Medical instrument box, ultrasonic knife and surgical robot

Abstract

The utility model discloses a medical instrument box, an ultrasonic knife and a surgical robot. The medical instrument box comprises a base, a push-pull piece, a driving piece and a lever. The push-pull piece penetrates through the base and is provided with a first end and a second end, and the second end is configured to be connected with the first tool bit. The driving part is rotatably arranged on the base, the rotating axis of the driving part is parallel to the axial direction of the push-pull part, and a spiral groove is formed in the peripheral face of the driving part. The lever is rotatably arranged on the base. A first convex part is arranged at one end of the lever and is in sliding fit with the spiral groove, and the other end of the lever is connected with the first end of the push-pull piece. The driving wheel rotates to drive the lever to rotate around the fulcrum so as to drive the push-pull piece to move in the axial direction. The medical instrument box is simple in structure and convenient to realize, so that the manufacturing cost of the medical instrument box is reduced.

Description

Technical Field

[0001] The present application relates to the field of medical devices, and more specifically, to a medical device box, an ultrasonic scalpel, and a surgical robot. Background Art

[0002] With the continuous development of medical devices, computer technology, and control technology, minimally invasive surgery has gained widespread application due to its advantages such as minimal surgical trauma, short recovery time, and reduced patient pain. Minimally invasive surgical robots, with their high dexterity, high control precision, and intuitive surgical images, can avoid operational limitations such as hand tremors during filtering operations. They are widely applicable to surgical areas such as the abdominal, pelvic, and thoracic cavities. A surgical robot generally consists of a medical device box, a power box, and a sterile isolation plate connecting the two. The power box drives the movement of the medical device box to complete the surgical operation.

[0003] In the related art, for example, in CN106659543B or CN113729970A, the transmission component includes a worm gear transmission device and a lever arm. A driven member is provided at the first end of the lever arm. The driven member engages with the spiral groove of the worm gear transmission device, and when the worm gear transmission device rotates, the lever arm drives the instrument rod to translate, thereby switching the opening or closing of the cutting head; or, for example, in CN116473627A, the transmission component relies on a pull rope as power output to drive the instrument rod to move, thereby switching the opening or closing of the cutting head.

[0004] However, the worm gear transmission device in the related art has a complex structure, thereby increasing the manufacturing cost of the medical device box. Utility Model Content

[0005] The embodiments of the present application provide a medical device box, an ultrasonic scalpel, and a surgical robot, which have a simple structure and are easy to implement, thereby reducing the manufacturing cost of the medical device box.

[0006] In a first aspect, an embodiment of the present application provides a medical device box, comprising a base, a push-pull member, a driving member, and a lever. The push-pull member is passed through the base and has a first end and a second end, and the second end is configured to be connected to a first cutting head. The driving member is rotatably disposed on the base, the rotation axis of the driving member is parallel to the axial direction of the push-pull member, and the outer peripheral surface of the driving member is provided with a spiral groove. The lever is rotatably disposed on the base. A first protrusion is provided at one end of the lever, and the first protrusion is slidably engaged with the spiral groove, and the other end of the lever is connected to the first end of the push-pull member. The rotation of the driving wheel can drive the lever to rotate around the fulcrum to drive the push-pull member to move axially.

[0007] In the above technical solution, a spiral groove is provided on the outer circumference of the driving member, and the first protrusion of the lever is slidably engaged with the spiral groove. When the driving member rotates, the end of the lever away from the push-pull member is driven to rotate about the fulcrum, and the end of the lever close to the push-pull member drives the push-pull member to move axially, thereby driving the first cutting head of the actuating end to rotate, thereby opening and closing the actuating end. The structure is simple and easy to implement, thereby reducing the manufacturing cost of the medical device box.

[0008] In some embodiments, the first protrusion has an abutting surface abutting against the spiral groove, the abutting surface is arranged around a first axis, and the first axis is parallel to the rotation axis of the lever.

[0009] In the above technical solution, by setting the abutment surface around the first axis so that the spiral groove rotates and the first protrusion drives the lever to rotate, the abutment surface can still fit well with the spiral groove, thereby improving the stability of the transmission.

[0010] In some embodiments, the first axis coincides with a geometric centerline of the first protrusion, and / or the first protrusion is in contact with the spiral groove line.

[0011] In the above technical solution, the first axis is coincident with the geometric center line of the first convex portion, and / or the first convex portion is in contact with the spiral groove line, so as to improve the stability of the transmission.

[0012] In some embodiments, the first protrusion is cylindrical or truncated cone-shaped; or, the abutting surface includes a first abutting surface and a second abutting surface, and the first abutting surface and the second abutting surface are symmetrically arranged relative to the first axis.

[0013] In the above technical solution, the first protrusion is cylindrical or conical, or the first abutting surface and the second abutting surface are symmetrically arranged relative to the first axis, so that the abutting surface is used to be symmetrically arranged around the first axis with the two side abutting surfaces opposite to the spiral groove, thereby improving the stability of the transmission.

[0014] In the above technical solution, the first protrusion is cylindrical or truncated cone-shaped, thereby reducing the risk of the first protrusion scratching the surface of the spiral groove when the first protrusion slides relative to the spiral groove, compared to the prismatic design of the first protrusion.

[0015] In some embodiments, the drive member includes a third opening and closing input shaft and a drive wheel. The third opening and closing input shaft is rotatably mounted on the base, with the axial direction of the third opening and closing input shaft parallel to the axial direction of the push-pull member. The drive wheel is sleeved on the third opening and closing input shaft, and the spiral groove is disposed on the outer circumference of the drive wheel.

[0016] In the above technical solution, the driving member is a split design including the third opening and closing input shaft and the driving wheel, which is less difficult to process than an integrated driving member, thereby further reducing the production cost of the driving member.

[0017] In some embodiments, the lever includes a first arm and a second arm, the first arm and the second arm being spaced apart along a first direction parallel to the rotation axis of the lever. At least a portion of the drive wheel is located between the first arm and the second arm, the first protrusion includes a first sub-protrusion disposed on the first arm and a second sub-protrusion disposed on the second arm, and the spiral groove includes a first spiral groove and a second spiral groove, the first sub-protrusion being in sliding engagement with the first spiral groove, and the second sub-protrusion being in sliding engagement with the second spiral groove.

[0018] In the above technical solution, along the first direction, at least part of the driving wheel is located between the first arm and the second arm, the first sub-protrusion on the first arm slides with the first spiral groove, and the second sub-protrusion on the second arm slides with the second spiral groove, so that the driving wheel rotates to provide external force to the lever, so that when the lever rotates around the fulcrum, the force on the lever is more uniform and the movement is smoother, thereby making the push-pull member more uniformly stressed and the opening and closing movements of the execution end smoother.

[0019] In some embodiments, the outer circumferential surface of the drive wheel is provided with a first recess and a second recess, the first recess and the second recess being spaced 180 degrees apart along the circumference of the drive wheel, and both the first recess and the second recess extending axially through the drive wheel. Along the circumference of the drive wheel, the first recess, the first spiral groove, the second recess, and the second spiral groove are sequentially provided.

[0020] In the above technical solution, the outer peripheral surface of the driving wheel is provided with a first recess and a second recess, so that the volume of the driving wheel can be reduced by the first recess and the second recess, thereby reducing the mass of the driving wheel, and then reducing the rotational inertia of the driving wheel, thereby facilitating the third opening and closing input shaft to drive the driving wheel to stop rotating, thereby improving the transmission accuracy of the transmission structure.

[0021] In some embodiments, the drive wheel includes a drive wheel body, a first protrusion, and a second protrusion. The first protrusion and the second protrusion respectively protrude from the circumference of the drive wheel body and are arranged 180 degrees apart along the circumference of the drive wheel. The first spiral groove is arranged on a side of the first protrusion facing away from the drive wheel body, and the second spiral groove is arranged on a side of the second protrusion facing away from the drive wheel body. The first spiral groove and the second spiral groove are arranged symmetrically with respect to the rotation axis of the drive wheel. Along the circumference of the drive wheel body, the first concave portion, the first protrusion, the second concave portion, and the second protrusion are arranged in sequence.

[0022] In the above technical solution, the first protrusion and the second protrusion are arranged at an interval of 180 degrees along the circumference of the driving wheel body, which can reduce the vibration or imbalance caused by uneven mass distribution, thereby improving the rotational stability of the driving wheel and the third opening and closing input shaft. At the same time, the first spiral groove and the second spiral groove are symmetrically arranged relative to the center of the rotation axis of the driving wheel, so that when the driving wheel rotates, the rotation of the first spiral groove and the second spiral groove can respectively drive the first sub-protrusion and the second sub-protrusion to rotate, thereby making the force on the lever more uniform.

[0023] In some embodiments, the driving wheel body has a first hollow structure, the first convex portion has a second hollow structure, and the second convex portion has a third hollow structure.

[0024] In the above technical solution, the mass of the driving wheel is reduced by means of a hollow structure, thereby reducing the material used for the driving wheel and further reducing the production cost of the driving wheel.

[0025] In some embodiments, a first groove is provided at the first end of the push-pull member, and the first groove extends along the circumference of the push-pull member. An end of the lever away from the driving wheel has a second protrusion, and the second protrusion is located in the first groove.

[0026] In the above technical solution, the second protrusion is located in the first groove. When the driving wheel rotates to drive the lever to rotate around the fulcrum away from one end of the push-pull member, the second protrusion can abut against the groove wall of the first groove, thereby driving the push-pull member to move axially, and then driving the first cutting head of the execution end to rotate to open and close the execution end.

[0027] In some embodiments, the push-pull member includes a push-pull member body, a snap ring, a spring seat and a first spring. The snap ring is sleeved on the push-pull member body and threadedly connected to the push-pull member body. The spring seat is sleeved on the snap ring. A first groove is formed between the spring seat and the snap ring. The first spring is supported between the spring seat and the push-pull member body.

[0028] In the above technical solution, the push-pull member body is threadedly connected to the retaining ring, and a first groove is formed between the spring seat and the retaining ring. The first spring is supported between the spring seat and the push-pull member body, which facilitates the installation and disassembly of the retaining ring, spring seat, first spring and push-pull member body, and facilitates subsequent parts replacement and maintenance.

[0029] In some embodiments, the driving member also includes a clamping member and a second spring, which are sleeved outside the third opening and closing input shaft. Along the rotation axis of the driving member, the second spring is supported on the driving wheel and the clamping member to abut against the driving wheel. The second spring is used to provide elastic force to press the driving wheel against the base.

[0030] In the above technical solution, the pressing member presses the driving wheel against the base through the second spring. After the external force applied by the driving wheel to the lever is greater than the elastic force of the second spring, the second spring is compressed, thereby enabling the driving wheel to continue to move axially along the third opening and closing input shaft for a small distance, thereby enabling the lever to continue to rotate, thereby reducing the risk of damage to the lever or driving wheel due to excessive external force at the contact point between the lever and the driving wheel due to the inability of the driving wheel to move axially.

[0031] In some embodiments, the medical device box further comprises a waveguide rod, an outer sleeve, and a positioning pin. The waveguide rod is disposed within the push-pull member. The end of the waveguide rod, located outside the base on the side facing away from the lever, is configured as a second cutting head. The push-pull member moves axially to drive the first cutting head to open or close relative to the second cutting head. The outer sleeve is sleeved over the push-pull member. The waveguide rod is provided with a first through hole radially extending from the waveguide rod. The push-pull member has a second through hole corresponding to the first through hole. The outer sleeve has a third through hole corresponding to the first through hole. The positioning pin is disposed within the first through hole, the second through hole, and the third through hole. The second through hole is a waist-shaped hole extending axially along the push-pull member.

[0032] In the above technical solution, an outer sleeve is arranged on the outer periphery of the push-pull member so that when the push-pull member controls the first cutting head of the execution end, the outer sleeve can isolate the push-pull member from the patient's body tissue, thereby protecting the patient when the push-pull member moves along the axial direction of the push-pull member.

[0033] In the second aspect, an embodiment of the present application also provides an ultrasonic scalpel, including the above-mentioned medical device box, power box and transducer, the power box includes a third drive motor, the third drive motor is used to drive the third opening and closing input shaft to drive the drive wheel to rotate, and the transducer is detachably connected to the medical device box.

[0034] In a third aspect, an embodiment of the present application further provides a surgical robot including the above-mentioned ultrasonic scalpel. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0036] Figure 1 An exploded view of the structure of the medical machine box provided in some embodiments of the present application after the first rotation input shaft and the second rotation input shaft are removed;

[0037] Figure 2 An exploded view of the structure of the drive wheel and lever provided in some embodiments of the present application;

[0038] Figure 3 for Figure 2 A partial enlarged view of point A in the middle;

[0039] Figure 4 A cross-sectional view of a first protrusion provided in some embodiments of the present application;

[0040] Figure 5 A cross-sectional view of another first protrusion provided in some embodiments of the present application;

[0041] Figure 6 A schematic diagram of the structure of a lever provided in some embodiments of the present application;

[0042] Figure 7 A schematic diagram of the structure of a driving wheel and a lever provided in some embodiments of the present application;

[0043] Figure 8 A schematic diagram of the structure of a drive wheel provided in some embodiments of the present application;

[0044] Figure 9 An exploded view of the push-pull member and lever provided in some embodiments of the present application;

[0045] Figure 10 A cross-sectional view of a push-pull member provided in some embodiments of the present application;

[0046] Figure 11 An exploded view of the push-pull member provided in some embodiments of the present application;

[0047] Figure 12 A schematic structural diagram of another medical device box provided in some embodiments of the present application;

[0048] Figure 13 Cross-sectional views of a waveguide rod, a push-pull member, and an outer sleeve provided for some embodiments of the present application;

[0049] Figure 14 for Figure 13 A partial enlarged view of point B in the middle;

[0050] Figure 15 An exploded view of the structure of the waveguide rod, push-pull member and outer sleeve provided in some embodiments of the present application;

[0051] Figure 16 A schematic diagram of the structure of the execution end when it is opened provided in some embodiments of the present application;

[0052] Figure 17 A schematic diagram of the structure of the closed execution end provided in some embodiments of the present application;

[0053] Figure 18 An exploded view of the structure of a medical device box provided in some embodiments of the present application;

[0054] Figure 19 A schematic structural diagram of a medical device box provided in some embodiments of the present application;

[0055] Figure 20 This is a schematic diagram of the structure of the medical device box provided in some embodiments of the present application after the housing is installed;

[0056] Figure 21 This is an exploded diagram of the structure of the ultrasonic scalpel provided in some embodiments of the present application.

[0057] icon:

[0058] 1000-Ultrasonic Scalpel;

[0059] 100-medical device box; 100A-housing;

[0060] 110 - first rotation input shaft; 111 - first rotation input gear;

[0061] 120 - second rotation input shaft; 121 - second rotation input gear;

[0062] 130A - driving member; 130 - third opening and closing input shaft; 131 - driving wheel; 131A - spiral groove; 1310 - first spiral groove; 1311 - second spiral groove; 131B - first recess; 131C - second recess; 1312 - driving wheel body; 1312A - first hollow structure; 1313 - first protrusion; 1313A - second hollow structure; 1314 - second protrusion; 1314A - third hollow structure; 132 - second spring; 133 - pressing member;

[0063] 140-Execution end; 141-First cutting head; 142-Second cutting head;

[0064] 150-base; 151-base body; 152-support member;

[0065] 160 - push-pull member; 160A - first groove; 161 - push-pull member body; 1611 - first step surface; 1614 - second through hole; 162 - snap ring; 162A - second step surface; 163 - spring seat; 163A - receiving groove; 164 - first spring;

[0066] 170 - lever; 170A - fulcrum; 171 - first arm; 172 - second arm; 173 - third arm; 174 - fourth arm; 175 - first protrusion; 1750 - abutment surface; 1751 - first abutment surface; 1752 - second abutment surface; 175A - first sub-protrusion; 175B - second sub-protrusion; 176 - second protrusion; 176A - third sub-protrusion; 176B - fourth sub-protrusion;

[0067] 180-waveguide rod; 180A-first through hole;

[0068] 190 - outer sleeve; 190A - third through hole; 191 - rotary output gear; 192 - pin;

[0069] 200-sterile isolation plate;

[0070] 300-power box;

[0071] X-first direction; P-first axis. DETAILED DESCRIPTION

[0072] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0073] Unless otherwise defined, all technical and scientific terms used in this application have the same meanings as commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first" and "second" in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order or a primary-secondary relationship.

[0074] References to "embodiments" in this application mean that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments.

[0075] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connected," and "attached" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0076] The term "and / or" in this application simply describes an association between related objects, indicating that three possible relationships exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this application generally indicates that the related objects are in an "or" relationship.

[0077] In the embodiments of this application, the same reference numerals represent the same components, and for the sake of brevity, detailed descriptions of the same components in different embodiments are omitted. It should be understood that the thickness, length, width, and other dimensions of the various components in the embodiments of this application, as well as the overall thickness, length, width, and other dimensions of the integrated device shown in the drawings are merely illustrative and should not constitute any limitation on this application.

[0078] The term "plurality" used in this application refers to two or more (including two).

[0079] Laparoscopic surgery systems typically consist of a surgeon's control platform, a patient operating platform, and an imaging platform. The surgeon, seated at the surgeon's control platform, views a 2D or 3D image of the surgical area transmitted by a laparoscope placed inside the patient's body. The surgeon then controls the movements of a robotic arm on the patient operating platform, along with the attached medical device cassette or laparoscope. The robotic arm simulates a human arm, while the medical device cassette simulates a human hand. Together, they provide the surgeon with a range of movements that mimic those of a human wrist while filtering out inherent hand tremors.

[0080] The patient surgical platform includes a chassis, a column, a robotic arm, and a power box. The robotic arm is connected to the column, and the power box is one or more power boxes arranged at the ends of the robotic arms. The medical device box and / or laparoscope are detachably attached to the power box.

[0081] A medical device kit is a medical device intended for insertion into a patient and performing a surgical or diagnostic procedure. The medical device kit includes an actuator. The actuator can be a surgical tool used to perform one or more surgical-related tasks. Examples include forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clip appliers, stapling devices, and imaging devices (e.g., endoscopes or ultrasound probes).

[0082] During the operation, each power box can drive various types of medical device boxes to move with one or more mechanical degrees of freedom. Exemplarily, the power box can drive various types of medical device boxes to move with six, five or less degrees of freedom.

[0083] Typically, each power box is restricted by mechanical structure or controller constraints to drive the medical device box to rotate based on a motion center, which remains stationary relative to the patient platform. This motion center is called the "telecentric point".

[0084] The imaging platform usually includes a display, which is used to display images captured by a medical device box (commonly an endoscope) with a video image capture function. The above images can be captured by one medical device box or multiple medical device boxes.

[0085] In some embodiments where the medical device box is an endoscope, the medical device box includes a sensor that transmits images from the patient's body to the patient's body. The sensor then transmits the video image to the host computer of the imaging platform through steps such as photoelectric conversion. Subsequently, the processed image is displayed on a video monitor for observation by the assistant through image processing.

[0086] Illustratively, the sensor may be a CCD or CMOS sensor.

[0087] In related art, such as CN106659543B or CN113729970A, the transmission component includes a worm gear and a lever arm. The first end of the lever arm is provided with a driven member that engages the spiral groove of the worm gear. When the worm gear rotates, the lever arm drives the instrument rod to translate, thereby switching the blade head open or closed. Alternatively, for example, in CN116473627A, the transmission component relies on a pull cord as a power output to drive the instrument rod to move, thereby switching the blade head open or closed. However, the worm gear in the related art has a complex structure, which increases the manufacturing cost of the medical device box.

[0088] Based on the above considerations, in order to reduce the manufacturing difficulty of the medical device box, thereby reducing the manufacturing cost of the medical device box. An embodiment of the present application provides a medical device box, comprising a base, a push-pull member, a driving member and a lever. The push-pull member is passed through the base and has a first end and a second end, and the second end is configured to be connected to the first cutting head. The driving member is rotatably arranged on the base, the rotation axis of the driving member is parallel to the axial direction of the push-pull member, and the outer peripheral surface of the driving member is provided with a spiral groove. The lever is rotatably arranged on the base. One end of the lever is provided with a first protrusion, the first protrusion is slidably engaged with the spiral groove, and the other end of the lever is connected to the first end of the push-pull member. The rotation of the driving wheel can drive the lever to rotate around the fulcrum to drive the push-pull member to move axially.

[0089] In this medical device case, a spiral groove is provided on the outer circumference of the driving member, and the first protrusion of the lever slides in engagement with the spiral groove. When the driving member rotates, the end of the lever away from the push-pull member rotates about a fulcrum, which in turn causes the end of the lever closer to the push-pull member to drive the push-pull member axially, thereby rotating the first cutting head at the actuating end to open and close the actuating end. This simple structure makes it easy to implement, thereby reducing the manufacturing cost of the medical device case.

[0090] At the same time, compared with the wire transmission structure, the transmission structure in which the driving member rotates to drive the lever to rotate by sliding cooperation between the first protrusion and the spiral groove is less likely to deform, thereby reducing the risk of reduced operating accuracy of the execution end as the medical device box is used.

[0091] At the same time, the angle at which the driving member rotates to drive the lever to rotate is smaller than the angle at which the lead screw needs to rotate in the structure in which the lead screw drives the lever. Therefore, relative to the structure of the lead screw transmission, the first protrusion and the spiral groove slide together to enable the driving member to rotate to drive the lever to rotate. This transmission structure can enable the execution end of the medical device box to respond to operating instructions more quickly.

[0092] According to some embodiments of the present application, referring to Figure 1 and Figure 2 , Figure 1 This is an exploded view of the structure of the medical machine box provided in some embodiments of the present application after the first rotation input shaft 110 and the second rotation input shaft 120 are removed. Figure 2 Exploded diagram of the structure of the drive wheel 131 and lever 170 provided in some embodiments of the present application. Embodiments of the present application provide a medical device box 100, comprising a base 150, a push-pull member 160, a drive member 130A, and a lever 170. The push-pull member 160 is disposed through the base 150 and has a first end and a second end, with the second end configured to connect to the first cutting head 141. The third opening and closing input shaft 130 is rotatably disposed on the base 150. The drive member 130A is rotatably disposed on the base 150. The rotation axis of the drive member 130A is parallel to the axial direction of the push-pull member 160, and the outer circumferential surface of the drive member 130A is provided with a spiral groove 131A. The lever 170 is rotatably disposed on the base 150. One end of the lever 170 is provided with a first protrusion 175, which slidably engages with the spiral groove 131A. The other end of the lever 170 is connected to the first end of the push-pull member 160. The rotation of the driving wheel 131 can drive the lever 170 to rotate around the fulcrum 170A, thereby driving the push-pull member 160 to move axially.

[0093] The base 150 is a component of the medical device box 100 for mounting the input shaft and the transmission structure as well as the transmission mechanism connected to the execution end 140. For example, the base 150 can be made of a metal or non-metal hard material such as hard plastic, stainless steel, aluminum alloy, etc.

[0094] It can be understood that the base 150 is the portion of the medical device box 100 that is connected to the power box (not shown in the figure).

[0095] In some embodiments, the power box (not shown in the figure) includes a third drive motor (not shown in the figure) for driving the third opening and closing input shaft 130 to rotate.

[0096] The push-pull member 160 is a component in the medical device box 100 for driving the execution end 140 to open and close. It can be understood that the push-pull member 160 can move relative to the base 150 along the axial direction of the push-pull member 160 to drive the execution end 140 to open and close.

[0097] In some embodiments, the push-pull member 160 can rotate relative to the base 150 around the axis of the push-pull member 160, and then when the first rotation input shaft 110 and the second rotation input shaft 120 drive the execution end 140 to rotate through the transmission structure (such as gears and sprockets), the push-pull member 160 can rotate with the execution end 140.

[0098] The first cutting head 141 is an integral part of the execution end 140. Exemplarily, the execution end 140 may include a second cutting head 142 for cutting / closing tissue and a first cutting head 141 rotatable relative to the second cutting head 142. The push-pull member 160 moves to rotate the first cutting head 141 relative to the second cutting head 142, so that the execution end 140 opens and closes to clamp and cut the tissue.

[0099] The driving member 130A is a component in the medical device box 100 for receiving the rotational motion provided by the third driving motor in the power box 300 to drive the lever 170 to rotate.

[0100] The lever 170 can transmit the external force applied to the lever 170 by the third opening and closing input shaft 130 along the axial direction of the third opening and closing input shaft 130 to the push-pull member 160 in the same or opposite direction. For example, the lever 170 can be made of a metal or non-metal hard material such as hard plastic, stainless steel, or aluminum alloy.

[0101] It can be understood that the axial direction of the push-pull member 160 is parallel to the axial direction of the third opening and closing input shaft 130 , so that when the push-pull member 160 is subjected to the external force provided by the lever 170 , it can be driven by the external force to move axially.

[0102] The fulcrum 170A is a component of the lever 170 that is rotatably connected to the base 150, and the lever 170 rotates around the fulcrum 170A. For example, the fulcrum 170A can be a rotation axis. For example, the fulcrum 170A of the lever 170 is located between the driving member 130A and the push-pull member 160.

[0103] The spiral groove 131A is a groove provided on the outer peripheral surface of the driving member 130A, and the extending direction of the spiral groove 131A is spiral.

[0104] The first protrusion 175 is a portion protruding from the side surface of the lever 170 facing the spiral groove 131A. The first protrusion 175 may have various shapes. For example, the first protrusion 175 may be cylindrical or prismatic.

[0105] Specifically, when the driving member 130A rotates, the spiral groove 131A is driven to slide relative to the first protrusion 175, thereby driving the first protrusion 175 to drive the end of the lever 170 close to the driving member 130A to rotate around the fulcrum 170A, thereby driving the end of the lever 170 close to the push-pull member 160 to drive the push-pull member 160 to move axially along the push-pull member 160.

[0106] In this embodiment, a spiral groove 131A is provided on the outer peripheral surface of the driving member 130A, and the first protrusion 175 of the lever 170 is slidably engaged with the spiral groove 131A. When the driving member 130A rotates, it can drive the end of the lever 170 away from the push-pull member 160 to rotate around the fulcrum 170A, and then the end of the lever 170 close to the push-pull member 160 drives the push-pull member 160 to move axially, thereby driving the first cutting head 141 of the execution end 140 to rotate, so as to open and close the execution end 140. On the one hand, the structure is simple and easy to implement, thereby reducing the manufacturing cost of the medical device box 100; on the other hand, compared with the structure of wire transmission, the transmission structure in which the driving member 130A rotates to drive the lever 170 to rotate through the sliding cooperation of the first protrusion 175 and the spiral groove 131A is less likely to deform, thereby reducing the risk of reduced operating accuracy of the execution end 140 as the medical device box 100 is used; on the other hand, the angle required for the driving member 130A to rotate to drive the lever 170 to rotate is smaller than the angle required for the screw rod to rotate in the structure in which the screw rod drives the lever 170, thereby making the transmission structure in which the driving member 130A rotates to drive the lever 170 to rotate relative to the structure of the screw rod transmission through the sliding cooperation of the first protrusion 175 and the spiral groove 131A, which can enable the execution end 140 of the medical device box 100 to respond to operating instructions faster.

[0107] According to some embodiments of the present application, referring to Figure 3 , Figure 3 for Figure 2 The first protrusion 175 has an abutting surface 1750 that abuts against the spiral groove 131A. The abutting surface 1750 is arranged around the first axis P. The first axis P is parallel to the rotation axis of the lever 170.

[0108] The contact surface 1750 is a surface of the first protrusion 175 that contacts the groove wall of the spiral groove 131A.

[0109] “The abutment surface 1750 is disposed around the first axis P” can be understood as the abutment surface 1750 being formed by rotating a plane line around the first axis P. Therefore, when any plane perpendicular to the first axis P cuts through the first protrusion 175 , the distance from any point on the abutment surface 1750 to the first axis P is the same.

[0110] In this embodiment, by setting the abutment surface 1750 around the first axis P so that the spiral groove 131A rotates and the first protrusion 175 drives the lever 170 to rotate, the abutment surface 1750 can still fit well with the spiral groove 131A, thereby improving the stability of the transmission.

[0111] According to some embodiments of the present application, referring to Figure 3 , and please refer to Figure 4 and Figure 5 , Figure 4 river Figure 5 The following are cross-sectional views of two different first protrusions 175 provided in some embodiments of the present application: the first axis P coincides with the geometric center line of the first protrusion 175, and / or the first protrusion 175 is in line contact with the spiral groove 131A.

[0112] The geometric center line of the first protrusion 175 refers to the axis of rotational symmetry of the first protrusion 175 when the first protrusion 175 is a three-dimensional structure that is rotationally symmetric about an axis.

[0113] It can be understood that the geometric center line can be a line connecting the geometric centers of a cross section obtained by cutting the first protrusion 175 along any plane perpendicular to the first axis P.

[0114] In this embodiment, the first axis P is coincident with the geometric center line of the first protrusion 175 , and / or the first protrusion 175 is in line contact with the spiral groove 131A, so as to improve the transmission stability.

[0115] According to some embodiments of the present application, referring to Figure 4 and Figure 5 , and please refer to Figure 6 and Figure 7 , Figure 6 This is a schematic diagram of the structure of the lever 170 provided in some embodiments of the present application. Figure 7 This is a schematic structural diagram of the driving wheel 131 and the lever 170 provided in some embodiments of the present application, wherein the first protrusion 175 is cylindrical or conical; or, the abutment surface 1750 includes a first abutment surface 1751 and a second abutment surface 1752, and the first abutment surface 1751 and the second abutment surface 1752 are symmetrically arranged relative to the first axis P.

[0116] Reference Figure 4 and Figure 5 The abutting surface 1750 includes a first abutting surface 1751 and a second abutting surface 1752 , and the first abutting surface 1751 and the second abutting surface 1752 are symmetrically arranged relative to the first axis P.

[0117] In some embodiments, reference Figure 4 , the edge of the first abutting surface 1751 and the edge of the second abutting surface 1752 are connected by a plane.

[0118] In some embodiments, reference Figure 5 The edge of the first abutting surface 1751 and the edge of the second abutting surface 1752 are connected by a curved surface, and the center of curvature of the curved surface is located within the first convex portion 175 to strengthen the structure of the first convex portion 175.

[0119] Reference Figure 6 The first protrusion 175 is cylindrical or truncated cone-shaped.

[0120] It is understandable that when the spiral groove 131A is integrally formed on the circumference of the driving member 130A through an injection molding process, the depth of the spiral groove 131A gradually decreases along the spiral groove 131A. This facilitates the molding of the spiral groove 131A. The first protrusion 175 is formed into a truncated cone shape to better fit the groove wall of the spiral groove 131A, thereby increasing the contact area between the spiral groove 131A and the first protrusion 175, making the sliding fit between the two more stable.

[0121] It can be understood that the first protrusion 175 is cylindrical, thereby reducing the risk of the first protrusion 175 scratching the surface of the spiral groove 131A when the first protrusion 175 slides relative to the spiral groove 131A, compared with the prismatic design of the first protrusion 175.

[0122] In this embodiment, the first protrusion 175 is cylindrical or conical, or the first abutment surface 1751 and the second abutment surface 1752 are symmetrically arranged relative to the first axis P, so that the abutment surface 1750 is used to be symmetrically arranged around the first axis P with the two side abutment surfaces opposite to the spiral groove 131A, thereby improving the stability of the transmission.

[0123] According to some embodiments of the present application, referring to Figure 1 The driving member 130A includes a third opening and closing input shaft 130 and a driving wheel 131. The third opening and closing input shaft 130 is rotatably mounted on the base 150, with the axial direction of the third opening and closing input shaft 130 parallel to the axial direction of the push-pull member 160. The driving wheel 131 is sleeved on the third opening and closing input shaft 130, and the outer circumference of the driving wheel 131 is provided with the spiral groove 131A.

[0124] The third opening and closing input shaft 130 is a component in the medical device box 100 for receiving the rotational motion provided by the third driving motor in the power box 300 to drive the driving wheel 131 to rotate.

[0125] In some embodiments, the base 150 is provided with through holes for the third opening and closing input shafts 130 to pass through respectively, and the third opening and closing input shafts 130 are rotatably connected to the corresponding through holes via bearings.

[0126] The driving wheel 131 is a transmission structure for the third opening and closing input shaft 130 to drive the lever 170 to rotate.

[0127] The spiral groove 131A is a groove arranged on the outer peripheral surface of the driving wheel 131. The extension direction of the spiral groove 131A is spiral. The spiral groove 131A can be formed on the peripheral side of the driving wheel 131 by machining methods such as milling, or can be made synchronously with the driving wheel 131 by an integral molding method.

[0128] In this embodiment, the driving member 130A is a split design including the third opening and closing input shaft 130 and the driving wheel 131, so compared with the integrated structure of the driving member 130A, the processing difficulty is lower, thereby further reducing the production cost of the driving member 130A.

[0129] According to some embodiments of the present application, referring to Figure 1 and Figure 2 , and please refer to Figure 6 and Figure 7 The lever 170 includes a first arm 171 and a second arm 172, which are spaced apart along a first direction X, parallel to the rotation axis of the lever 170. At least a portion of the drive wheel 131 is located between the first arm 171 and the second arm 172. The first protrusion 175 includes a first sub-protrusion 175A provided on the first arm 171 and a second sub-protrusion 175B provided on the second arm 172. The spiral groove 131A includes a first spiral groove 1310 and a second spiral groove 1311. The first sub-protrusion 175A slidably engages with the first spiral groove 1310, and the second sub-protrusion 175B slidably engages with the second spiral groove 1311.

[0130] The first arm 171 and the second arm 172 are two arms located on the same side of the fulcrum 170A of the lever 170. The first arm 171 and the second arm 172 have the same structure and similar functions, and are symmetrically arranged.

[0131] “The first protrusion 175 includes a first sub-protrusion 175A provided on the first arm 171 and a second sub-protrusion 175B provided on the second arm 172” means that there are two first protrusions 175, and the two first protrusions 175 are respectively provided on the first arm 171 and the third arm 173, wherein the first protrusion 175 provided on the first arm 171 is called the first sub-protrusion 175A, and the first protrusion 175 provided on the second arm 172 is called the second sub-protrusion 175B.

[0132] The first sub-protrusion 175A and the second sub-protrusion 175B have the same structure and similar functions, and the first sub-protrusion 175A and the second sub-protrusion 175B are symmetrically arranged.

[0133] To facilitate the display of the position of the first sub-protrusion 175A, please refer to Figure 6 In the figure, the range of the first sub-convex portion 175A is marked with a dotted line. It should be noted that the dotted line is only for the convenience of showing the range of the first sub-convex portion 175A and does not represent any entity meaning.

[0134] In order to facilitate the display of the matching relationship between the first sub-protrusion 175A and the first sub-protrusion 175A and the first spiral groove 1310 and the second spiral groove 1311, please refer to Figure 7 In the figure, the ranges of the first sub-protrusion 175A, the first sub-protrusion 175A, the first spiral groove 1310, and the second spiral groove 1311 are marked with dotted lines. It should be noted that the dotted lines are only for the convenience of showing the ranges of the first sub-protrusion 175A, the first sub-protrusion 175A, the first spiral groove 1310, and the second spiral groove 1311, and do not represent any physical meaning.

[0135] “The spiral groove 131A includes a first spiral groove 1310 and a second spiral groove 1311 ” means that there are two spiral grooves 131A arranged at circumferential intervals around the drive wheel 131 , wherein the first spiral groove 1310 slides in conjunction with the first sub-protrusion 175A, and the second spiral groove 1311 slides in conjunction with the second sub-protrusion 175B.

[0136] Exemplarily, the first sub-protrusion 175A protrudes from the side of the first arm 171 facing the push-pull member 160 and is located in the first spiral groove 1310 to slide with the first spiral groove 1310, and the second sub-protrusion 175B protrudes from the side of the second arm 172 facing the push-pull member 160 and is located in the second spiral groove 1311 to slide with the second spiral groove 1311.

[0137] The phrase "at least a portion of the drive wheel 131 is located between the first support arm 171 and the second support arm 172" means that part or all of the drive wheel 131 is located between the first support arm 171 and the second support arm 172, facilitating the insertion of the first sub-protrusion 175A into the first spiral groove 1310 and the insertion of the second sub-protrusion 175B into the second spiral groove 1311. Furthermore, when the first support arm 171 and the second support arm 172 rotate about the fulcrum 170A and the drive wheel 131 rotates about the axis of the third opening and closing input shaft 130, the first sub-protrusion 175A still maintains a large contact area with the groove wall of the first spiral groove 1310, and the second sub-protrusion 175B still maintains a large contact area with the groove wall of the second spiral groove 1311.

[0138] In some embodiments, when the lever 170 is at the midpoint of its rotation range, the axis of the first sub-protrusion 175A and the axis of the second sub-protrusion 175B both intersect with the rotation axis of the drive wheel 131, and when the lever 170 rotates relative to the midpoint of the rotation range, the axis of the first sub-protrusion 175A and the axis of the second sub-protrusion 175B are located between the axis of the first sub-protrusion 175A and the axis of the second sub-protrusion 175B and the axis of the push-pull member 160.

[0139] Specifically, in the process of assembling the driving wheel 131 and the lever 170, the first sub-protrusion 175A on the first arm 171 is first located in the first spiral groove 1310, and then the driving wheel 131 is rotated around the rotation center with the abutment between the circumferential side of the first arm 171 and the driving wheel 131 as the rotation center, so that the second spiral groove 1311 moves toward the direction close to the second arm 172, and then the second sub-protrusion 175B is located in the second spiral groove 1311, and the axis of the driving wheel 131 is located between the first arm 171 and the second arm 172, so as to complete the assembly of the driving wheel 131 and the lever 170. Compared with the structure in which the lead screw drives the lever 170 to move, the installation of the driving wheel 131 and the lever 170 is simpler, saving the time of assembly and disassembly, thereby reducing the production cost and maintenance cost of the medical equipment box.

[0140] In this embodiment, along the first direction X, at least a portion of the driving wheel 131 is located between the first arm 171 and the second arm 172, the first sub-protrusion 175A on the first arm 171 slides in cooperation with the first spiral groove 1310, and the second sub-protrusion 175B on the second arm 172 slides in cooperation with the second spiral groove 1311, thereby causing the driving wheel 131 to rotate to provide external force to the lever 170, so that when the lever 170 rotates around the fulcrum 170A, the force on the lever 170 is more uniform and the movement is smoother, thereby causing the push-pull member 160 to be subjected to more uniform force and the opening and closing movement of the actuator end 140 to be smoother.

[0141] According to some embodiments of the present application, referring to Figure 8 , Figure 8 This is a schematic diagram of the structure of the drive wheel 131 provided in some embodiments of the present application. The outer circumferential surface of the drive wheel 131 is provided with a first recess 131B and a second recess 131C. The first recess 131B and the second recess 131C are arranged 180 degrees apart along the circumference of the drive wheel 131. The first recess 131B and the second recess 131C both extend axially through the drive wheel 131.

[0142] The first recess 131B is a groove-shaped structure located on the circumferential side of the driving wheel 131. For example, the first recess 131B can be formed on the circumferential side of the driving wheel 131 by machining methods such as milling, or can be synchronously manufactured with the driving wheel 131 by an integral molding method; the second recess 131C is a groove-shaped structure located on the circumferential side of the driving wheel 131. For example, the second recess 131C can be formed on the circumferential side of the driving wheel 131 by machining methods such as milling, or can be synchronously manufactured with the driving wheel 131 by an integral molding method.

[0143] It can be understood that the first recess 131B and the second recess 131C are arranged at 180-degree intervals along the circumference of the drive wheel 131, which can reduce the vibration or imbalance caused by uneven mass distribution, thereby improving the rotational stability of the drive wheel 131 and the third opening and closing input shaft 130, while reducing the material used for the drive wheel 131, thereby reducing the production cost of the drive wheel 131.

[0144] In this embodiment, the outer peripheral surface of the driving wheel 131 is provided with a first recess 131B and a second recess 131C, so that the volume of the driving wheel 131 can be reduced by the first recess 131B and the second recess 131C, thereby reducing the mass of the driving wheel 131, and further reducing the rotational inertia of the driving wheel 131, thereby facilitating the third opening and closing input shaft 130 to drive the driving wheel 131 to stop rotating, thereby improving the transmission accuracy of the transmission structure.

[0145] According to some embodiments of the present application, referring to Figure 8 The drive wheel 131 includes a drive wheel body 1312, a first protrusion 1313, and a second protrusion 1314. The first protrusion 1313 and the second protrusion 1314 respectively protrude from the circumference of the drive wheel body 1312 and are arranged 180 degrees apart along the circumference of the drive wheel 131. The first spiral groove 1310 is provided on the side of the first protrusion 1313 facing away from the drive wheel body 1312, and the second spiral groove 1311 is provided on the side of the second protrusion 1314 facing away from the drive wheel body 1312. The first spiral groove 1310 and the second spiral groove 1311 are arranged symmetrically with respect to the rotation axis of the drive wheel 131.

[0146] Along the circumference of the driving wheel body 1312 , the first recess 131B, the first protrusion 1313 , the second recess 131C, and the second protrusion 1314 are sequentially arranged.

[0147] The driving wheel body 1312 is the portion of the driving wheel 131 connected to the third opening and closing input shaft 130 .

[0148] The first protrusion 1313 is a protruding structure located on the circumferential side of the driving wheel body 1312. For example, the first protrusion 1313 can be formed on the circumferential side of the driving wheel body 1312 by machining methods such as milling, or can be synchronously manufactured with the driving wheel body 1312 by an integral molding method; the second protrusion 1314 is a groove-shaped structure located on the circumferential side of the driving wheel body 1312. For example, the second protrusion 1314 can be formed on the circumferential side of the driving wheel body 1312 by machining methods such as milling, or can be synchronously manufactured with the driving wheel body 1312 by an integral molding method.

[0149] It can be understood that the first spiral groove 1310 and the second spiral groove 1311 are relative to the center of the rotation axis of the driving wheel 131, so that during the assembly of the driving wheel 131 and the lever 170, when the second spiral groove 1311 moves toward the direction close to the second arm 172, the second sub-protrusion 175B is easier to insert into the second spiral groove 1311.

[0150] In this embodiment, the first protrusion 1313 and the second protrusion 1314 are arranged 180 degrees apart along the circumference of the drive wheel body 1312, which can reduce vibration or imbalance caused by uneven mass distribution, thereby improving the rotational stability of the drive wheel 131 and the third opening and closing input shaft 130. Furthermore, the first spiral groove 1310 and the second spiral groove 1311 are arranged symmetrically with respect to the rotation axis of the drive wheel 131. Therefore, when the drive wheel 131 rotates, the rotation of the first spiral groove 1310 and the second spiral groove 1311 can respectively drive the rotation of the first sub-protrusion 175A and the second sub-protrusion 175B, thereby ensuring a more uniform force on the lever 170.

[0151] According to some embodiments of the present application, referring to Figure 8 The driving wheel body 1312 has a first hollow structure 1312A, the first protrusion 1313 has a second hollow structure 1313A, and the second protrusion 1314 has a third hollow structure 1314A.

[0152] The first hollow structure 1312A is a hole or slot structure located in the drive wheel body 1312. For example, the first hollow structure 1312A can be a waist-shaped hole extending axially along the drive wheel body 1312, and multiple first hollow structures 1312A are centrally symmetrical about the axis of the drive wheel body 1312. This reduces vibration or imbalance caused by uneven mass distribution, thereby improving the rotational stability of the drive wheel 131 and the third opening and closing input shaft 130.

[0153] The second hollow structure 1313A is a hole or slot structure located in the first protrusion 1313, and the third hollow structure 1314A is a hole or slot structure located in the second protrusion 1314. For example, the second hollow structure 1313A and the third hollow structure 1314A may be waist-shaped holes extending axially along the drive wheel body 1312, and the second hollow structure 1313A and the third hollow structure 1314A are symmetrical about the axis of the drive wheel body 1312. This reduces vibration or imbalance caused by uneven mass distribution, thereby improving the rotational stability of the drive wheel 131 and the third opening and closing input shaft 130.

[0154] In this embodiment, the mass of the driving wheel 131 is reduced by means of a hollow structure, thereby reducing the material used for the driving wheel 131 and further reducing the production cost of the driving wheel 131 .

[0155] According to some embodiments of the present application, referring to Figure 6 and Figure 9 , Figure 9 An exploded view of the push-pull member 160 and lever 170 provided in some embodiments of the present application. A first groove 160A is provided at the first end of the push-pull member 160, extending along the circumference of the push-pull member 160. A second protrusion 176 is provided at the end of the lever 170 away from the drive wheel 131, and the second protrusion 176 is located within the first groove 160A.

[0156] The first groove 160A is a groove extending around the circumference of the push-pull member 160 . The first groove 160A can be formed on the circumference of the push-pull member 160 by machining such as milling, or can be made simultaneously with the push-pull member 160 by integral molding.

[0157] In some embodiments, the first groove 160A may be annular to prevent the second protrusion 176 located in the first groove 160A from abutting against the end wall of the first groove 160A when the push-pull member 160 rotates around the axis of the push-pull member 160, causing the execution end 140 to be unable to rotate.

[0158] The second protrusion 176 is a portion protruding from the side surface of the lever 170 facing the first groove 160A. The second protrusion 176 may have various shapes. For example, the second protrusion 176 may be cylindrical or prismatic.

[0159] In some embodiments, the second protrusion 176 can be provided on the lever 170 by bonding, hot-melt or other connection methods; in some embodiments, the second protrusion 176 and the lever 170 can be integrally formed.

[0160] In some embodiments, reference Figure 6 and Figure 9The lever 170 includes a third arm 173 and a fourth arm 174. The third arm 173 and the fourth arm 174 are spaced apart along a first direction X, and the first direction X is parallel to the rotation axis of the lever 170. At least a portion of the push-pull member 160 is located between the third arm 173 and the fourth arm 174. The second protrusion 176 includes a third sub-protrusion 176A provided on the third arm 173 and a fourth sub-protrusion 176B provided on the fourth arm 174.

[0161] The third arm 173 and the fourth arm 174 are two arms located on the same side of the fulcrum 170A in the lever 170. The third arm 173 and the fourth arm 174 have the same structure and similar functions, and are symmetrically arranged.

[0162] “The second protrusion 176 includes a third sub-protrusion 176A provided on the third arm 173 and a fourth sub-protrusion 176B provided on the fourth arm 174” means that there are two second protrusions 176, and the two second protrusions 176 are respectively provided on the third arm 173 and the fourth arm 174, wherein the second protrusion 176 provided on the third arm 173 is called the third sub-protrusion 176A, and the second protrusion 176 provided on the fourth arm 174 is called the fourth sub-protrusion 176B.

[0163] The third sub-protrusion 176A and the fourth sub-protrusion 176B have the same structure and similar functions, and the third sub-protrusion 176A and the fourth sub-protrusion 176B are symmetrically arranged.

[0164] To facilitate the display of the position of the third sub-protrusion 176A, please refer to Figure 6 In the figure, the range of the third sub-convex portion 176A is marked with a dotted line. It should be noted that the dotted line is only for the convenience of showing the range of the third sub-convex portion 176A and does not represent any physical meaning.

[0165] Exemplarily, the third sub-protrusion 176A protrudes from the side of the third arm 173 facing the push-pull member 160 and is located in the first groove 160A, and the fourth sub-protrusion 176B protrudes from the side of the fourth arm 174 facing the push-pull member 160 and is located in the first groove 160A.

[0166] "At least part of the push-pull member 160 is located between the third arm 173 and the fourth arm 174" means that part or the entire push-pull member 160 is located between the third arm 173 and the fourth arm 174, so that the third sub-protrusion 176A and the fourth sub-protrusion 176B are inserted into the first groove 160A, and when the third arm 173 and the fourth arm 174 rotate around the fulcrum 170A, the third sub-protrusion 176A and the fourth sub-protrusion 176B can still have a larger contact area with the groove wall of the first groove 160A.

[0167] Specifically, along the first direction X, at least part of the push-pull member 160 is located between the third arm 173 and the fourth arm 174, and the third sub-protrusion 176A on the third arm 173 and the fourth sub-protrusion 176B on the fourth arm 174 are located in the first groove 160A, so that the third sub-protrusion 176A and the fourth sub-protrusion 176B are located on opposite sides of the push-pull member 160 in the first direction X, so that when the lever 170 provides external force to the push-pull member 160 through the third sub-protrusion 176A and the fourth sub-protrusion 176B to drive the push-pull member 160 to move axially, the force on the push-pull member 160 is more uniform and the movement is smoother, thereby making the opening and closing movement of the execution end 140 smoother.

[0168] In this embodiment, the second protrusion 176 is located in the first groove 160A. When the driving wheel 131 rotates to drive the lever 170 to rotate around the fulcrum 170A away from one end of the push-pull member 160, the second protrusion 176 can abut against the groove wall of the first groove 160A, thereby driving the push-pull member 160 to move axially, and then driving the first cutting head 141 of the execution end 140 to rotate to open and close the execution end 140.

[0169] According to some embodiments of the present application, referring to Figure 9 , and refer to Figure 10 and Figure 11 , Figure 10 A cross-sectional view of a push-pull member 160 provided in some embodiments of the present application is provided. Figure 11 This is an exploded view of the structure of a push-pull member 160 provided in some embodiments of the present application. The push-pull member 160 includes a push-pull member body 161, a snap ring 162, a spring seat 163, and a first spring 164. The snap ring 162 is sleeved on the push-pull member body 161 and threadedly connected to the push-pull member body 161. The spring seat 163 is sleeved on the snap ring 162, forming a first groove 160A between the spring seat 163 and the snap ring 162. The first spring 164 is supported between the spring seat 163 and the push-pull member body 161.

[0170] The push-pull member body 161 is the main body portion of the push-pull member 160 connected to the first blade head 141 of the execution end 140 .

[0171] The snap ring 162 is a component of the push-pull member 160 that is sleeved on the outside of the push-pull member body 161. The snap ring 162 is threadedly connected to the push-pull member body 161, that is, the inner wall of the snap ring 162 has an internal thread, and the outer side of the push-pull member body 161 has an external thread corresponding to the internal thread. The snap ring 162 rotates relative to the push-pull member body 161 so that the internal thread and the external thread are matched, thereby making the snap ring 162 and the push-pull member body 161 detachably connected.

[0172] The spring seat 163 is a portion of the push-pull member body 161 for forming the first groove 160A with the snap ring 162 . It is understood that the spring seat 163 can move axially and / or rotate circumferentially relative to the push-pull member 160 .

[0173] In some embodiments, the circumferential side of the spring seat 163 has a receiving groove 163A, which extends along the circumference of the spring seat 163. The receiving groove 163A can be the first groove 160A, or the receiving groove 163A and part of the retaining ring 162 are enclosed to form the first groove 160A.

[0174] The first spring 164 is an elastic member that provides elastic force to the spring seat 163 and the push-pull member body 161. It is understood that the first spring 164 is a compression spring. In some embodiments, the first spring 164 may be a constant-force first spring 164 that provides a constant elastic force to the spring seat 163 and the push-pull member body 161. The constant elastic force is equal to the force required to apply to the push-pull member 160 to close the actuator 140.

[0175] In some embodiments, a portion of the circumference of one end of the push-pull member body 161 away from the first cutting head 141 protrudes beyond the circumference of the other portion, forming a first step surface 1611 on the push-pull member body 161 facing the first cutting head 141. A portion of the circumference of the retaining ring 162 protrudes beyond the circumference of the other portion of the retaining ring 162, forming a second step surface 162A on the retaining ring 162 facing the first step surface 1611. Along the axial direction of the push-pull member body 161, the spring seat 163 and the first spring 164 are located between the first step surface 1611 and the second step surface 162A. The two ends of the first spring 164 respectively abut the first step surface 1611 and the spring seat 163. The end of the spring seat 163 away from the first spring 164 abuts the second step surface 162A. The accommodating groove 163A and a portion of the second step surface 162A together form a first recess 160A.

[0176] Specifically, the snap ring 162 rotates relative to the push-pull member body 161 to cause the snap ring 162 to move axially relative to the push-pull member body 161, thereby adjusting the distance between the first step surface 1611 and the second step surface 162A, thereby causing the spring seat 163 to compress or loosen the first spring 164, thereby facilitating adjustment of the preload force of the first spring 164. When the preload force of the first spring 164 is exactly equal to the external force required for the push-pull member body 161 to drive the first blade head 141 to rotate so as to close the actuator 140,

[0177] When the third opening and closing input shaft 130 applies an external force to the spring seat 163 through the second protrusion 176 of the lever 170, the external force is less than the preload force so that the first spring 164 is not compressed, and the first spring 164 transmits the external force to the first step surface 1611 to drive the push-pull member body 161 to move axially to drive the first cutting head 141 to rotate toward the closed execution end 140.

[0178] When the external force applied by the third opening and closing input shaft 130 to the spring seat 163 through the second protrusion 176 of the lever 170 is just equal to the preload force, the first spring 164 is just not compressed, and the first spring 164 transmits the external force to the first step surface 1611 to drive the actuator end 140 to close. At this time, the second cutting head 142 limits the continued rotation of the first cutting head 141, thereby limiting the continued axial movement of the push-pull member body 161.

[0179] After the external force applied by the third opening and closing input shaft 130 to the spring seat 163 via the second protrusion 176 of the lever 170 becomes greater than the preload force, the actuator end 140, as mentioned above, restricts the push-pull member body 161 from further axial movement, thereby restricting the first step surface 1611 from axial movement along the push-pull member 160. Furthermore, because the external force applied by the second protrusion 176 to the spring seat 163 is greater than the preload force, the first spring 164 is compressed, causing the spring seat 163 to no longer abut against the second step, thereby allowing the lever 170 to continue rotating. This allows the lever 170 to continue rotating, thereby reducing the risk of damage to the lever 170 or the push-pull member 160 due to excessive external force at the abutment between the lever 170 and the push-pull member 160 caused by the push-pull member body 161 being unable to move axially along the push-pull member 160.

[0180] In this embodiment, the push-pull member body 161 is threadedly connected to the retaining ring 162, and a first groove 160A is formed between the spring seat 163 and the retaining ring 162. The first spring 164 is supported between the spring seat 163 and the push-pull member body 161, which facilitates the installation and disassembly of the retaining ring 162, the spring seat 163, the first spring 164 and the push-pull member body 161, and facilitates the subsequent replacement and maintenance of parts.

[0181] According to some embodiments of the present application, referring to Figure 12 , Figure 12 This is a schematic diagram of another medical device case structure provided in some embodiments of the present application. The drive member 130A further includes a pressing member 133 and a second spring 132. The pressing member 133 and the second spring 132 are sleeved around the third opening and closing input shaft 130. Along the rotation axis of the drive member 130A, the second spring 132 is supported by the drive wheel 131 and abuts against the pressing member 133. The second spring 132 is used to provide an elastic force to press the drive wheel 131 against the base 150.

[0182] The second spring 132 is an elastic member that provides elastic force to the pressing member 133 and the driving wheel 131. It is understood that the second spring 132 is a compression spring. In some embodiments, the second spring 132 may be a constant-force second spring 132 that provides a constant elastic force to the pressing member 133 and the driving wheel 131. The constant elastic force is equal to the force required to be applied to the push-pull member 160 to close the actuator 140.

[0183] The pressing member 133 is a plate-shaped component mounted on the third opening and closing input shaft 130 to apply a pressing force to the second spring 132 .

[0184] In this embodiment, the pressing member 133 presses the driving wheel 131 against the base 150 through the second spring 132. After the external force applied by the driving wheel 131 to the lever 170 is greater than the elastic force of the second spring 132, the second spring 132 is compressed, so that the driving wheel 131 can continue to move axially along the third opening and closing input shaft 130 for a small distance, and the lever 170 can continue to rotate, thereby reducing the risk of damage to the lever 170 or the driving wheel 131 due to excessive external force at the contact point between the lever 170 and the driving wheel 131 due to the inability of the driving wheel 131 to move axially.

[0185] According to some embodiments of the present application, referring to Figure 13-15 , and refer to Figure 16 and Figure 17 , Figure 13 A cross-sectional view of a waveguide rod 180, a push-pull member 160, and an outer sleeve 190 provided in some embodiments of the present application. Figure 14 for Figure 13 A partial enlarged view of point B in the middle. Figure 15 Exploded view of the structure of the waveguide rod 180, push-pull member 160 and outer sleeve 190 provided in some embodiments of the present application. Figure 16 This is a schematic diagram of the structure of the execution end 140 when it is opened in some embodiments of the present application. Figure 17This is a schematic diagram of the structure of the actuator end 140 when closed, provided in some embodiments of the present application. The medical device box 100 also includes a waveguide rod 180, an outer sleeve 190, and a positioning pin. The waveguide rod 180 is disposed within the push-pull member 160. The end of the waveguide rod 180, located outside the base 150 on the side facing away from the lever 170, is configured as the second cutting head 142. The push-pull member 160 moves axially to drive the first cutting head 141 to open or close relative to the second cutting head 142. The outer sleeve 190 is sleeved outside the push-pull member 160. The waveguide rod 180 is provided with a first through hole 180A along its radial direction. The push-pull member 160 has a second through hole 1614 corresponding to the first through hole 180A. The outer sleeve 190 has a third through hole 190A corresponding to the first through hole 180A. The positioning pin is disposed within the first through hole 180A, the second through hole 1614, and the third through hole 190A. The second through hole 1614 is a waist-shaped hole extending along the axial direction of the push-pull member 160 .

[0186] The outer sleeve 190 is a tubular component in the medical device box 100 that is driven by the first rotation input shaft 110 and the second rotation input shaft 120 to drive the push-pull member 160 and the waveguide rod 180 to move. For example, the axial direction of the outer sleeve 190 can be the same as the axial direction of the inner sleeve 161B, that is, the extension direction of the push-pull member 160 is the same as the extension direction of the outer sleeve 190.

[0187] In some embodiments, a through hole corresponding to the outer sleeve 190 may be opened on the base 150, and the through hole corresponding to the outer sleeve 190 and the outer sleeve 190 are rotatably connected via a bearing.

[0188] In some embodiments, reference Figure 16 and Figure 17 , part of the first cutting head 141 is rotatably arranged on the end of the outer sleeve 190 close to the second cutting head 142, and the other part of the first cutting head 141 is rotatably arranged on the end of the push-pull member 160 close to the second cutting head 142, and the rotating connection between the first cutting head 141 and the outer sleeve 190 and the rotating connection between the first cutting head 141 and the push-pull member 160 are located on both sides of the waveguide rod 180 along the radial direction of the waveguide rod 180, so that when the push-pull member 160 moves axially under the drive of the lever 170, the push-pull member 160 can move axially relative to the outer sleeve 190, and the push-pull member 160 drives the first cutting head 141 to rotate relative to the second cutting head 142.

[0189] The waveguide rod 180 is a component for transmitting high-frequency mechanical energy in the medical device box 100. For example, the axial direction of the waveguide rod 180 may be the same as the axial direction of the inner sleeve 161B, that is, the extension direction of the push-pull member 160 is the same as the extension direction of the waveguide rod 180.

[0190] In some embodiments, the waveguide rod 180 may be connected to a transducer. Figure 16 and Figure 17 The end of the waveguide rod 180 located outside the push-pull member 160 is configured as the second cutting head 142.

[0191] As can be understood, mechanical energy is transmitted to the second cutting head 142 via the waveguide rod 180, causing the second cutting head 142 to mechanically oscillate at ultrasonic frequencies. The high-power ultrasonic waves instantly vaporize moisture in tissue cells in contact with the second cutting head 142, breaking protein hydrogen bonds and causing cell disintegration, thereby incising the tissue. The frictional heat generated by the mechanical vibration simultaneously coagulates and stops bleeding.

[0192] Specifically, the first cutting head 141 and the second cutting head 142 form a clamp or a clamp structure. When the push-pull member 160 is driven by the lever 170 to move axially, the push-pull member 160 can move axially relative to the waveguide rod 180, driving the first cutting head 141 to rotate relative to the second cutting head 142, thereby switching the actuator end 140 between closed and open positions.

[0193] The waveguide rod 180 is provided with a first through-hole 180A along its radial direction. The push-pull member 160 has a second through-hole 1614 corresponding to the first through-hole 180A. The outer sleeve 190 has a third through-hole 190A corresponding to the first through-hole 180A. The pin 192 extends through the first through-hole 180A, the second through-hole 1614, and the third through-hole 190A. In other words, the pin 192 sequentially passes through the third through-hole 190A in the outer sleeve 190, the second through-hole 1614 in the push-pull member 160, and the first through-hole 180A in the waveguide rod 180, thereby preliminarily securing the waveguide rod 180 and the push-pull member 160 relative to the outer sleeve 190. This prevents the waveguide rod 180 from falling during installation and use.

[0194] In some embodiments, the pin 192 and the first through-hole 180A of the waveguide rod 180 may have a clearance fit. It should be understood that the clearance fit between the pin 192 and the first through-hole 180A means that the pin 192 and the first through-hole 180A have a non-interference fit or a tight fit. Thus, a certain clearance exists between the pin 192 and the first through-hole 180A.

[0195] Specifically, when the transducer transmits high-frequency vibrations through the waveguide rod 180 , there is no interference between the vibration of the waveguide rod 180 and the pin 192 , thereby improving the safety of minimally invasive surgery.

[0196] The second through hole 1614 is a waist-shaped hole extending along the axial direction of the push-pull member 160. On the one hand, it can limit the position of the waveguide rod 180; on the other hand, when the execution end 140 is controlled by the push-pull member 160, the design of the waist-shaped hole can facilitate the movement of the push-pull member 160; on the third hand, when the push-pull member 160 moves axially, the outer sleeve 190 can play a role of circumferential limitation and guidance on the movement of the push-pull member 160 through the pin 192, which can improve the accuracy of controlling the execution end 140 and reduce surgical trauma.

[0197] In some embodiments, the axial length of the second through hole 1614 along the push-pull member 160 can be designed according to the rotation angle of the first cutting head 141 relative to the second cutting head 142. For example, the length of the second through hole 1614 can be greater than or equal to the axial displacement distance of the push-pull member 160 when the execution end 140 switches from a closed state to a maximum open angle state.

[0198] In some embodiments, reference Figure 18 and Figure 19 , Figure 18 This is an exploded view of the structure of the medical machine box provided in some embodiments of the present application. Figure 19 Schematic diagram of the structure of a medical device box provided in some embodiments of the present application. The medical device box 100 also includes a first rotation input shaft 110, a second rotation input shaft 120, a first rotation input gear 111, a second rotation input gear 121, and a rotation output gear 191. The first rotation input shaft 110 and the second rotation input shaft 120 are respectively rotatably mounted on the base 150. The first rotation input gear 111 is fixed to the first rotation input shaft 110, and the second rotation input gear 121 is fixed to the second rotation input shaft 120. The rotation output gear 191 is fixed to the outer sleeve 190, and the first rotation input gear 111 and the second rotation input gear 121 are respectively engaged with the rotation output gear 191.

[0199] The first rotation input shaft 110 is a component in the medical device box 100 for receiving the rotational motion provided by the first drive motor (not shown in the figure) in the power box 300; the second rotation input shaft 120 is a component in the medical device box 100 for receiving the rotational motion provided by the second drive motor (not shown in the figure) in the power box 300.

[0200] In some embodiments, the base 150 is provided with through holes for the first rotation input shaft 110 and the second rotation input shaft 120 to pass through respectively. The first rotation input shaft 110 and the second rotation input shaft 120 are rotatably connected to the corresponding through holes via bearings.

[0201] The first rotation input gear 111 is a gear fixed to the outside of the first rotation input shaft 110 ; the second rotation input gear 121 is a gear fixed to the outside of the second rotation input shaft 120 ; and the rotation output gear 191 is a gear fixed to the outside of the outer sleeve 190 .

[0202] In some embodiments, the first rotary input gear 111 can be a gear formed on the outer peripheral wall of the first rotary input shaft 110 by milling machining, or it can be a gear integrally formed outside the first rotary input shaft 110; the second rotary input gear 121 can be a gear formed on the outer peripheral wall of the second rotary input shaft 120 by milling machining, or it can be a gear integrally formed outside the second rotary input shaft 120; the rotary output gear 191 can be a gear formed on the outer peripheral wall of the outer sleeve 190 by milling machining, or it can be a gear integrally formed outside the outer sleeve 190.

[0203] In other embodiments, the first rotation input gear 111 can be fixed to the first rotation input shaft 110 by means of connecting components such as screws, bolts or screws, so that when the first rotation input shaft 110 rotates, the first rotation input gear 111 is driven to rotate; the second rotation input gear 121 can be fixed to the second rotation input shaft 120 by means of connecting components such as screws, bolts or screws, so that when the second rotation input shaft 120 rotates, the second rotation input gear 121 is driven to rotate; the rotation output gear 191 can be fixed to the outer sleeve 190 by means of connecting components such as screws, bolts or screws, so that when the rotation output gear 191 rotates, the outer sleeve 190 is driven to rotate.

[0204] In some embodiments, referring to Figure 18 and Figure 19 Along the thickness direction of the base body 151 , the first rotation input gear 111 , the second rotation input gear 121 and the rotation output gear 191 are located between the base body 151 and the bracket, and the lever 170 is located on the side of the bracket away from the base body 151 .

[0205] In some embodiments, the first rotation input gear 111 and the second rotation input gear 121 are spaced apart around the circumference of the rotation output gear 191, and the first rotation input shaft 110 and the second rotation input shaft 120 respectively drive the first rotation input gear 111 and the second rotation input gear 121 to rotate in different rotation directions. In other words, when the first rotation input gear 111 rotates and the second rotation input gear 121 rotates, they respectively drive the rotation output gear 191 to rotate in different directions.

[0206] It can be understood that when driving the rotation output gear 191 to rotate, one of the first rotation input gear 111 and the second rotation input gear serves as a driving gear that drives the rotation output gear 191 to rotate, and the other serves as a driven gear that is driven to rotate by the rotation output gear 191 .

[0207] Exemplarily, the first rotary input gear 111 is used to rotate clockwise to drive the rotary output gear 191 to rotate counterclockwise, thereby driving the second rotary input gear 121 to rotate clockwise; the second rotary input gear 121 is used to rotate counterclockwise to drive the rotary output gear 191 to rotate clockwise, thereby driving the first rotary input gear 111 to rotate counterclockwise, thereby eliminating the clearance error of the gear transmission and improving the rotation accuracy of the execution end 140.

[0208] In other embodiments, the first rotational input gear 111 and the second rotational input gear 121 are spaced apart around the circumference of the rotational output gear 191, and the first rotational input shaft 110 and the second rotational input shaft 120 respectively drive the first rotational input gear 111 and the second rotational input gear 121 to rotate in the same rotational direction. In other words, the first rotational input gear 111 and the second rotational input gear 121 rotate simultaneously to drive the rotational output gear 191. This provides a greater rotational meshing force to the rotational output gear 191 than when a single rotational input gear drives the rotational output gear 191.

[0209] In some embodiments, reference Figure 18 and Figure 19 The base 150 includes a base body 151 and a support member 152. The support member 152 is mounted on the base body 151. A gap is defined between the support member 152 and the base body 151 along the thickness of the base 150. The first rotation input gear 111, the second rotation input gear 121, and the rotation output gear 191 are positioned within this gap. The fulcrum 170A of the lever 170 is positioned on the side of the support member 152 facing away from the base body 151 along the thickness of the base 150. This reduces the risk of the lever 170 interfering with the movement of the first rotation input gear 111, the second rotation input gear 121, and the rotation output gear 191 when rotating relative to the fulcrum 170A.

[0210] In some embodiments, reference Figure 20 , Figure 20This is a schematic diagram of the structure of the medical device case 100 provided in some embodiments of the present application after the housing 100A is installed. The medical device case 100 also includes the housing 100A, which has an opening. The base 150 covers the opening. The first rotary input gear 111, the second rotary input gear 121, and the rotary output gear 191 are located within the housing 100A. The base 150 covers the opening to form an enclosed space, thereby providing a stable operating environment for the first rotary input gear 111, the second rotary input gear 121, and the rotary output gear 191, thereby improving the reliability of the medical device case 100.

[0211] In this embodiment, an outer sleeve 190 is sleeved on the outer periphery of the push-pull member 160, so that when the push-pull member 160 controls the first cutting head 141 of the execution end 140, the outer sleeve 190 can isolate the push-pull member 160 from the patient's body tissue, thereby protecting the patient when the push-pull member 160 moves along the axial direction of the push-pull member 160.

[0212] Reference Figure 21 , Figure 21 The present invention also provides an ultrasonic scalpel 1000, which includes the above-mentioned medical device box 100, a transducer and a power box 300, and a transducer. The power box 300 includes a third drive motor and a second drive motor. The third drive motor is used to drive the third input shaft to drive the drive wheel 131 to rotate. The transducer is detachably connected to the medical device box 100. 。

[0213] The power box 300 is a driving mechanism for driving the execution end 140 of the medical device box 100 to move in one or more mechanical degrees of freedom. For example, the power box 300 can drive the execution end 140 to move in six, five or fewer degrees of freedom.

[0214] The third driving motor is a driving component in the power box 300 for providing independent rotation to drive the third opening and closing input shaft 130 to rotate independently.

[0215] In the embodiment where the medical device box 100 has a first rotation input shaft 110 and a second rotation input shaft 120, the power box 300 further includes a first drive motor and a second drive motor. The first drive motor (not shown in the figure) is a driving member in the power box 300 for providing independent rotation to drive the first rotation input shaft 110 to rotate independently. The second drive motor (not shown in the figure) is a driving member in the power box 300 for providing independent rotation to drive the second rotation input shaft 120 to rotate independently.

[0216] In some embodiments, the ultrasonic scalpel 1000 further includes a sterile isolation plate 200 , which is disposed between the power box 300 and the medical device box 100 .

[0217] Understandably, since the power box 300 includes a drive motor, sterilization treatments such as spraying with alcohol or high-temperature disinfection may damage the drive motor. Therefore, the power box 300 is not suitable for sterilization. Therefore, in order to place the actuator 140 in a sterile operating area during surgery, a sterile isolation plate 200 is required between the power box 300 and the medical device box. The drive motor transmits power to the input shaft via a transmission disc on the isolation plate.

[0218] The piezoelectric crystals within the transducer oscillate at the same frequency as the high-frequency alternating current, converting it into high-frequency mechanical energy. This mechanical energy is transmitted to the second cutting head 142 via the waveguide rod 180, causing it to oscillate at ultrasonic frequencies. The high-powered ultrasonic waves instantly vaporize moisture in tissue cells in contact with the second cutting head 142, breaking protein hydrogen bonds and causing cell disintegration, thereby incising the tissue. The frictional heat generated by the mechanical vibration simultaneously coagulates and stops bleeding.

[0219] An embodiment of the present application also provides a surgical robot, comprising the above-mentioned ultrasonic scalpel 1000 .

[0220] According to some embodiments of the present application, a reference is provided. Figures 1-20 The medical device box 100 includes a base 150 , a push-pull member 160 , a third opening and closing input shaft 130 , a driving wheel 131 and a lever 170 .

[0221] The push-pull member 160 is disposed through the base 150 and has a first end and a second end. The second end is configured to connect to the first cutting head 141. The third opening and closing input shaft 130 is rotatably mounted on the base 150, with the axial direction of the third opening and closing input shaft 130 parallel to the axial direction of the push-pull member 160. A drive wheel 131 is fixed to the third opening and closing input shaft 130. The outer circumference of the drive wheel 131 is provided with a spiral groove 131A. A lever 170 is rotatably mounted on the base 150, with the fulcrum 170A of the lever 170 located between the drive wheel 131 and the push-pull member 160. One end of the lever 170 is provided with a first protrusion 175 that slidably engages with the spiral groove 131A. The other end of the lever 170 is connected to the first end of the push-pull member 160. Rotation of the drive wheel 131 drives the lever 170 to rotate about the fulcrum 170A, thereby driving the push-pull member 160 to move axially.

[0222] Lever 170 includes a first arm 171 and a second arm 172, which are spaced apart along a first direction X, parallel to the rotation axis of lever 170. At least a portion of drive wheel 131 is positioned between first arm 171 and second arm 172. First protrusion 175 includes a first sub-protrusion 175A provided on first arm 171 and a second sub-protrusion 175B provided on second arm 172. Spiral groove 131A includes a first spiral groove 1310 and a second spiral groove 1311. First sub-protrusion 175A slidably engages with first spiral groove 1310, while second sub-protrusion 175B slidably engages with second spiral groove 1311.

[0223] The first spiral groove 1310 and the second spiral groove 1311 are arranged symmetrically with respect to the rotation axis of the driving wheel 131 .

[0224] The outer circumference of drive wheel 131 is provided with a first recess 131B and a second recess 131C. These recesses are spaced 180 degrees apart along the circumference of drive wheel 131. Both recesses 131B and 131C extend axially through drive wheel 131. Along the circumference of drive wheel 131, first recess 131B, first spiral groove 1310, second recess 131C, and second spiral groove 1311 are sequentially arranged.

[0225] The first end of the push-pull member 160 is provided with a first groove 160A, and the first groove 160A extends along the circumference of the push-pull member 160. The end of the lever 170 away from the driving wheel 131 has a second protrusion 176, and the second protrusion 176 is located in the first groove 160A. The first protrusion 175 is cylindrical.

[0226] The medical device box 100 also includes a waveguide rod 180, an outer sleeve 190, and a positioning pin. The waveguide rod 180 is disposed within the push-pull member 160. One end of the waveguide rod 180, located outside the base 150 on a side facing away from the lever 170, is configured as the second cutting head 142. The push-pull member 160 moves axially to drive the first cutting head 141 to open or close relative to the second cutting head 142. The outer sleeve 190 is sleeved outside the push-pull member 160. The waveguide rod 180 is provided with a first through hole 180A along the radial direction of the waveguide rod 180. The push-pull member 160 has a second through hole 1614 corresponding to the first through hole 180A. The outer sleeve 190 has a third through hole 190A corresponding to the first through hole 180A. The positioning pin is disposed within the first through hole 180A, the second through hole 1614, and the third through hole 190A. The second through hole 1614 is a waist-shaped hole extending along the axial direction of the push-pull member 160 .

[0227] The medical device case 100 further includes a first rotation input shaft 110, a second rotation input shaft 120, a first rotation input gear 111, a second rotation input gear 121, and a rotation output gear 191. The first rotation input shaft 110 and the second rotation input shaft 120 are rotatably mounted on the base 150. The first rotation input gear 111 is fixed to the first rotation input shaft 110, and the second rotation input gear 121 is fixed to the second rotation input shaft 120. The rotation output gear 191 is fixed to the outer sleeve 190, and the first rotation input gear 111 and the second rotation input gear 121 are respectively engaged with the rotation output gear 191.

[0228] It should be noted that, unless there is any conflict, the embodiments and features in the embodiments of this application can be combined with each other.

[0229] The above embodiments are intended only to illustrate the technical solutions of this application and are not intended to limit this application. Those skilled in the art will appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this application are intended to be within the scope of protection of this application.

Claims

1. A medical device box, characterized in that: include: base; a push-pull member, the push-pull member being disposed through the base and having a first end and a second end, wherein the second end is configured to be connected to the first cutting head; A driving member is rotatably disposed on the base, wherein the rotation axis of the driving member is parallel to the axial direction of the push-pull member, and a spiral groove is provided on the outer peripheral surface of the driving member; a lever rotatably disposed on the base, wherein one end of the lever is provided with a first protrusion, the first protrusion slidingly engages with the spiral groove, and the other end of the lever is connected to the first end of the push-pull member; The rotation of the driving member can drive the lever to rotate around the fulcrum of the lever, so as to drive the push-pull member to move axially.

2. The medical device box according to claim 1, wherein: The first protrusion has an abutting surface abutting against the spiral groove, and the abutting surface is arranged around a first axis, and the first axis is parallel to the rotation axis of the lever.

3. The medical device box according to claim 2, wherein: The first axis coincides with a geometric center line of the first convex portion, and / or the first convex portion is in contact with the spiral groove line.

4. The medical device box according to claim 3, wherein: The first convex portion is cylindrical or truncated cone-shaped; or, The abutting surface includes a first abutting surface and a second abutting surface, and the first abutting surface and the second abutting surface are symmetrically arranged relative to the first axis.

5. The medical device box according to claim 1, wherein: The driving member includes: a third opening and closing input shaft rotatably disposed on the base, wherein the axial direction of the third opening and closing input shaft is parallel to the axial direction of the push-pull member; The driving wheel is sleeved on the third opening and closing input shaft, and the outer peripheral surface of the driving wheel is provided with the spiral groove.

6. The medical device box according to claim 5, wherein: The lever comprises a first arm and a second arm, wherein the first arm and the second arm are spaced apart along a first direction, and the first direction is parallel to the rotation axis of the lever; At least a portion of the driving wheel is located between the first support arm and the second support arm, and the first protrusion includes a first sub-protrusion provided on the first support arm and a second sub-protrusion provided on the second support arm; The spiral groove includes a first spiral groove and a second spiral groove, the first sub-protrusion is in sliding engagement with the first spiral groove, and the second sub-protrusion is in sliding engagement with the second spiral groove.

7. The medical device box according to claim 6, wherein: The outer circumferential surface of the driving wheel is provided with a first recess and a second recess, the first recess and the second recess are arranged 180 degrees apart along the circumference of the driving wheel, and both the first recess and the second recess pass through the driving wheel along the axial direction of the driving wheel.

8. The medical device box according to claim 7, wherein: The drive wheel includes a drive wheel body, a first protrusion, and a second protrusion. The first protrusion and the second protrusion respectively protrude from a circumferential side of the drive wheel body and are arranged 180 degrees apart along the circumference of the drive wheel. The first spiral groove is arranged on a side of the first protrusion facing away from the drive wheel body, and the second spiral groove is arranged on a side of the second protrusion facing away from the drive wheel body. The first spiral groove and the second spiral groove are arranged symmetrically with respect to the center of the rotation axis of the drive wheel. Along the circumference of the driving wheel body, the first recess, the first protrusion, the second recess, and the second protrusion are arranged in sequence.

9. The medical device box according to claim 8, wherein: The driving wheel body has a first hollow structure, the first protrusion has a second hollow structure, and the second protrusion has a third hollow structure.

10. The medical device box according to claim 5, wherein: The first end of the push-pull member is provided with a first groove, which extends along the circumference of the push-pull member. The end of the lever away from the driving wheel has a second convex portion, which is located in the first groove.

11. The medical device box according to claim 10, wherein: The push-pull member includes a push-pull member body, a snap ring, a spring seat and a first spring, wherein the snap ring is sleeved on the push-pull member body and threadedly connected to the push-pull member body, the spring seat is sleeved on the snap ring, the first groove is formed between the spring seat and the snap ring, and the first spring is supported between the spring seat and the push-pull member body; or, The driving member also includes a clamping member and a second spring. The clamping member and the second spring are sleeved outside the third opening and closing input shaft. Along the rotation axis of the driving member, the second spring is supported on the driving wheel and abuts against the clamping member. The second spring is used to provide elastic force to press the driving wheel against the base.

12. The medical device box according to claim 1, wherein: The medical device box also includes: a waveguide rod, the waveguide rod being inserted into the push-pull member, the end of the waveguide rod being located outside the side of the base facing away from the lever being configured as a second cutting head, and the push-pull member moving axially to drive the first cutting head to open or close relative to the second cutting head; An outer sleeve, the outer sleeve being sleeved outside the push-pull member; A positioning pin, wherein the waveguide rod is provided with a first through hole along the radial direction of the waveguide rod, the push-pull member has a second through hole corresponding to the first through hole, the outer sleeve has a third through hole corresponding to the first through hole, and the positioning pin is passed through the first through hole, the second through hole, and the third through hole; Wherein, the second through hole is a waist-shaped hole extending along the axial direction of the push-pull member.

13. An ultrasonic scalpel, characterized in that: It comprises the medical device box, power box and transducer according to any one of claims 1 to 12, wherein the power box comprises a third drive motor, the third drive motor is used to drive the drive member to rotate, and the transducer is detachably connected to the medical device box.

14. A surgical robot comprising a patient operating platform having a plurality of robotic arms, characterized in that: The ultrasonic scalpel as claimed in claim 13 is detachably mounted on the robotic arm.

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