0111] Figure 5A , Figure 5B and Figure 5CPartial perspective schematic view, side view with the first jaw 222 and the second jaw 223 in the open state, and top view in the closed state of the end effector 220 according to some embodiments of the present disclosure are respectively shown. In some embodiments, the end effector 220 may include a clamp base 221, a first jaw 222, and a second jaw 223. The clamp base 221 is connected to the distal end of the arm body 210, and the first jaw 222 and the second jaw 223 are disposed at the distal end of the clamp base 221. In some embodiments, the proximal ends of the first jaw 222 and the second jaw 223 are hinged to the clamp base 221, or the proximal end of one of the first jaw 222 and the second jaw 223 is hinged to the clamp base 221. The first jaw 222 and the second jaw 223 are configured to at least partially extend into the groove 1211 and abut against the first clamping surface 1213 and the second clamping surface 1214 respectively. It should be understood that the distal portions of the first jaw 222 and the second jaw 223 may extend into the groove 1211. For example, the first jaw 222 extends into the upper groove 1211a, the clamping surface of the first jaw 222 opposite to the second jaw 223 abuts against the first clamping surface 1213, the second jaw 223 extends into the lower groove 1211b, and the clamping surface of the second jaw 223 opposite to the first jaw 222 abuts against the second clamping surface 1214. After the assembly is completed, the first jaw 222 and the second jaw 223 are always kept in the clamping state, so that the surgical tool 200 can carry the ultrasonic probe 100 to move in the body without falling off.

[0112] In some embodiments, as Figure 3B shown, the connecting feature 121 may further include at least one limiting post 1215. For example, the limiting posts 1215 may be respectively disposed on the first clamping surface 1213 and the second clamping surface 1214. It should be understood that the limiting posts 1215 may be disposed on the first clamping surface 1213 or the second clamping surface 1214. Figure 3B shows that one limiting post 1215 is respectively disposed on the first clamping surface 1213 and the second clamping surface 1214. It should be understood that the number of the limiting posts 1215 on the first clamping surface 1213 and the second clamping surface 1214 may also be multiple, which is not limited herein. At least one through hole (such as the through hole 2234) is provided in the first jaw 222 or the second jaw 223 along the thickness direction, or at least one through hole (such as the through hole 2234) is respectively provided in the first jaw 222 and the second jaw 223 along the thickness direction. The limiting post 1215 is configured to pass through the through hole 2234 for limiting. The limiting posts 1215 are respectively disposed on the first clamping surface 1213 and the second clamping surface 1214, and one through hole 2234 is respectively provided in the first jaw 222 and the second jaw 223. The through hole in the first jaw 222 is in Figure 5AIt is not shown in the figure. For example, when the first jaw body 222 and the second jaw body 223 at least partially extend into the groove 1211 and abut against the first clamping surface 1213 and the second clamping surface 1214 respectively, the position-limiting posts 1215 on the first clamping surface 1213 and the second clamping surface 1214 respectively pass through the through holes 2234 and abut against the inner wall at the distal end of the through holes 2234 to axially limit the first jaw body 222 and the second jaw body 223, which can prevent the ultrasonic probe 100 from slipping off the end assembly 220 and ensure the stability and reliability of the assembly connection.

[0113] In some embodiments, as Figure 5A shown, the clamping surfaces of the first jaw body 222 and the second jaw body 223 facing each other may be provided with concave-convex texture structures. In some embodiments, the first clamping surface 1213 and the second clamping surface 1214 may be provided with concave-convex texture structures. In some embodiments, the clamping surfaces of the first jaw body 222 and the second jaw body 223 facing each other and the first clamping surface 1213 and the second clamping surface 1214 may be provided with concave-convex texture structures. It should be understood that by providing the concave-convex texture structures, the friction force on the clamping surface can be increased to prevent the ultrasonic probe 100 from slipping off the end assembly 220.

[0114] In some embodiments, as Figure 5A shown, the first jaw body 222 is fixedly arranged at the distal end of the jaw base 221, such as by welding, bonding or integral molding. The second jaw body 223 is hinged to the distal end of the jaw base 221 so that the second jaw body 223 and the first jaw body 222 can open and close. In some embodiments, the first jaw body 222 and the second jaw body 223 are pivotally connected to the distal end of the jaw base 221 through a connecting pin and can open and close with each other.

[0115] In some embodiments, as Figure 5A shown, the jaw base 221 includes at least a pair of oppositely arranged base chutes 2211. It should be understood that the base chutes 2211 may be a pair of axial chutes that are radially opposite to each other and axially extend. For example, the base chutes 2211 may be oval chutes. In some embodiments, the jaw base 221 may include a connecting portion 2212 at the proximal end and base brackets 2213 circumferentially spaced apart at the distal end of the connecting portion 2212. The base brackets 2213 may be oppositely arranged, and the base chutes 2211 may be relatively formed on the base brackets 2213 (such as the side walls) respectively. The connecting portion 2212 and the base brackets 2213 may be fixedly connected or integrally molded. In some embodiments, the connecting portion 2212 may be in a tubular shape, and the cross-section may be circular, oval, rectangular or polygonal, etc. An internal cavity extending axially is formed inside the connecting portion 2212. As Figure 5AAs shown, a threaded structure may be provided on the outer peripheral surface of the connecting portion 2212 to be threadedly connected to the distal end of the arm body 210 of the surgical tool 200, so as to achieve a detachable connection between the clamp base 221 and the arm body 210, facilitating the replacement or cleaning and disinfection of the end assembly 220. By providing circumferentially spaced base brackets 2213, the hollow structure at the distal end of the clamp base 221 is increased, reducing the internal voids and shielding area, so as to facilitate the cleaning of the distal end of the surgical tool 200 and the end assembly 220.

[0116] In some embodiments, as Figure 5A and Figure 5B shown, the end assembly 220 further includes a rotating connection pin 224 ( Figure 5A not shown in []) and a driving connection pin 225. The second clamp body 223 further includes a support member 2231, and the support members 2231 are symmetrically arranged on both sides of the proximal end of the second clamp body 223. The support member 2231 is pivotally connected to the clamp base 221 (such as the base bracket 2213) through the rotating connection pin 224. For example, connection holes 2233 are respectively provided at the distal ends of the support members 2231, and corresponding connection holes 2214 are provided on the clamp base 221 (such as the base bracket 2213). The rotating connection pin 224 is inserted through the connection hole 2233 of the support member 2231 and the connection hole 2214 of the clamp base 221, so that the support member 2231 is pivotally connected to the clamp base 221. In some embodiments, the support member 2231 includes a clamp head sliding groove 2232, and at least one driving connection pin 225 is slidably inserted through at least a pair of base sliding grooves 2211 and the clamp head sliding groove 2232. For example, the clamp head sliding groove 2232 may be an arc-shaped sliding groove, which are arranged opposite to each other on the support member 2231. The contour line of the arc-shaped sliding groove may be composed of one or more arcs. By adjusting the curvature of the arc, the clamping force output by the surgical tool 200 can be adjusted. Those skilled in the art should understand that the contour line of the arc-shaped sliding groove may also be formed by multiple straight line segments to approximate an arc. By driving the driving connection pin 225 to reciprocally slide along the clamp head sliding groove 2232 and the base sliding groove 2211, the second clamp body 223 is driven to open and close relative to the first clamp body 222.

[0117] In some embodiments, the clamp base 221 may include two pairs of oppositely arranged base sliding grooves 2211, and a pair of driving connection pins 225 are respectively slidably inserted through the two pairs of base sliding grooves 2211, and one of the driving connection pins 225 is also slidably inserted through the clamp head sliding groove 2232. By driving a pair of driving connection pins 225 to slide along the base sliding grooves 2211, the driving connection pin 225 inserted through the clamp head sliding groove 2232 can also reciprocally move along the base sliding grooves 2211, so as to drive the second clamp body 223 to open and close relative to the first clamp body 222. By providing two pairs of base sliding grooves 2211, the driving can be made more stable.

[0118] In some embodiments, the surgical tool may further include a drive wire 230 and a slider (not shown in the figure). The clamp base 221 may include an internal cavity, the slider is slidably disposed in the internal cavity of the clamp base 221, the distal end of the slider is connected to the drive connection pin 225, and the distal end of the drive wire 230 is connected to the proximal end of the slider for driving the slider to reciprocate within the clamp base 221 to drive the drive connection pin 225 to reciprocate through the slider. In some embodiments, the drive wire 230 may be a nitinol wire or a steel wire. By pushing and pulling the drive wire 230 to drive the drive connection pin 225, and by driving one clamp body to move while the other clamp body is fixedly arranged, the drive structure can be simplified. Therefore, it can be widely applied to various minimally invasive surgeries, especially in minimally invasive surgical robots, such as laparoscopic surgical robots.

[0119] Figure 6A FIG. shows a partial structural schematic diagram of an in-vivo assemblable ultrasonic probe assembly 2000 according to some embodiments of the present disclosure. Figure 6B FIG. shows a structural schematic diagram of an ultrasonic probe 300 and a surgical tool 400 during the assembly process according to some embodiments of the present disclosure. Among them, Figure 6A in FIG., the surgical tool 400 and the ultrasonic probe 300 are in a state of being assembled. Figure 6B in FIG., the surgical tool 400 and the ultrasonic probe 300 are in a state of being ready to be connected and assembled. As Figure 6A and Figure 6B shown, the connection feature 321 of the ultrasonic probe 300 may include a threaded hole 3211, and the threaded hole 3211 extends radially inward along the assembly section 320. The end assembly 420 may include a screw 421, and the screw 421 is used to cooperate with the threaded hole 3211. The arm body 410 has a degree of freedom of rolling around the axis of the arm body 410, and the arm body 410 can roll around the axis of the arm body 410 to thread the screw 421 with the threaded hole 3211.

[0120] Figure 7A FIG. shows a partial cross-sectional structural schematic diagram of an in-vivo assemblable ultrasonic probe assembly 3000 according to some embodiments of the present disclosure. Figure 7B FIG. shows a structural schematic diagram of an ultrasonic probe 500 and a surgical tool 600 during the assembly process according to some embodiments of the present disclosure. Among them, Figure 7A in FIG., the surgical tool 600 and the ultrasonic probe 500 are in a state of being assembled. Figure 7B in FIG., the surgical tool 600 and the ultrasonic probe 500 are in a state of being ready to be connected and assembled. As Figure 7A and Figure 7BAs shown, the connection feature 521 of the ultrasonic probe 500 may include a connection hole 5211 and an elastic ring 5213. The connection hole 5211 may extend radially inward along the assembly section 520. It should be understood that the position of the connection hole 5211 may be set at a position convenient for the scanning surface of the ultrasonic probe 500 to scan. For example, the scanning surface of the ultrasonic probe 500 may be located on the lower outer peripheral surface of the ultrasonic probe 500, and the connection hole 5211 may be provided on the side peripheral surface of the assembly section 520. In some embodiments, the connection hole 5211 is provided with a receiving groove 5212 along the axial direction of the assembly section 520. The elastic ring 5213 is located on the side wall of the receiving groove 5212, and at least a part of the elastic ring 5213 protrudes from the side wall of the receiving groove 5212.

[0121] In some embodiments, the end assembly 620 may include a connecting rod 621 and an annular protrusion 622. The connecting rod 621 is used to be inserted into the connection hole 5211, and the annular protrusion 622 is provided at the end of the connecting rod 621. It should be understood that the radial dimension of the annular protrusion 622 is larger than the radial dimension of the connecting rod 621. The annular protrusion 622 is used to compress the elastic ring 5213 during the process of inserting the connecting rod 621 into the connection hole 5211, so that the part of the elastic ring 5213 protruding from the side wall of the receiving groove 5212 moves into the receiving groove 5212, and when the connecting rod 621 is completely inserted into the connection hole 5211, the annular protrusion 622 is misaligned with the elastic ring 5213 to achieve limit, and the elastic ring 5213 abuts against the connecting rod 621 to limit the radial movement of the connecting rod 621. In some embodiments, as Figure 7A shown, the bottom of the connection hole 5211 may include a tapered surface 5214. When the connecting rod 621 is completely inserted into the connection hole 5211, the annular protrusion 622 abuts against the tapered surface 5214 to limit the axial movement of the connecting rod 621.

[0122] Figure 8A Fig. shows a schematic structural diagram of the ultrasonic probe 500 and the surgical tool 600 during the assembly process according to some embodiments of the present disclosure. Figure 8B and Figure 8C respectively show schematic structural diagrams of the ultrasonic probe 500 and the surgical tool 600 at different angles according to some embodiments of the present disclosure. In some embodiments, the surgical tool (such as the surgical tools 200, 400, 600) may further include a rotating mechanism. For the sake of simplicity of description, the ultrasonic probe 500 and the surgical tool 600 are taken as examples. As Figure 8A 、 8BAs shown in FIGS. 8C, the rotating mechanism 650 is disposed at the distal end of the arm body 610 (or arm bodies 210, 410), and the end assembly 620 (or end assemblies 220, 420) can be fixedly disposed on the rotating mechanism 650. The rotating mechanism 650 is used to drive the end assembly 620 to rotate relative to the distal end of the arm body 610 to adjust the relative angle between the ultrasonic probe 500 (or ultrasonic probes 100, 300) and the surgical tool 600 (or surgical tools 200, 400). For example, Figure 8B and Figure 8C as shown, the relative angle can refer to the angle of the axis of the ultrasonic probe 500 relative to the axis of the distal end of the arm body 610.

[0123] Figure 9A 、 Figure 9B and Figure 9C respectively show a schematic structural diagram and a longitudinal sectional view of the cooperation between the rotating mechanism 650 and the end assembly 620 according to some embodiments of the present disclosure. Figure 10 shows a schematic structural diagram of the connection between the rotating member 652 and the end assembly 620 according to some embodiments of the present disclosure. Among them, Figure 9B in [a certain figure], the end assembly 620 is located at a position coincident with the axis of the rotating mechanism 650, Figure 9C in [another certain figure], the end assembly 620 is located at an angle with the axis of the rotating mechanism 650. In some embodiments, such as Figure 9A 、 Figure 9B and Figure 9C as shown, the rotating mechanism 650 can include a base 651, a rotating member 652, and a rotating mechanism driving wire 653. The base 651 is fixedly disposed at the distal end of the arm body 610 (or arm bodies 210, 410), and the base 651 can include a receiving space. For example, the cross-section of the base 651 can be generally in a U-shaped structure. The rotating member 652 is pivotally connected to the receiving space through a pin, and the rotating member 652 is fixedly connected or integrally formed with the proximal end of the end assembly 620 (or 220, 420).

[0124] In some embodiments, such as Figure 10 as shown, the rotating member 652 can be columnar, including a connection hole 6522 penetrating along the axis. The connection hole 6522 is used for a pin to pass through and pivotally connect the rotating member 652 to the receiving space of the base 651. The rotating member 652 is provided with a wire groove 6521 along the circumferential direction. The proximal end of the base 651 includes at least one slot hole 6511. The rotating mechanism driving wire 653 passes through the slot hole 6511 and is wound in the wire groove 6521. The rotating mechanism driving wire 653 is used to receive a push or pull drive to drive the rotating member 652 to rotate, so as to drive the end assembly 620 to rotate through the rotating member 652. In some embodiments, the wire groove 6521 can be disposed at the middle position of the rotating member 652 along the axis and extend along the circumferential direction. Such as Figure 10As shown, the proximal end of the terminal assembly 620 is fixedly connected or integrally formed at the intermediate position of the rotating member 652 along the axial direction. The connection between the terminal assembly 620 and the rotating member 652 includes a wire groove hole 6523. The wire groove 6521 provided circumferentially on the rotating member 652 is connected to the wire groove hole 6523 in a penetrating manner. The rotating mechanism driving wire 653 passes through the wire groove hole 6523 and is wound circumferentially around the rotating member 652. The rotating mechanism driving wire 653 is used to receive a push or pull drive to drive the rotating member 652 to rotate around the axis of the rotating member 652, so as to drive the terminal assembly 620 to rotate around the axis of the rotating member 652. In some embodiments, the rotating member 652 may include a pulley assembly, and the pulley assembly may be installed on the side of the terminal assembly 620. The rotating mechanism driving wire 653 is wound around the pulley assembly and is used to receive a push or pull drive to drive the pulley assembly to rotate, so as to drive the terminal assembly 620 to rotate through the pulley assembly.

[0125] It should be understood that by providing a rotating mechanism between the arm body of the surgical tool (for example, the arm bodies 210, 410, 610 of the surgical tool) and the terminal assembly (for example, the terminal assemblies 220, 420, 620), after the terminal assembly and the ultrasonic probe are assembled and connected, the relative posture between the ultrasonic probe and the end of the surgical tool (for example, the base 651 of the rotating mechanism) can be adjusted through the rotating mechanism while keeping the arm body of the surgical tool stationary.

[0126] In some embodiments, the arm body (for example, the arm bodies 210, 410, 610) may include an articulated arm body. The articulated arm body may include an arm main body and a bendable component (for example, the bendable component 212). The bendable component is provided at the distal end of the arm main body and is configured to drive the terminal assembly (for example, the terminal assemblies 220, 420, 620) to bend or rotate relative to the arm main body. For example, the bendable component may include, for example, a corrugated pipe, a snake bone structure, a combined structure of a rod and a joint, etc. It should be understood that the bendable component includes but is not limited to the above structures, and any bendable structure belongs to the protection scope of the present disclosure.

[0127] Figure 11 The structural schematic diagram of the bendable component 212 according to some embodiments of the present disclosure is shown. In some embodiments, as Figure 11 shown, the bendable component 212 may include a snake bone structure 213. Figure 12A The structural schematic diagram of the bending unit 2131 according to some embodiments of the present disclosure is shown, Figure 12B The structural schematic diagram of the cooperation of adjacent bending units 2131 according to some embodiments of the present disclosure is shown. As Figure 11 、 Figure 12A and Figure 12BAs shown, in some embodiments, the bendable assembly 212 may include a snake bone structure 213 and a plurality of arm body drive wires (not shown in the figure). The snake bone structure 213 may include a plurality of hollow bamboo joint-shaped bending units 2131 connected end to end. A radially bendable kinematic pair is formed between two adjacent bending units 2131 through mutually nested connection grooves 2132 and connection protrusions 2133. A plurality of arm body drive wires may be disposed through the snake bone structure 213. The distal ends of the arm body drive wires are fixedly connected to the distal end of the snake bone structure 213. The proximal ends of the plurality of arm body drive wires extend through the arm main body. The plurality of arm body drive wires are used to receive push or pull drives to drive the snake bone structure 213 to bend in at least one degree of freedom. By pushing, pulling, or synergistically pushing or pulling the plurality of arm body drive wires, the bending direction of the snake bone structure 213 is adjusted to achieve the bending of the bendable assembly 212 in multiple degrees of freedom directions.

[0128] Figure 13 FIG. shows a schematic structural view of a continuum structure surgical tool according to some embodiments of the present disclosure. Figure 14 FIG. shows a schematic structural view of a distal continuum segment 411 according to some embodiments of the present disclosure. In some embodiments, the arm body (such as arm bodies 210, 410, 610) of the continuum structure surgical tool may include a continuum structure arm body. For simplicity of description, the arm body 410 is taken as an example. As Figure 13 and Figure 14 shown, the continuum structure arm body 410 may include at least one distal continuum segment 411. The distal continuum segment 411 may include a plurality of distal structure bones 4111, a distal base plate 4112, a distal stop plate 4113, and at least one distal spacer plate 4114 disposed between the distal base plate 4112 and the distal stop plate 4113. The distal ends of the plurality of distal structure bones 4111 are fixedly connected to the distal stop plate 4113. The plurality of distal structure bones 4111 slidably pass through at least one distal spacer plate 4114 and the distal base plate 4112. The proximal ends of the plurality of distal structure bones 4111 are used to receive push or pull drives to drive the distal continuum segment 411 to move. It should be understood that the plurality of distal structure bones 4111 may be distributed at radially opposite positions. By synergistically pushing or pulling two structure bones at opposite positions, the distal continuum segment 411 is driven to bend. In some embodiments, as Figure 13 and Figure 14As shown, the distal stop plate 4113 can be fixedly connected to the proximal end of the end assembly 420 of the surgical tool 400. For example, the distal base plate 4112, at least one distal spacer plate 4114, and the distal stop plate 4113 can be spaced apart. Corresponding through holes are respectively provided on each plate and are circumferentially spaced apart. Multiple distal structural bones 4111 can slide through the through holes on the distal spacer plate 4114 and the distal base plate 4112. In some embodiments, the shapes of the distal base plate 4112, the distal stop plate 4113, and the distal spacer plate 4114 can be suitable structures such as annular structures, disc-shaped structures, etc., and the cross-section can be various shapes such as circular, rectangular, polygonal, etc. Multiple distal spacer plates 4114 are spaced apart to enhance the stability of the multiple distal structural bones 4111 when being pushed or pulled. Those skilled in the art can understand that the number of distal spacer plates 4114 included in the distal continuum segment 411 can be any suitable number, which is not limited herein.

[0129] In some embodiments, as Figure 13 shown, the continuum structure arm body 410 can further include at least one proximal continuum segment 421. The proximal continuum segment 421 includes multiple proximal structural bones 4211, a proximal stop plate 4213, a proximal base plate 4212, and at least one proximal spacer plate 4214 disposed between the proximal base plate 4212 and the proximal stop plate 4213. The proximal ends of the multiple proximal structural bones 4211 are fixedly connected to the proximal stop plate 4213. The multiple proximal structural bones 4211 are slidably connected to at least one proximal spacer plate 4214 and the proximal base plate 4212. The distal ends of the proximal structural bones 4211 are fixedly connected or integrally formed with the proximal ends of the corresponding distal structural bones among the multiple distal structural bones 4111. The proximal ends of the multiple proximal structural bones 4211 are used to receive the drive of pushing or pulling to drive the movement of the proximal continuum segment 421.

[0130] Those skilled in the art should understand that the proximal base plate 4212 can be fixedly arranged, for example, fixedly arranged on the bracket 430, or the proximal base plate 4212 can be integrally formed with the bracket 430 or be a part of the bracket 430. The proximal ends of multiple proximal structural bones 4211 can be circumferentially distributed along the proximal stop plate 4213 and fixedly connected to the proximal stop plate 4213. The proximal structural bones 4211 can be evenly spaced circumferentially along the proximal stop plate 4213, or can be symmetrically spaced non-uniformly. For example, the proximal base plate 4212, at least one proximal spacer plate 4214 and the proximal stop plate 4213 can be spaced apart, and through holes distributed at intervals along the circumference are respectively provided on each plate. Multiple proximal structural bones 4211 can slide through the through holes on the proximal spacer plate 4214 and the proximal base plate 4212 and are fixedly connected or integrally formed with the proximal ends of the corresponding distal structural bones 4111 at the distal end. It should be understood that the shapes of the proximal base plate 4212, the proximal stop plate 4213 and the proximal spacer plate 4214 can be suitable structures such as annular structures and disc-shaped structures, and the cross-section can be various shapes such as circular, rectangular, polygonal, etc. By providing the proximal spacer plate 4214 and the distal spacer plate 4114, the instability of the structural bones during pushing and pulling can be prevented, and the movement accuracy and stability of the continuum link are increased. It should be understood that the proximal structural bone 4211 and / or the distal structural bone 4111 can include elastic thin rods or thin tubes made of superelastic materials, such as nickel-titanium alloy materials.

[0131] In some embodiments, the proximal continuum link 421 can further include multiple proximal driving structural bones (not shown in the figure). The proximal ends of the proximal driving structural bones can be fixedly connected to the proximal stop plate 4213. The proximal driving structural bones pass through at least one proximal spacer plate 4214 and the proximal base plate 4212, and the distal ends are connected to at least one driving mechanism (such as the driving mechanism 102) to place the driving mechanism forward (in the direction closer to the distal end), so as to achieve a close arrangement of the driving mechanism and the proximal continuum link 421 and reduce the size of the surgical tool. It should be understood that the proximal ends of the proximal driving structural bones can also be fixedly connected to the proximal base plate 4212. The proximal driving structural bones pass through at least one proximal spacer plate 4214 and the proximal stop plate 4213, and the proximal ends are connected to at least one driving mechanism (such as the driving mechanism 102) to place the driving mechanism backward (in the direction closer to the proximal end). By the driving mechanism, two relatively positioned proximal driving structural bones are pushed and pulled in cooperation to drive the proximal continuum link 421 to bend, and the distal continuum link 411 is driven to bend by the proximal continuum link 421. For example, the diameter of the proximal driving structural bone can be larger than that of the proximal structural bone 4211 to avoid breakage of the proximal driving structural bone during pushing and pulling and increase the service life of the surgical tool. It should be understood that the diameter of the proximal driving structural bone can also be equal to or smaller than the diameter of the proximal structural bone 4211.

[0132] It should be understood that multiple proximal drive structure bones are circumferentially spaced along the proximal continuum. For example, each pair of proximally opposed proximal drive structure bones is spaced at an angle of 180°. The servo motors in the drive mechanism can simultaneously drive each pair of proximal drive structure bones to control each pair of proximal drive structure bones to be pushed and pulled by the same amount to achieve precise control. By making the sizes of the proximal continuum segments 421 of different surgical tools the same so as to mount different surgical tools onto the same drive mechanism, drive modularity can be achieved.

[0133] In some embodiments, as Figure 14 shown, at least one distal continuum segment 411 may include a first distal continuum segment 411a and a second distal continuum segment 411b, and the second distal continuum segment 411b may be disposed distally of the first distal continuum segment 411a. The first distal continuum segment 411a may include multiple first distal structure bones 4111a, a first distal stop plate 4113a, a first distal base plate 4112a, and at least one first distal spacer plate 4114a disposed between the first distal base plate 4112a and the first distal stop plate 4113a. The distal ends of the multiple first distal structure bones 4111a are fixedly connected to the first distal stop plate 4113a, slide through at least one first distal spacer plate 4114a and the first distal base plate 4112a, and the proximal ends may be connected to at least one drive mechanism (such as drive mechanism 102). By the partial drive mechanism cooperating to push and pull the multiple first distal structure bones 4111a, the first distal continuum segment 411a is driven to bend. It should be understood that the proximal ends of the multiple first distal structure bones 4111a may also be connected to the proximal structure bones 4211 of the proximal continuum segment 421, and by driving the proximal continuum segment 421 to bend, the distal continuum segment 411a is driven to bend.

[0134] The second distal continuum segment 411b may include a plurality of second distal structural bones 4111b, a second distal end plate 4113b, a second distal base plate (it should be understood that the second distal base plate is the first distal end plate 4113a), and at least one second distal spacer plate 4114b disposed between the second distal base plate and the second distal end plate 4113b. The distal ends of the plurality of second distal structural bones 4111b are fixedly connected to the second distal end plate 4113b. The plurality of second distal structural bones 4111b slidably pass through at least one second distal spacer plate 4114b and the second distal base plate (or the first distal end plate 4113a), and the proximal ends are fixedly connected or integrally formed with the distal ends of the plurality of proximal structural bones 4211. By the partial drive mechanism, the plurality of proximal drive structural bones or the proximal structural bones 4211 are pushed and pulled cooperatively to drive the proximal continuum segment 421 to bend, and the distal continuum segment 411b is driven to bend by the proximal continuum segment 421. It should be understood that the proximal ends of the plurality of second distal structural bones 4111b may also be connected to the proximal structural bones 4211 of the proximal continuum segment 421, and the distal continuum segment 411b is driven to bend by driving the proximal continuum segment 421 to bend.

[0135] It should be understood that the distal structural bones 4111a or 4111b can be directly pushed and pulled by a partial drive mechanism (such as the drive mechanism 102) to drive the distal continuum segment 411a or 411b to bend, and the proximal continuum segment 421 is driven to bend by the partial drive mechanism to drive the distal continuum segment 411a or 411b to bend. For example, the continuum structure arm body 410 may not include the proximal continuum segment 421, and the proximal ends of the distal structural bones 4111a and the distal structural bones 4111b are directly connected to the drive mechanism, and the first distal continuum segment 411a and the distal continuum segment 411b are respectively driven to bend by the drive mechanism.

[0136] Figure 15 A schematic structural diagram of the drive mechanism 102 according to some embodiments of the present disclosure is shown. In some embodiments, the drive mechanism 102 may include a first drive mechanism 1021. As Figure 15 , the first drive mechanism 1021 is connected to the proximal end of a surgical tool (such as surgical tools 200, 400, 600). In some embodiments, a plurality of distal structural bones 4111 ( Figure 15 not shown, for example Figure 14The distal structural bones 4111a and / or 4111b) and / or multiple proximal drive structural bones and / or multiple proximal structural bones 4211 are connected to the first drive mechanism 1021. For example, the first drive mechanism 1021 may include a plurality of double-headed screw assemblies, and each double-headed screw assembly may include a double-headed screw and a pair of sliders threadedly connected to the two threaded segments of the double-headed screw. The double-headed screw can be driven to rotate, so as to drive a pair of sliders to move in opposite directions at the same speed. The pair of sliders may be connected to a pair of symmetric distal structural bones 4111 (such as distal structural bone 4111a or distal structural bone 4111b) or proximal structural bones 4211 or proximal drive structural bones, so as to push and pull a pair of symmetric distal structural bones 4111 or proximal structural bones 4211 or proximal drive structural bones, drive the bending of the distal continuum segment 411 or drive the bending of the proximal continuum segment 421 to drive the bending of the distal continuum segment 411.

[0137] In some embodiments, such as Figure 15As shown, the drive mechanism 102 may further include a second drive mechanism 1022. The second drive mechanism 1022 is connected to the arm body 410 (or arm bodies 210, 610) of the surgical tool through the first drive mechanism 1021, and is used to drive the arm body 410 to feed or retract, so as to realize the feeding or retracting of the surgical tool 400 in the patient's body and further drive the ultrasonic probe (such as ultrasonic probes 100, 300, 500) to feed or retract in the patient's body; or in the case where the surgical tool 400 is not connected to the ultrasonic probe, realize the entry or exit of the surgical tool 400 into or out of the patient's body. In some embodiments, the second drive mechanism 1022 may be a linear drive mechanism for driving the linear movement of the arm body 410. In some embodiments, the second drive mechanism 1022 may include a pedestal and a driving part. The pedestal may be used to support the first drive mechanism 1021, and the driving part is used to drive the pedestal to move forward or backward. In some embodiments, the second drive mechanism 1022 may include a bracket 1023 with a chute, and a lead screw 1024 is rotatably arranged on the bracket 1023. A slider 1025 is sleeved on the lead screw 1024 as the pedestal. The slider 1025 is in threaded cooperation with the lead screw 1024 and is slidably arranged in the chute of the bracket 1023. A motor 1026 as the second drive unit may be arranged at one end of the bracket 1023, and the output shaft of the motor 1026 may be fixedly connected to the lead screw 1024 through a coupling 1027. In some embodiments, the slider 1025 further includes a sleeve 1028 for installing the proximal end of the arm body 410 (such as the proximal bracket 430). The sleeve 1028 may be installed on the slider 1025, or the sleeve 1028 may also be integrally formed with the slider 1025. The motor 1026 drives the lead screw 1024, thereby driving the slider 1025 and the sleeve 1028 to linearly move along the chute, and thus the feeding movement of the arm body 410 and the end assembly 420 arranged on the arm body 410 can be realized. Those skilled in the art can understand that the second drive mechanism 1022 is not limited to the above structure, as long as it is a drive mechanism that can realize the feeding movement of the surgical tool, it does not depart from the scope of the present disclosure.

[0138] Some embodiments of the present disclosure also provide a surgical robot system. Figure 16 The structural schematic diagram of the surgical robot system 10 according to some embodiments of the present disclosure is shown. As Figure 16As shown, the surgical robot system 10 may include a surgical trolley 11. The surgical trolley 11 may include at least one robotic arm 101 and an in-vivo mountable ultrasonic probe assembly according to any one of some embodiments of the present disclosure (e.g., in-vivo mountable ultrasonic probe assemblies 1000, 2000, 3000). It should be understood that the robotic arm 101 may include a plurality of movable joints and linkages, having multiple degrees of freedom, and surgical tools (e.g., surgical tools 200, 400, 600) are detachably disposed at the distal end of the robotic arm 101, and the robotic arm 101 is used to adjust the position and orientation of the end of the surgical tool (e.g., the end assembly). At least one robotic arm 101 of the surgical trolley 11 may carry at least one surgical tool (e.g., surgical tools 200, 400, 600), and the surgical tool may be assembled in vivo with an ultrasonic probe (e.g., ultrasonic probes 100, 300, 500). In some embodiments, by controlling the movement of at least one robotic arm 101, the pose of the surgical tool (e.g., surgical tools 200, 400, 600) in the in-vivo mountable ultrasonic probe assembly can be adjusted, and further the pose of the ultrasonic probe (e.g., ultrasonic probes 100, 300, 500) in the mountable ultrasonic surgical tool assembly can be adjusted.

[0139] In some embodiments, the surgical robot system 10 may further include a main control trolley 12. The surgical trolley 11 and the main control trolley 12 may be connected by a wired transmission or a wireless transmission method. During the operation, the user controls the surgical tool 200 (or surgical tools 400, 600) and / or the imaging tool (e.g., endoscope) included in the surgical trolley 11 to perform operations by operating the main operator 1201 included in the main control trolley 12. The surgical trolley 11 is usually located on the patient side and performs surgical operations on the patient in response to the control instructions of the main control trolley 12. In some embodiments, the user can also control the opening and closing of the jaws (e.g., the first jaw 222 and / or the second jaw 223) of the surgical tool 200 in the in-vivo mountable ultrasonic probe assembly by operating the main operator 1201.

[0140] In some embodiments, the surgical robot system 10 may further include an equipment trolley 13. The equipment trolley 13 may include a power supply (not shown in the figure), and the power supply is used to connect to the ultrasonic probes (e.g., ultrasonic probes 100, 300, 500) in the in-vivo mountable ultrasonic probe assembly to provide energy for the ultrasonic transducers of the ultrasonic probes.

[0141] In some embodiments, the surgical trolley 11 of the surgical robot system 10 may further include at least one driving mechanism 102. At least one driving mechanism 102 may be disposed between at least one surgical tool 200 (or surgical tools 400, 600) and at least one robotic arm 101. As Figure 16As shown, the operating cart 11 may include a single robotic arm 101, and a plurality of drive mechanisms 102 may be provided on the robotic arm 101. Those skilled in the art can understand that the operating cart may also include a plurality of robotic arms, and one or more drive mechanisms may be provided on each robotic arm, which is not specifically limited herein. Those skilled in the art can understand that the surgical robot 10 provided in this embodiment may be any suitable surgical robot including a laparoscopic surgical robot.

[0142] When performing laparoscopic surgery with a surgical robot, surgical instruments often need to enter the patient's body through a sheath. With the in-vivo assemblable ultrasonic probe assembly provided by the present disclosure (for example, the in-vivo assemblable ultrasonic probe assemblies 1000, 2000, 3000), the ultrasonic probe can be pre-inserted into the patient's body before setting the sheath, and the ultrasonic probe does not need to occupy the channel for surgical instruments to enter the patient's body included in the sheath. Based on this, the piezoelectric ceramic with a larger size and volume can be used for the ultrasonic transducer in the ultrasonic probe, which is beneficial to improving the output power of the ultrasonic transducer.

[0143] Note that the above are only exemplary embodiments of the present disclosure and the technical principles applied. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments here, and various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the protection scope 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 only. Without departing from the concept of the present disclosure, more other equivalent embodiments may be included, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. An in vivo installable ultrasound probe assembly, characterized in that: include: An ultrasound probe, comprising an ultrasound transducer at a distal end and an assembly section connected to the ultrasound transducer, the assembly section comprising a connection feature; as well as A surgical tool, comprising an arm body and a terminal assembly disposed at the distal end of the arm body, wherein the terminal assembly is used to be detachably connected to the connection feature, and the arm body is used to drive the ultrasonic probe to move; The connection feature includes a groove structure or a hole structure for assembly.

2. The in vivo installable ultrasound probe assembly according to claim 1, characterized in that: The ultrasound probe comprises a shell, the ultrasound transducer is accommodated in the shell, and the connection feature is formed on the shell or fixedly connected to the shell; and / or The end assembly includes a clamping structure or a protruding structure for assembly.

3. The in vivo installable ultrasound probe assembly according to claim 2, characterized in that: The connection features include: Grooves; a clamping portion, located in the groove, the clamping portion comprising a first clamping surface and a second clamping surface which are away from each other; and The terminal assembly comprises: a clamp base connected to the distal end of the arm; and The first pliers body and the second pliers body are arranged at the distal end of the clamp base, and the proximal ends of the first pliers body and / or the second pliers body are hinged to the clamp base. The first pliers body and the second pliers body are used to at least partially extend into the groove to respectively abut against the first clamping surface and the second clamping surface.

4. The in vivo installable ultrasound probe assembly according to claim 3, characterized in that: The connection feature further includes: at least one limiting column, disposed on the first clamping surface and / or the second clamping surface; The first clamp body and / or the second clamp body is provided with at least one through hole along the thickness direction, and the limiting column is used to pass through the through hole for limiting.

5. The in vivo installable ultrasound probe assembly according to claim 3, characterized in that: The groove extends inwardly along a direction perpendicular to the axis of the assembly section, or the groove extends inwardly along a direction forming an angle with the axis of the assembly section.

6. The in-vivo installable ultrasound probe assembly according to claim 3, characterized in that: The first pliers body and the second pliers body have concave-convex texture structures on their clamping surfaces facing each other; and / or The first clamping surface and the second clamping surface are provided with a concave-convex texture structure.

7. The in vivo installable ultrasound probe assembly according to claim 3, characterized in that: The first clamp body is fixedly disposed at the distal end of the clamp base, and the second clamp body is hinged to the distal end of the clamp base so that the second clamp body and the first clamp body can be opened and closed; or The first pliers body and the second pliers body are pivotally connected to the distal end of the clamp base through a connecting pin and can be opened and closed with each other.

8. The in-vivo installable ultrasound probe assembly according to claim 3, characterized in that: The clamp base includes at least one pair of base slide grooves arranged opposite to each other; The end assembly also includes a rotating connecting pin and a driving connecting pin; The second clamp body further comprises a support member, which is symmetrically arranged on both sides of the proximal end of the second clamp body, and the support member is pivotally connected to the clamp base through the rotating connecting pin; The support member comprises a clamp head slide groove, and at least one of the driving connecting pins is slidably arranged in the at least one pair of base slide grooves and the clamp head slide groove.

9. The in-vivo installable ultrasound probe assembly according to claim 8, characterized in that: The surgical tool also includes a drive wire and a slider; The clamp base comprises an internal cavity, the slider is slidably disposed in the internal cavity of the clamp base, and the distal end of the slider is connected to the driving connecting pin; The distal end of the driving wire is connected to the proximal end of the slider to drive the slider to reciprocate in the clamp base.

10. The in-vivo installable ultrasound probe assembly according to claim 2, characterized in that: The connection feature includes a threaded hole extending radially inwardly of the assembly section; The end assembly includes a screw rod, and the screw rod is used to cooperate with the threaded hole; The arm body has the freedom to roll around the arm body axis, and the arm body can roll around the arm body axis to enable the screw rod to be threadedly connected with the threaded hole.

11. The in-vivo installable ultrasound probe assembly according to claim 2, characterized in that: The connection features include: a connecting hole, the connecting hole extending inwardly along the radial direction of the assembly section, the connecting hole being provided with a receiving groove along the axial direction of the assembly section; and an elastic ring, located on the side wall of the receiving groove, wherein the elastic ring at least partially protrudes from the side wall of the receiving groove; The terminal assembly comprises: a connecting rod, the connecting rod being used to be inserted into the connecting hole; and An annular protrusion is arranged at the end of the connecting rod. The annular protrusion is used to compress the elastic ring during the process of inserting the connecting rod into the connecting hole, and when the connecting rod is fully inserted into the connecting hole, it is misaligned with the elastic ring to achieve limiting, and the elastic ring abuts against the connecting rod.

12. The in-vivo installable ultrasound probe assembly according to any one of claims 1 to 11, characterized in that: The surgical tool further comprises: a rotating mechanism, which is arranged at the distal end of the arm body, the terminal assembly is fixedly arranged on the rotating mechanism, and the rotating mechanism is used to drive the terminal assembly to rotate relative to the distal end of the arm body.

13. The in-vivo installable ultrasound probe assembly according to claim 12, characterized in that: The rotating mechanism comprises: A base, fixedly arranged at the distal end of the arm body, the base comprising a containing space; A rotating member, pivotally connected to the accommodating space by a pin, the rotating member is fixedly connected to or integrally formed with the proximal end of the terminal assembly, the rotating member is provided with a wire groove along the circumference, and the proximal end of the base includes at least one slotted hole; and The rotating mechanism drives the wire, which passes through the slot hole and is wound in the wire slot. The rotating mechanism drives the wire for receiving a push or pull drive to drive the rotating member to rotate.

14. The in-vivo installable ultrasound probe assembly according to claim 1, characterized in that: The arm body comprises an articulated arm body, and the articulated arm body comprises: Arm body; The bendable component is arranged at the distal end of the arm body, and the bendable component is configured to drive the end assembly to bend or rotate relative to the arm body.

15. The in-vivo installable ultrasound probe assembly according to claim 14, characterized in that: The bendable component comprises: A snake-bone structure, wherein the snake-bone structure comprises a plurality of hollow bamboo-shaped bending units connected end to end, wherein two adjacent bending units form a radially bendable kinematic pair through mutually nested connecting grooves and connecting protrusions; and A plurality of arm driving wires are arranged through the snake-bone structure, the distal ends of the arm driving wires are fixedly connected to the distal ends of the snake-bone structure, the proximal ends of the plurality of arm driving wires extend through the arm body, and the plurality of arm driving wires are used to drive the snake-bone structure to bend in at least one degree of freedom.

16. The in-vivo installable ultrasound probe assembly according to claim 1, characterized in that: The arm body comprises a continuum structure arm body, and the continuum structure arm body comprises: At least one distal continuum segment, the distal continuum segment comprising a plurality of distal structural bones, a distal base plate, a distal stop plate, and at least one distal spacer plate disposed between the distal base plate and the distal stop plate; The distal ends of the multiple distal structural bones are fixedly connected to the distal stop plate, the multiple distal structural bones can slidably pass through the at least one distal spacer plate and the distal base plate, and the proximal ends of the multiple distal structural bones are used to receive push or pull drive to drive the distal continuum segment movement.

17. The in-vivo installable ultrasound probe assembly according to claim 16, characterized in that: The continuum structure arm also includes: At least one proximal continuum segment, the proximal continuum segment comprising a plurality of proximal structural bones, a proximal stop disk, a proximal base disk and at least one proximal spacer disk disposed between the proximal base disk and the proximal stop disk; The proximal ends of the multiple proximal structural bones are fixedly connected to the proximal stop plate, the multiple proximal structural bones are slidably connected to the at least one proximal spacer plate and the proximal base plate, the distal ends of the proximal structural bones are fixedly connected or integrally formed with the proximal ends of corresponding distal structural bones among the multiple distal structural bones, and the proximal ends of the multiple proximal structural bones are used to receive push or pull drives to drive the proximal continuum segment movement.

18. A surgical robot system, characterized in that: include: A surgical trolley comprising at least one robotic arm; and The in-vivo installable ultrasound probe assembly according to any one of claims 1 to 17, wherein a surgical tool of the in-vivo installable ultrasound probe assembly is disposed at a distal end of the at least one robotic arm.

19. The surgical robot system according to claim 18, characterized in that: include: The equipment cart comprises a power source, wherein the power source is used to be connected to the ultrasound probe in the in-body mountable ultrasound probe assembly to provide energy to the ultrasound transducer of the ultrasound probe.

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