Medical instrument box, ultrasonic knife and surgical robot

Abstract

The utility model discloses a medical instrument box, an ultrasonic knife and a surgical robot, and belongs to the field of medical instruments. The medical instrument box comprises a shell, a waveguide rod and an excitation mechanism. The shell is provided with a first wall facing the guide rail, the first wall is provided with a first containing part, and when the medical instrument box is assembled on the surgical robot, at least part, protruding out of the mechanical arm, of the guide rail is contained in the first containing part. One end of the waveguide rod is arranged in the shell and connected with the transducer, and the other end, located outside the shell, of the waveguide rod is configured to be a tool bit. The excitation mechanism is provided with a button arranged on the first wall, and the excitation mechanism is configured to control the transducer to work so as to drive the tool bit of the waveguide rod to vibrate when the button is excited. Wherein the button is positioned on the bottom surface of the first accommodating part, or on a projection surface parallel to the first wall, the orthographic projection of the first accommodating part is not overlapped with the orthographic projection of the button. The problem that operation is complex when a surgical robot conducts self-inspection and tissue adhering to a tool bit is cleaned can be solved.

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 equipment, computer technology and control technology, minimally invasive surgery has been widely used due to its advantages such as less surgical trauma, shorter recovery time and less pain for patients. Minimally invasive surgical robots, with their high dexterity, high control accuracy and intuitive surgical images, can avoid operational limitations such as hand tremors during filtering operations, and are widely used in surgical areas such as the abdominal cavity, pelvic cavity and thoracic cavity. During the operation, the doctor controls the surgical robot through the doctor's control platform. The surgical robot generally includes a transducer and a robotic arm. The medical device box can slide relative to the guide rail of the robotic arm through a transmission mechanism, and the transducer is detachably connected to the medical device box. The waveguide rod in the medical device box is connected to the transducer and is configured to receive the vibration of the transducer to cut human tissue.

[0003] In related technologies, such as the surgical robots in CN106659543B, CN113729970A, CN116473627A, CN115530930A or CN217853298U, the doctor can only control the excitation mechanism (such as foot pedal) of the platform to control the energy generator to supply energy to the transducer so that the transducer drives the waveguide rod to vibrate.

[0004] When a self-test of the surgical robot's ultrasonic scalpel is required, if the ultrasonic scalpel host is connected to the imaging platform via a cable, the cable must be removed first, and an additional excitation mechanism (pedal) for testing must be connected. This excitation mechanism is then used to excite the surgical robot's ultrasonic scalpel to complete the self-test. After the self-test is complete, the additional excitation mechanism must be removed, and the cable reconnected to the imaging platform for the subsequent surgery. Furthermore, during surgery, if tissue adhesions form on the blade tip of the waveguide rod, the ultrasonic scalpel must be removed from the robotic arm and placed in saline. The doctor then uses the excitation mechanism on the doctor-controlled platform to excite the surgical robot's ultrasonic scalpel, or alternatively, an additional excitation mechanism must be connected as described above to excite the surgical robot's ultrasonic scalpel for cleaning. This operation is very complicated. Utility Model Content

[0005] The embodiments of the present application provide a medical device box, an ultrasonic scalpel, and a surgical robot to improve the problem of complex operation when the ultrasonic scalpel of the surgical robot performs self-inspection and cleans tissue adhered to the scalpel head.

[0006] In a first aspect, embodiments of the present application provide a medical device case for removably attaching to a surgical robot. The surgical robot includes a transducer and a robotic arm. The medical device case is slidable relative to a guide rail of the robotic arm via a transmission mechanism, and the transducer is removably connected to the medical device case. The medical device case includes a housing, a waveguide rod, and an excitation mechanism. The housing has a first wall facing the guide rail, the first wall having a first accommodating portion. When the medical device case is attached to the surgical robot, at least the portion of the guide rail protruding from the robotic arm is accommodated in the first accommodating portion. One end of the waveguide rod is disposed within the housing and connected to the transducer, while the other end of the waveguide rod, located outside the housing, is configured as a cutting tool. The excitation mechanism includes a button disposed on the first wall. When the button is activated, the excitation mechanism controls the transducer to vibrate the cutting tool of the waveguide rod. The button is located on the bottom surface of the first accommodating portion, or, on a projection plane parallel to the first wall, the orthographic projection of the first accommodating portion and the orthographic projection of the button do not overlap.

[0007] In the above technical solution, a button of the excitation mechanism is set on the first wall so that the transducer can be controlled by the button. On the one hand, during the self-test process, the operator can directly control the transducer through the button to make the waveguide rod vibrate, so as to complete the self-test of the surgical robot, without disconnecting the cable between the surgical robot and the doctor's control platform, connecting an additional excitation mechanism for testing, and exciting the surgical robot through the excitation mechanism to complete the self-test. After the self-test is completed, it is necessary to remove the additionally configured excitation mechanism and reconnect the doctor's control platform to perform subsequent operations; on the other hand, when cleaning the tissue adhered to the blade, after placing the blade in physiological saline, the operator can directly control the transducer through the button to make the waveguide rod vibrate to complete the cleaning of the blade. No doctor's cooperation is required, and the operation is simple and easy to implement.

[0008] In some embodiments, the first wall has a first surface facing the guide rail, the first surface is recessed to form the first receiving portion, and the button does not protrude from the first surface.

[0009] In the above technical solution, the button does not protrude from the first surface, so as to reduce the risk of an operator accidentally touching the button and causing the transducer to operate and vibrate the blade of the waveguide rod.

[0010] In some embodiments, the button protrudes from a bottom surface of the first receiving portion.

[0011] In the above technical solution, the button protrudes from the bottom surface of the first accommodating portion. On the one hand, it is convenient for the operator to determine the position of the button in the first accommodating portion through the protruding features, and "blind operation" can be performed when the first wall is not facing the operator, thereby improving the convenience of using the robotic ultrasonic knife; on the other hand, it is convenient for the operator to touch the button in the first accommodating cavity recessed in the first surface, and the problem of inconvenient operation caused by avoiding misoperation can also be well solved; on the other hand, when the size of the button along the thickness direction of the first wall is constant, the button protrudes from the bottom surface of the first accommodating portion, thereby reducing the volume of the button in the shell, and then reducing the space in the shell occupied by the excitation mechanism, so as to reduce the adverse effect of the excitation mechanism on the mechanical structure space in the medical device box.

[0012] In some embodiments, the depth of the first receiving portion is 4-8 mm, and the height of the button protrusion is 0.5-2 mm.

[0013] In the above technical solution, the depth of the first accommodating portion is reasonable. When the depth of the first accommodating portion is greater than or equal to 4 mm, the first accommodating portion can have a larger space to accommodate the guide rail and reduce the risk of accidental touches such as the button touching the guide rail. When the depth of the first accommodating portion is less than or equal to 8 mm, the impact of the first accommodating portion on the volume of the internal space of the shell can be reduced, and the installation space of the mechanical structure in the shell is increased, which is conducive to the miniaturization of the entire robotic ultrasonic knife instrument box. Therefore, when the above-mentioned first accommodating portion is set on the first wall, it can not only have a larger space to accommodate the guide rail, reduce the risk of accidental touches such as the button touching the guide rail, but also reduce the impact of the first accommodating portion on the volume of the internal space of the shell and increase the installation space of the mechanical structure in the shell; the height of the button protrusion is reasonable. When the height of the button protrusion is greater than or equal to 0.5 mm, it can facilitate the operator to touch the button and reasonably reduce the space inside the shell occupied by the excitation mechanism to reduce the impact of the excitation mechanism on the mechanical structure in the medical device box. When the height of the button protrusion is less than or equal to 2 mm, the risk of accidental touches such as the button touching the guide rail can be reduced. Therefore, when the above-mentioned button is set on the bottom surface of the first accommodating portion, it is convenient for the operator to touch the button, and the space occupied by the excitation mechanism in the outer shell is reasonably reduced, so as to reduce the impact of the excitation mechanism on the mechanical structure in the medical device box, and at the same time reduce the risk of accidental touch such as the button touching the guide rail.

[0014] In some embodiments, the first accommodating portion includes a first accommodating section and a second accommodating section arranged along the extension direction of the guide rail, the second accommodating section is farther away from the cutting head than the first accommodating section, the button is arranged on the bottom surface of the second accommodating section, and the width of the second accommodating section gradually increases or first gradually increases and then remains constant in the direction away from the cutting head.

[0015] In the above technical solution, the button is located on the bottom surface of the second accommodating section. As it moves away from the blade, the width of the second accommodating section gradually increases, or initially increases gradually and then remains constant. This facilitates the operator's identification of the button's position through the structural features of the second accommodating section. Furthermore, the gradual increase, or initial increase and then constant, of the width of the second accommodating section facilitates the operator inserting a finger into the second accommodating section to trigger the button. According to the design of this technical solution, the operator generally uses their index finger as the operating finger. The dominant finger facilitates both operation and the setting of the various structural dimensions in this technical solution.

[0016] In some embodiments, the width of the first accommodating section is 8-15 mm, the maximum width of the second accommodating section is 20-30 mm, and the length of the second accommodating section is 12-20 mm, wherein the width of the first accommodating section is less than the length of the second accommodating section and is less than the maximum width of the second accommodating section.

[0017] In the above technical solution, the width of the first accommodating section is reasonable. When the width of the first accommodating section is greater than or equal to 8 mm, it can better adapt to the width of the guide rail, so that the first accommodating section can accommodate the guide rail. When the width of the first accommodating section is less than or equal to 15 mm, it can reduce the occurrence of the operator's fingers inserting into the first accommodating section, thereby facilitating the operator to confirm the position of the button through the structural features of the first and second accommodating sections. Therefore, when the above-mentioned first accommodating section is set on the first wall, it can not only better adapt to the width of the guide rail, so that the first accommodating section can accommodate the guide rail, but also facilitate the operator to confirm the position of the button through the structural features of the first and second accommodating sections. The maximum width of the second accommodating section is reasonable. When the maximum width of the second accommodating section is greater than or equal to 20 mm, it can facilitate the operator's fingertips for pressing to insert into the second accommodating section to press the button. When the maximum width of the second accommodating section is less than or equal to 30 mm, it can reduce the risk of the other components of the surgical robot's mechanical arm or the operator accidentally touching the button. Therefore, when the second accommodating section is set on the first wall, it is convenient for the operator to insert the fingertips of the pressing fingers into the second accommodating section to press the button, and it can also reduce the risk of the other parts of the surgical robot's mechanical arm or the operator accidentally touching the button. The length of the second accommodating section is reasonable. When the length of the second accommodating section is greater than or equal to 12mm, it is convenient for the operator to confirm the position of the second accommodating section through the touch of the finger through the structure of the second accommodating section. When the length of the second accommodating section is less than or equal to 20mm, it can enable the operator's finger to directly contact the button after inserting it into the second accommodating section, thereby facilitating the operator to confirm the position of the button through the touch of the finger. Therefore, when the second accommodating section is set on the first wall, it is convenient for the operator to confirm the position of the button through the touch of the finger.

[0018] In some embodiments, the first wall includes a body and a protrusion, the protrusion protruding from the inner surface of the body. The protrusion includes a top wall portion and two side wall portions, the two side wall portions being respectively disposed on either side of the top wall portion in a first direction, the top wall portion being connected to the body via the side wall portions. The top wall portion and the two side wall portions together form the first accommodating portion, and the first direction, the thickness direction of the first wall, and the extension direction of the guide rail are perpendicular to each other.

[0019] In some embodiments, the housing has a second wall extending away from the blade head along the extension direction, and a first support bar is provided on an inner surface of the second wall and protrudes from the second wall along the extension direction. Along the thickness direction of the first wall, the first support bar has a first side facing the first wall, and the first side is provided with a second accommodating portion, and at least a portion of the activation mechanism is disposed within the second accommodating portion.

[0020] In the above technical solution, the excitation mechanism is installed through the first support bar, and at the same time, a second accommodating portion is opened on the first side of the first support bar facing the first wall, and at least part of the excitation mechanism is arranged in the second accommodating portion to reduce the space occupied by the excitation mechanism and the first support bar in the outer shell, so as to reduce the impact of the excitation mechanism on the mechanical structure in the medical device box.

[0021] In some embodiments, the top wall has a mounting hole for the button to pass through. On a projection plane parallel to the first wall, an orthographic projection of the second receiving portion overlaps at least partially with an orthographic projection of the button.

[0022] In the above technical solution, the button passes through the mounting hole, so that the mounting hole can guide the button.

[0023] In some embodiments, the shell has a third wall in the first direction, and the third wall, the main body and the side wall portion adjacent in the first direction together form a third accommodating portion, the main body has a mounting hole for the button to pass through, and at least part of the excitation mechanism is accommodated in the third accommodating portion.

[0024] In the above technical solution, the third wall, the main body and the side wall adjacent in the first direction are combined to form a third accommodating portion, the main body has a mounting hole for the button to pass through, and at least part of the excitation mechanism is accommodated in the third accommodating portion, thereby more fully utilizing the space in the outer shell, thereby reducing the adverse effect of the excitation mechanism on the mechanical structure space in the medical device box.

[0025] In some embodiments, the housing includes a shell, a base and a first screw, the shell has an opening, the base covers the opening, the side wall of the shell away from the opening is the second wall, and a first threaded hole is provided at one end of the first support bar away from the second wall, and the first screw passes through the base and is threadedly connected to the first threaded hole.

[0026] In the above technical solution, a first threaded hole is opened at one end of the first support bar away from the second wall, and a first screw is passed through the base and threadedly connected to the first threaded hole to fix the shell and the base, thereby eliminating the need for an additional support bar connecting the base and the shell, saving space inside the shell and reducing the impact of the excitation mechanism on the mechanical structure inside the medical device box.

[0027] In some embodiments, the medical device case further comprises a conversion base and a lead. The housing has a second wall extending away from the tool head along the guide rail. The conversion base is disposed on an outer surface of the second wall, and the transducer is detachably connected to the conversion base. The lead is located within the housing and electrically connects the excitation mechanism to the conversion base.

[0028] In some embodiments, a second support bar protruding from the second wall along the extension direction is provided on the inner surface of the second wall. Along the thickness direction of the first wall, the second support bar is located between the excitation mechanism and the conversion seat. The end of the second support bar away from the second wall is provided with a clamping groove for clamping the wire.

[0029] In the above technical solution, a snap-in groove for snapping the wire is provided at one end of the second support bar away from the second wall, so as to limit the position of the wire through the snap-in groove, thereby reducing the risk of the wire interfering with the movement of the mechanical structure in the medical device box.

[0030] In some embodiments, the housing includes a shell, a base and a second screw, the shell has an opening, the base covers the opening, the side wall of the shell away from the opening is the second wall, and a second threaded hole is provided at one end of the second support bar away from the second wall, and the second screw passes through the base and is threadedly connected to the second threaded hole.

[0031] In the above technical solution, a second threaded hole is opened at one end of the second support bar away from the second wall, and a first screw is passed through the base and threadedly connected to the first threaded hole to fix the shell and the base, thereby eliminating the need for an additional support bar connecting the base and the shell, thereby saving space inside the shell.

[0032] In a second aspect, an embodiment of the present application further provides an ultrasonic scalpel, comprising the above-mentioned medical device box, power box and transducer, wherein the device box and the power box are detachably connected.

[0033] On the third aspect, an embodiment of the present application also provides a surgical robot, including a patient surgical platform, wherein the patient surgical platform has a plurality of robotic arms, each of which has a guide rail. The instrument box of the ultrasonic scalpel mentioned above can be adjustably set on the robotic arm through the guide rail. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] 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.

[0035] Figure 1 Schematic diagram of the assembly of a medical device box, an isolation plate, and a power box on a robotic arm provided in some embodiments of the present application;

[0036] Figure 2 A schematic structural diagram of a medical device box provided in some embodiments of the present application;

[0037] Figure 3 A schematic diagram of the structure of the medical device box provided in some embodiments of the present application in another direction;

[0038] Figure 4 A schematic structural diagram of another medical device box provided in some embodiments of the present application;

[0039] Figure 5 A schematic structural diagram of another medical device box provided in some embodiments of the present application in another direction;

[0040] Figure 6 A schematic structural diagram of another medical device box in another direction provided in some embodiments of the present application;

[0041] Figure 7 A schematic structural diagram of a housing provided in some embodiments of the present application;

[0042] Figure 8 A cross-sectional view of a medical device box provided for some embodiments of the present application;

[0043] Figure 9 A cross-sectional view of another medical device box provided for some embodiments of the present application;

[0044] Figure 10An exploded view of the structure of a medical device box provided in some embodiments of the present application;

[0045] Figure 11 for Figure 8 Enlarged view of point B in the middle;

[0046] Figure 12 for Figure 7 Enlarged view of point A in the middle.

[0047] icon:

[0048] 1000-Ultrasonic Scalpel;

[0049] 100 - medical device box; 10 - housing; 11 - shell; 12 - base; 10A - first wall; 10B - body; 10C - convex portion; 10D - top wall; 10E - side wall; 10F - second wall; 10G - first support bar; 10H - first threaded hole; 10J - third wall; 10K - second support bar; 10L - snap-fit groove; 10M - second threaded hole; 101 - first accommodating portion; 101A - first accommodating section; 101B - second accommodating section; 102 - second accommodating portion; 103 - third accommodating portion;

[0050] 20-waveguide rod; 21-cutting head;

[0051] 30-excitation mechanism; 31-button; 32-circuit board; 33-wire; 34-conversion seat; 341-shrapnel;

[0052] 200-power box;

[0053] 300-transducer;

[0054] 2000-Robot arm; 2100-Guide rail;

[0055] X-extension direction; Y-first direction; Z-thickness direction of the first wall. DETAILED DESCRIPTION

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] The term "plurality" used in this application refers to two or more (including two).

[0063] 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.

[0064] 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.

[0065] 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).

[0066] 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.

[0067] 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".

[0068] 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.

[0069] 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.

[0070] Illustratively, the sensor may be a CCD or CMOS sensor.

[0071] During surgery, the doctor controls the surgical robot through a doctor control platform. The surgical robot typically consists of a transducer and a robotic arm. A medical device box, which slides relative to the guide rails of the robotic arm via a transmission mechanism, is detachably connected to the medical device box and electrically connected to an energy generator. The piezoelectric crystals within the transducer oscillate at the same frequency as the high-frequency alternating current, converting the high-frequency alternating current into high-frequency mechanical energy. A waveguide rod within the medical device box is connected to the transducer and configured to receive the transducer's vibrations to cut tissue.

[0072] In related technologies, such as those described in CN106659543B, CN113729970A, CN116473627A, CN115530930A, or CN217853298U, surgical robots can only control the energy generator to supply energy to the transducer through the excitation mechanism (such as a foot pedal) of the doctor-controlled platform, so that the transducer drives the waveguide rod to vibrate. When it is necessary to perform a self-test on the ultrasonic scalpel of the surgical robot, if the ultrasonic scalpel host is connected to the imaging platform via a cable, the cable must be removed first, and an additional excitation mechanism (foot pedal) for testing must be connected. The ultrasonic scalpel of the surgical robot must then be excited by the excitation mechanism to complete the self-test. After the self-test is completed, the additional excitation mechanism must be removed again, and the cable must be reconnected to the imaging platform for subsequent surgery. Moreover, during the operation, when there is tissue adhesion on the blade head of the waveguide rod, the ultrasonic knife needs to be removed from the robotic arm, and the blade head needs to be placed in physiological saline. The doctor then uses the excitation mechanism of the doctor control platform to excite the surgical robot ultrasonic knife, or connects an additional excitation mechanism as mentioned above to excite the surgical robot ultrasonic knife for cleaning. The operation is very complicated.

[0073] Based on the above considerations, in order to simplify the operation of the ultrasonic knife of the surgical robot during self-inspection, and at the same time to simplify the operation when cleaning the blade. An embodiment of the present application provides a medical device box, including a shell, a waveguide rod and an excitation mechanism. The shell has a first wall facing the guide rail, and the first wall has a first accommodating portion. When the medical device box is assembled on the surgical robot, at least the portion of the guide rail protruding from the robotic arm is accommodated in the first accommodating portion. One end of the waveguide rod is arranged in the shell and connected to the transducer, and the other end of the waveguide rod is located outside the shell and is configured as a blade. The excitation mechanism has a button arranged on the first wall, and the excitation mechanism is configured to control the transducer to work to drive the blade of the waveguide rod to vibrate when the button is excited. Wherein, the button is located on the bottom surface of the first accommodating portion, or, on the projection plane parallel to the first wall, the orthographic projection of the first accommodating portion does not overlap with the orthographic projection of the button.

[0074] In a medical device box of this structure, a button for the excitation mechanism is set on the first wall so that the transducer can be controlled by the button. On the one hand, during the self-test process, the operator can directly control the transducer through the button to make the waveguide rod vibrate to complete the self-test of the surgical robot, without having to disconnect the cable between the surgical robot and the doctor's control platform, connect an additional excitation mechanism for testing, and excite the surgical robot through the excitation mechanism to complete the self-test. After the self-test is completed, the additionally configured excitation mechanism needs to be removed and the doctor's control platform needs to be reconnected to perform subsequent operations. On the other hand, when cleaning the tissue adhered to the blade, after placing the blade in physiological saline, the operator can directly control the transducer through the button to make the waveguide rod vibrate to complete the cleaning of the blade. No doctor's cooperation is required, and the operation is simple and easy to implement.

[0075] According to some embodiments of the present application, referring to Figures 1-4 , Figure 1 This is a schematic diagram of the assembly of a medical device box, an isolation plate, and a power box on a robotic arm provided in some embodiments of the present application. Figure 2 This is a schematic structural diagram of a medical device box 100 provided in some embodiments of the present application. Figure 3 This is a schematic structural diagram of the medical device box 100 provided in some embodiments of the present application in another direction. Figure 4 This is a schematic diagram of the structure of another medical device case 100 provided in some embodiments of the present application. This embodiment of the present application provides a medical device case 100 for detachably attaching to a surgical robot. The surgical robot includes a transducer 300 and a robotic arm 2000. The medical device case 100 is slidable relative to a guide rail 2100 of the robotic arm 2000 via a transmission mechanism, and the transducer 300 is detachably connected to the medical device case 100. The medical device case 100 includes a housing 10, a waveguide rod 20, and an excitation mechanism 30. The housing 10 has a first wall 10A facing the guide rail 2100. The first wall 10A has a first accommodating portion 101. When the medical device case 100 is attached to the surgical robot, at least the portion of the guide rail 2100 protruding from the robotic arm 2000 is accommodated in the first accommodating portion 101. One end of the waveguide rod 20 is disposed within the housing 10 and connected to the transducer 300. The other end of the waveguide rod 20, located outside the housing 10, is configured as a cutting head 21. The excitation mechanism 30 includes a button 31 disposed on the first wall 10A. When the button 31 is activated, the excitation mechanism 30 is configured to control the operation of the transducer 300 to drive the blade 21 of the waveguide rod 20 to vibrate. The button 31 is located on the bottom surface of the first accommodating portion 101, or, on a projection plane parallel to the first wall 10A, the orthographic projection of the first accommodating portion 101 and the orthographic projection of the button 31 do not overlap.

[0076] The housing 10 is a component with an internal accommodating cavity. Exemplarily, a sealed space is formed in the housing 10 to provide a stable working environment for the transmission mechanism of the medical device box 100, thereby improving the reliability of the medical device box 100.

[0077] The first wall 10A is a wall portion of the housing 10 facing the robot arm 2000 .

[0078] The first receiving portion 101 is a portion of the first wall 10A for receiving at least a portion of the guide rail 2100. For example, the first receiving portion 101 may be a groove-shaped structure provided on the outer surface of the first wall 10A.

[0079] In some embodiments, the first accommodating portion 101 can be formed on the outer surface of the first wall 10A by a machining process such as turning and milling, or can be formed together with the first wall 10A by an integral molding method.

[0080] It can be understood that the first accommodating portion 101 can accommodate at least a portion of the guide rail 2100 so that the medical device box 100 can be closer to the robotic arm 2000, thereby further reducing the size of the surgical robot.

[0081] The waveguide rod 20 is the component within the medical device case 100 that transmits high-frequency mechanical energy. Specifically, the energy generator supplies high-frequency alternating current to the transducer 300. The piezoelectric crystal within the transducer 300 oscillates at the same frequency under the influence of the high-frequency alternating current, thereby converting the high-frequency alternating current into high-frequency mechanical energy. This mechanical energy is then transmitted via the waveguide rod 20 to the cutting head 21, causing it to oscillate at ultrasonic frequencies. The high-powered ultrasonic waves instantly vaporize moisture in tissue cells in contact with the cutting head 21, breaking protein hydrogen bonds and causing cell disintegration, thereby incising the tissue. The frictional heat generated by the mechanical vibrations simultaneously coagulates and stops bleeding.

[0082] The activation mechanism 30 includes a button 31 and a circuit board 32. The circuit board 32 is disposed within the housing 10 and is electrically connected to the button 31. The circuit board 32 is also electrically connected to the energy generator. When the button 31 is activated, the circuit board 32 provides an electrical signal to the energy generator to activate the transducer 300.

[0083] The button 31 being disposed on the first wall 10A can be understood as being disposed within the first receiving portion 101, or being disposed in an area of the first wall 10A other than the first receiving portion 101. For example, the button 31 can be a mechanical switch, a capacitive sensing switch, or a pressure sensing switch.

[0084] In some embodiments, reference Figure 3The button 31 is disposed on one side of the first accommodating portion 101 in the first direction Y, and on a projection plane parallel to the first wall 10A, the orthographic projection of the first accommodating portion 101 does not overlap with the orthographic projection of the button 31. This allows the first wall 10A and the robotic arm 2000 to provide structural protection for the button 31, thereby reducing the risk of the other robotic arms 2000 of the surgical robot and the operator accidentally touching the button 31.

[0085] The first direction Y is a direction perpendicular to the thickness direction Z of the first wall and the extension direction X of the guide rail 2100 .

[0086] In some embodiments, reference Figure 4 The button 31 is arranged on the bottom surface of the first accommodating portion 101, so that the bottom surface of the first accommodating portion 101 and the guide rail 2100 on the robotic arm 2000 form structural protection for the button 31, thereby reducing the risk of the other robotic arms 2000 of the surgical robot and the operator accidentally touching the button 31.

[0087] In this embodiment, a button 31 of the excitation mechanism 30 is provided on the first wall 10A so that the operation of the transducer 300 can be controlled by the button 31. On the one hand, during the self-test process, the operator can directly control the operation of the transducer 300 through the button 31 to make the waveguide rod 20 vibrate to complete the self-test of the surgical robot, without disconnecting the cable between the surgical robot and the doctor's control platform, connecting the additional excitation mechanism 30 for testing, and exciting the surgical robot through the excitation mechanism 30 to complete the self-test. After the self-test is completed, it is necessary to remove the additionally configured excitation mechanism 30 and reconnect the doctor's control platform to perform subsequent operations. On the other hand, when cleaning the tissue adhered to the cutting head 21, after placing the cutting head 21 in physiological saline, the operator can directly control the operation of the transducer 300 through the button 31 to make the waveguide rod 20 vibrate to complete the cleaning of the cutting head 21. No doctor's cooperation is required, and the operation is simple and easy to implement.

[0088] According to some embodiments of the present application, the first wall 10A has a first surface facing the guide rail 2100 , the first surface is recessed to form the first accommodating portion 101 , and the button 31 does not protrude from the first surface.

[0089] In the embodiment where the button 31 is provided in an area other than the first receiving portion 101 on the first wall 10A, Figure 3The button 31 can be recessed relative to the first wall 10A. For example, a mounting hole for the housing 10 is defined in an area of the first wall 10A outside the first accommodating portion 101. A portion of the button 31 is positioned within the mounting hole, while another portion of the button 31 extends through the mounting hole into the housing 10 and is electrically connected to the circuit board 32. The end of the button 31 facing away from the circuit board 32 does not protrude from the first surface, thereby reducing the risk of operator error or accidental contact of the button 31 by the side of the robotic arm 2000 facing the button 31.

[0090] In the embodiment in which the button 31 is disposed on the bottom surface of the first receiving portion 101, refer to Figure 4 , the button 31 can be recessed or protruding relative to the bottom surface. For example, a mounting hole for the housing 10 is provided on the bottom surface of the first accommodating portion 101, and at least a portion of the button 31 is located in the mounting hole; the other portion of the button 31 extends into the housing 10 through the mounting hole and is electrically connected to the circuit board 32. Among them, the end of the button 31 away from the circuit board 32 is located in the mounting hole, or protrudes from the bottom surface of the first accommodating portion 101, and does not protrude from the first surface, and does not abut against the guide rail 2100, so as to reduce the risk of operator error, or the risk of accidental touch caused by the abutment of the guide rail 2100 of the robotic arm 2000 and the button 31.

[0091] In this embodiment, the button 31 does not protrude from the first surface, so as to reduce the risk of an operator accidentally touching the button 31 and causing the transducer 300 to operate and vibrate the blade head 21 of the waveguide rod 20 .

[0092] According to some embodiments of the present application, referring to Figure 4 and Figure 5 , Figure 5 This is a schematic structural diagram of another medical device box provided in some embodiments of the present application in another direction. The button 31 protrudes from the bottom surface of the first accommodating portion 101.

[0093] It can be understood that when removing the medical device box 100 from the medical device box 100, the operator generally faces the side of the robotic arm 2000 having the guide rail 2100 so that the medical device box 100 is located between the operator and the robotic arm 2000, and then raises both hands to embrace the medical device box 100. At this time, the operator's fingers are bent and abut against the outer surface of the first wall 10A, and the operator's eyes cannot directly observe the condition of the first wall 10A. When the button 31 is located on the bottom surface of the first accommodating portion 101, since the first accommodating portion 101 itself is formed by a depression of the first wall 10A, the button 31 is protruded from the bottom surface of the first accommodating portion 101, compared with setting the button 31 recessed in the bottom surface of the first accommodating portion 101. On the one hand, it is convenient for the operator to touch the button 31 in the first accommodating cavity recessed in the first surface. On the other hand, when the operator bends the fingertips of the finger to extend into the first accommodating portion 101, the button 31 protruding from the bottom surface of the first accommodating portion 101 is easier to be felt by the fingertips, thereby making it easier for the operator to understand the position of the button 31 when the field of vision is obstructed.

[0094] In this embodiment, the button 31 protrudes from the bottom surface of the first accommodating portion 101. On the one hand, it is convenient for the operator to determine the position of the button 31 in the first accommodating portion 101 through the protruding features, and can also "blindly operate" when the first wall 10A is not facing the operator, thereby improving the convenience of using the robotic ultrasonic knife; on the other hand, it is convenient for the operator to touch the button 31 in the first accommodating cavity recessed in the first surface, and the problem of inconvenient operation caused by avoiding misoperation can also be well solved; on the other hand, when the size of the button 31 along the thickness direction Z of the first wall is constant, the button 31 protrudes from the bottom surface of the first accommodating portion 101, thereby reducing the volume of the button 31 in the shell 10, and then reducing the space in the shell 10 occupied by the excitation mechanism 30, so as to reduce the adverse effect of the excitation mechanism 30 on the mechanical structure space in the medical device box 100.

[0095] According to some embodiments of the present application, referring to Figure 5 The depth H2 of the first accommodating portion 101 is 4-8 mm, and the protruding height H1 of the button 31 is 0.5-2 mm.

[0096] The depth H2 of the first receiving portion 101 can be understood as the distance between the bottom surface of the first receiving portion 101 and the first surface in the thickness direction Z of the first wall. For example, the depth H2 of the first receiving portion 101 can be any one of 4, 4.5, 5, 5.5, 6, 6.5, 7, 7.5, and 8, or a range of values therebetween.

[0097] The height H1 of the button 31 protrusion can be understood as the distance between the end surface of the button 31 close to the guide rail 2100 and the bottom surface of the first accommodating portion 101 in the thickness direction Z of the first wall. For example, the height H1 of the button 31 protrusion can be any one of 0.5, 0.6, 0.7, 0.8, 0.9, 1, 1.5, and 2, or a range of values therebetween.

[0098] It can be understood that the protruding height H1 of the button 31 should be positively correlated with the depth H2 of the first accommodating portion 101 , that is, as the depth H2 of the first accommodating portion 101 gradually increases, the protruding height H1 of the button 31 gradually increases.

[0099] In this embodiment, the depth H2 of the first accommodating portion 101 is reasonable. When the depth H2 of the first accommodating portion 101 is greater than or equal to 4 mm, the first accommodating portion 101 can have a larger space to accommodate the guide rail 2100 and reduce the risk of accidental touches such as the button 31 touching the guide rail 2100. When the depth H2 of the first accommodating portion 101 is less than or equal to 8 mm, the impact of the first accommodating portion 101 on the internal space volume of the shell 10 can be reduced, and the installation space of the mechanical structure in the shell 10 is increased, which is conducive to the overall miniaturization of the robotic ultrasonic knife instrument box. Therefore, when the above-mentioned first accommodating portion 101 is set on the first wall 10A, it can not only have a larger space to accommodate the guide rail 2100, reducing the risk of accidental touches such as the button 31 touching the guide rail 2100, but also reduce the impact of the first accommodating portion 101 on the internal space volume of the shell 10, and increase the installation space of the mechanical structure in the shell 10; the protruding height H1 of the button 31 is reasonable. When the protruding height H1 of the button 31 is greater than or equal to 0.5mm, it is convenient for the operator to touch the button 31, and reasonably reduces the space in the shell 10 occupied by the excitation mechanism 30, so as to reduce the impact of the excitation mechanism 30 on the mechanical structure in the medical device box 100. When the protruding height H1 of the button 31 is less than or equal to 2mm, the risk of accidental touches such as the button 31 touching the guide rail 2100 can be reduced. Therefore, when the above-mentioned button 31 is set on the bottom surface of the first accommodating portion 101, it is convenient for the operator to touch the button 31, and the space occupied by the excitation mechanism 30 in the outer shell 10 is reasonably reduced, so as to reduce the impact of the excitation mechanism 30 on the mechanical structure in the medical device box 100, and at the same time, the risk of accidental touch such as the button 31 touching the guide rail 2100 can be reduced.

[0100] According to some embodiments of the present application, referring to Figure 4 and Figure 6 , Figure 6This is a schematic diagram of the structure of another medical device box in another direction provided by some embodiments of the present application. The first accommodating portion 101 includes a first accommodating section 101A and a second accommodating section 101B arranged along the extension direction X of the guide rail 2100. The second accommodating section 101B is farther away from the blade 21 than the first accommodating section 101A. The button 31 is disposed on the bottom surface of the second accommodating section 101B. As it moves away from the blade 21, the width of the second accommodating section 101B gradually increases, or first gradually increases and then remains constant.

[0101] The first accommodating section 101A is a section of the first accommodating portion 101 close to the cutter head 21 ; the second accommodating section 101B is a section of the first accommodating portion 101 away from the cutter head 21 .

[0102] In this embodiment, the button 31 is disposed on the bottom surface of the second accommodating section 101B. The width of the second accommodating section 101B gradually increases, or initially increases gradually and then remains constant, as it moves away from the blade head 21. This facilitates the operator's identification of the button 31's position through the structural features of the second accommodating section 101B. Furthermore, the gradual increase, or initial increase and then constant increase, of the width of the second accommodating section 101B facilitates the operator's insertion of a finger into the second accommodating section 101B to trigger the button 31. According to the design of this technical solution, the operator generally uses their index finger as the operating finger, and the dominant finger facilitates both operation and the setting of the various structural dimensions of this technical solution.

[0103] According to some embodiments of the present application, referring to Figure 6 The width B1 of the first accommodating section 101A is 8-15 mm, the maximum width B2 of the second accommodating section 101B is 20-30 mm, and the length L of the second accommodating section 101B is 12-20 mm, wherein the width B1 of the first accommodating section 101A is less than the length L of the second accommodating section 101B and is less than the maximum width B2 of the second accommodating section 101B.

[0104] The width B1 of the first accommodating section 101A can be understood as the distance between the opposite sides of the first accommodating section 101A in the first direction Y. For example, the width B1 of the first accommodating section 101A can be any point value among 8, 9, 10, 11, 12, 13, 14, and 15, or a range value between any two of them.

[0105] The maximum width B2 of the second accommodating section 101B can be understood as the maximum value of the distance between the two opposite sides of the second accommodating section 101B in the first direction Y. For example, the maximum width B2 of the second accommodating section 101B can be any one of 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30 or a range value between any two of them.

[0106] The length L of the second accommodating section 101B can be understood as the distance that the second accommodating section 101B extends in the extension direction X of the guide rail 2100. For example, the length L of the second accommodating section 101B can be any point value among 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30 or a range value between any two of them.

[0107] In this embodiment, the width B1 of the first accommodating section 101A is appropriate. When the width B1 of the first accommodating section 101A is greater than or equal to 8 mm, it can effectively adapt to the width of the guide rail 2100, allowing the first accommodating section 101A to accommodate the guide rail 2100. When the width B1 of the first accommodating section 101A is less than or equal to 15 mm, it can reduce the likelihood of an operator's fingers entering the first accommodating section 101A, thereby facilitating the operator's confirmation of the position of the button 31 through the structural features of the first and second accommodating sections 101A, 101B. Therefore, when the first accommodating section 101A is disposed on the first wall 10A, it can effectively adapt to the width of the guide rail 2100, allowing the first accommodating section 101A to accommodate the guide rail 2100, and also facilitates the operator's confirmation of the position of the button 31 through the structural features of the first and second accommodating sections 101A, 101B. The maximum width B2 of the second accommodating section 101B is reasonable. When the maximum width B2 of the second accommodating section 101B is greater than or equal to 20 mm, it is easy for the operator's pressing finger to enter the second accommodating section 101B to press the button 31. When the maximum width B2 of the second accommodating section 101B is less than or equal to 30 mm, it is possible to reduce the risk of other components of the surgical robot's robotic arm or the operator accidentally touching the button 31. Therefore, when the second accommodating section 101B is provided on the first wall 10A, it is possible to facilitate the operator's pressing finger to enter the second accommodating section 101B to press the button 31, while also reducing the risk of other components of the surgical robot's robotic arm or the operator accidentally touching the button 31. The length L of the second accommodating section 101B is reasonable. When the length L of the second accommodating section 101B is greater than or equal to 12 mm, the position of the second accommodating section 101B can be easily confirmed by the touch of the finger through the structure of the second accommodating section 101B. When the length L of the second accommodating section 101B is less than or equal to 20 mm, the operator's finger can directly contact the button 31 after inserting it into the second accommodating section 101B, thereby facilitating the operator to confirm the position of the button 31 through the touch of the finger. Therefore, when the second accommodating section 101B is arranged on the first wall 10A, the operator can easily confirm the position of the button 31 through the touch of the finger.

[0108] According to some embodiments of the present application, referring to Figure 7 , Figure 7Schematic diagram of the structure of the shell 11 provided for some embodiments of the present application. The first wall 10A includes a main body 10B and a protrusion 10C, and the protrusion 10C protrudes from the inner surface of the main body 10B. The protrusion 10C includes a top wall portion 10D and two side wall portions 10E, and the two side wall portions 10E are respectively arranged on both sides of the top wall portion 10D in the first direction Y, and the top wall portion 10D is connected to the main body 10B through the side wall portions 10E. The top wall portion 10D and the two side wall portions 10E together form a first accommodating portion 101, and the first direction Y, the thickness direction Z of the first wall and the extension direction X of the guide rail 2100 are perpendicular to each other.

[0109] The protrusion 10C is a portion of the first wall 10A that is recessed and protrudes from the inner surface of the body 10B.

[0110] The top wall portion 10D is a wall portion of the convex portion 10C that is parallel to the first wall 10A. It can be understood that the outer surface of the top wall portion 10D is provided with the bottom surface of the first accommodation portion 101 .

[0111] The side wall portion 10E is a wall portion of the convex portion 10C for connecting the main body 10B and the top wall portion 10D.

[0112] According to some embodiments of the present application, referring to Figure 8 and Figure 9 , Figure 8 and Figure 9 Cross-sectional views of two medical device cases 100 provided in some embodiments of the present application. The housing 10 has a second wall 10F extending away from the cutting head 21 along a direction X. A first support bar 10G is provided on the inner surface of the second wall 10F, projecting from the second wall 10F along the direction X. Along the thickness direction Z of the first wall, the first support bar 10G has a first side facing the first wall 10A. A second accommodating portion 102 is provided on the first side, and at least a portion of the activation mechanism 30 is disposed within the second accommodating portion 102.

[0113] The second wall 10F is a wall portion of the housing 10 that is away from the cutter head 21 in the extending direction X.

[0114] The first support bar 10G is a strip-shaped or plate-shaped component provided on the inner surface of the second wall 10F. For example, the first support bar 10G can be connected to the housing 10 by welding, clamping, or bonding, or the first support bar 10G can be integrally formed with the housing 10.

[0115] In some embodiments, the circuit board 32 of the excitation mechanism 30 is fixed in the housing 10 by being disposed on the side of the first support bar 10G facing the first wall 10A. For example, the circuit board 32 can be connected to the first support bar 10G by welding, clamping or bonding.

[0116] The second receiving portion 102 is a portion on the side of the first support bar 10G facing the first wall 10A for receiving at least part of the excitation mechanism 30. For example, the second receiving portion 102 may be a groove-shaped structure provided on the side of the first support bar 10G facing the first wall 10A.

[0117] In some embodiments, the second receiving portion 102 can be formed on the first support bar 10G by a machining process such as turning and milling, or can be formed together with the first support bar 10G by an integral molding method.

[0118] In this embodiment, the excitation mechanism 30 is installed through the first support bar 10G, and at the same time, a second accommodating portion 102 is opened on the first side of the first support bar 10G facing the first wall 10A, and at least a portion of the excitation mechanism 30 is arranged in the second accommodating portion 102, so as to reduce the space occupied by the excitation mechanism 30 and the first support bar 10G in the outer shell 10, so as to reduce the adverse effect of the excitation mechanism 30 on the mechanical structure space in the medical device box 100.

[0119] According to some embodiments of the present application, referring to Figure 9 The top wall portion 10D has a mounting hole for the button 31 to pass through. On a projection plane parallel to the first wall 10A, the orthographic projection of the second accommodating portion 102 overlaps with at least a portion of the orthographic projection of the button 31.

[0120] It can be understood that the mounting hole can provide structural guidance for the button 31 to guide the button 31 to move along the thickness direction Z of the first wall.

[0121] It can be understood that, relative to the embodiment in which the button 31 is recessed in the bottom surface of the first accommodating portion 101, the button 31 protrudes from the bottom surface of the first accommodating portion 101, so that the mounting hole can guide the button 31 for a longer distance, thereby reducing the risk of the button 31 getting stuck due to the abutment between the end of the button 31 away from the circuit board 32 and the inner surface of the top wall portion 10D.

[0122] In this embodiment, the button 31 passes through the mounting hole, so that the mounting hole can guide the button 31 .

[0123] According to some embodiments of the present application, referring to Figure 8 The shell 10 has a third wall 10J in the first direction Y. The third wall 10J, the main body 10B and the side wall 10E adjacent to each other in the first direction Y together form a third accommodating portion 103. The main body 10B has a mounting hole for the button 31 to pass through. At least part of the excitation mechanism 30 is accommodated in the third accommodating portion 103.

[0124] The third receiving portion 103 is a portion on the inner surface of the first wall 10A for receiving at least a portion of the excitation mechanism 30. For example, the third receiving portion 103 may be a groove-shaped structure provided on the inner surface of the first wall 10A.

[0125] In some embodiments, the third accommodating portion 103 can be formed on the first wall 10A by a machining process such as turning and milling, or can be formed together with the first wall 10A by an integral molding method.

[0126] In this embodiment, the third wall 10J, the main body 10B and the side wall portion 10E adjacent in the first direction Y are enclosed to form a third accommodating portion 103. The main body 10B has a mounting hole for the button 31 to pass through. At least part of the excitation mechanism 30 is accommodated in the third accommodating portion 103, thereby more fully utilizing the space in the outer shell 10 and reducing the impact of the excitation mechanism 30 on the mechanical structure in the medical device box 100.

[0127] According to some embodiments of the present application, referring to Figure 10 , Figure 10 An exploded view of the structure of a medical device box 100 provided in some embodiments of the present application. The housing 10 includes a shell 11, a base 12, and a first screw. The shell 11 has an opening, and the base 12 covers the opening. The side wall of the shell 11 away from the opening is a second wall 10F. A first threaded hole 10H is defined at one end of a first support bar 10G away from the second wall 10F. The first screw passes through the base 12 and is threadedly connected to the first threaded hole 10H.

[0128] The housing 11 and the base 12 are components that cooperate with each other to form a closed space.

[0129] The second wall 10F is a side wall of the housing 11 away from the opening. The second wall 10F may be a side wall of the housing 11 along the extension direction X away from the opening.

[0130] In this embodiment, by opening a first threaded hole 10H at one end of the first support bar 10G away from the second wall 10F, and by passing a first screw through the base 12 and threadably connected to the first threaded hole 10H to fix the shell 11 and the base 12, there is no need to provide an additional support bar connecting the base 12 and the shell 11, thereby saving space within the outer shell 10 and reducing the impact of the excitation mechanism 30 on the mechanical structure within the medical device box 100.

[0131] According to some embodiments of the present application, referring to Figure 11 , Figure 11 for Figure 8Enlarged view of point B in the figure. The medical device case 100 also includes a conversion base 34 and a wire 33. The housing 10 has a second wall 10F extending away from the cutting head 21 along the extension direction X of the guide rail 2100. The conversion base 34 is disposed on the outer surface of the second wall 10F. The transducer 300 is detachably connected to the conversion base 34. The wire 33 is located within the housing 10 and electrically connects the excitation mechanism 30 to the conversion base 34.

[0132] The conversion seat 34 is a component for detachably mounting the transducer 300 .

[0133] In some embodiments, the second wall 10F of the housing 10 is provided with a through hole communicating with the interior thereof, a portion of the conversion seat 34 is located in the through hole, and at least a portion of the transducer 300 passes through the through hole and is detachably connected to the conversion seat 34 .

[0134] The wire 33 is a component for electrically connecting the excitation mechanism 30 and the conversion base 34 .

[0135] In some embodiments, reference Figure 12 A spring piece 341 is provided on the conversion seat 34, and the excitation mechanism 30 is connected to the spring piece 341 on the conversion seat 34 through a wire 33, and is connected to the electric contact on the transducer 300 through the spring piece 341, and is connected to the energy generator.

[0136] According to some embodiments of the present application, referring to Figure 12 , Figure 12 for Figure 7 Enlarged view of point A in the middle. A second support bar 10K is provided on the inner surface of the second wall 10F, projecting from the second wall 10F along the extension direction X. Along the thickness direction Z of the first wall, the second support bar 10K is positioned between the excitation mechanism 30 and the conversion seat 34. An end of the second support bar 10K, away from the second wall 10F, is provided with a snap-in slot 10L for snapping in the wire 33.

[0137] The second support bar 10K is a strip-shaped or plate-shaped component provided on the inner surface of the second wall 10F. For example, the second support bar 10K can be connected to the housing 10 by welding, clamping, or bonding, or the second support bar 10K can be integrally formed with the housing 10.

[0138] The engaging groove 10L is a groove provided on the second support bar 10K. It can be understood that the engaging groove 10L can extend along the thickness direction Z of the first wall.

[0139] In some embodiments, the snap-fit groove 10L is a groove provided on the end of the second support bar 10K facing the opening of the shell 11. For example, the end of the second support bar 10K facing the opening of the shell 11 is recessed to form the snap-fit groove 10L.

[0140] In some embodiments, the snap-fit groove 10L is a groove provided on the side of the second support bar 10K parallel to the thickness direction of the first wall 10A. For example, the side of the second support bar 10K parallel to the thickness direction of the first wall 10A is recessed to form the snap-fit groove 10L.

[0141] For example, the engaging groove 10L may be formed on the second support bar 10K by a machining process such as turning or milling, or may be formed together with the second support bar 10K by an integral molding method.

[0142] In this embodiment, a snap-in groove 10L for snapping in the wire 33 is provided at one end of the second support bar 10K away from the second wall 10F, so as to limit the position of the wire 33 through the snap-in groove 10L, thereby reducing the risk of the wire 33 interfering with the movement of the mechanical structure in the medical device box 100.

[0143] According to some embodiments of the present application, the housing 10 includes a shell 11, a base 12 and a second screw. The shell 11 has an opening, the base 12 covers the opening, the side wall of the shell 11 away from the opening is a second wall 10F, and a second threaded hole 10M is provided at one end of the second support bar 10K away from the second wall 10F. The second screw passes through the base 12 and is threadedly connected to the second threaded hole 10M.

[0144] In this embodiment, by opening a second threaded hole 10M at one end of the second support bar 10K away from the second wall 10F, and by passing a first screw through the base 12 and threadably connecting it to the first threaded hole 10H to fix the shell 11 and the base 12, there is no need to provide an additional support bar connecting the base 12 and the shell 11, thereby saving space inside the outer shell 10.

[0145] In a second aspect, an embodiment of the present application further provides an ultrasonic scalpel 1000 , comprising the aforementioned medical device box 100 , a power box 200 and a transducer 300 , wherein the device box and the power box 200 are detachably connected.

[0146] On the third aspect, the embodiment of the present application also provides a surgical robot, including a patient surgical platform, the patient surgical platform having a plurality of robotic arms 2000, each having a guide rail 2100, and the instrument box of the ultrasonic knife 1000 mentioned above can be adjustably set on the robotic arm 2000 through the guide rail 2100.

[0147] According to some embodiments of the present application, a medical device box 100 is provided, referring to Figures 1-12The medical device box 100 is designed to be detachably mounted on a surgical robot. The surgical robot includes a transducer 300 and a robotic arm 2000. The medical device box 100 can slide relative to the guide rail 2100 of the robotic arm 2000 via a transmission mechanism, and the transducer 300 is detachably connected to the medical device box 100. The medical device box 100 includes a housing 10, a waveguide rod 20, and an excitation mechanism 30. The housing 10 has a first wall 10A facing the guide rail 2100. The first wall 10A has a first accommodating portion 101. When the medical device box 100 is mounted on the surgical robot, at least the portion of the guide rail 2100 that protrudes from the robotic arm 2000 is accommodated in the first accommodating portion 101. One end of the waveguide rod 20 is disposed within the housing 10 and connected to the transducer 300. The other end of the waveguide rod 20, located outside the housing 10, is configured as a cutting head 21. The excitation mechanism 30 includes a button 31 disposed on the first wall 10A. When the button 31 is activated, the excitation mechanism 30 is configured to control the operation of the transducer 300 to drive the blade 21 of the waveguide rod 20 to vibrate. The button 31 is located on the bottom surface of the first accommodating portion 101, or, on a projection plane parallel to the first wall 10A, the orthographic projection of the first accommodating portion 101 and the orthographic projection of the button 31 do not overlap.

[0148] The first wall 10A has a first surface facing the guide rail 2100 . The first surface is recessed to form a first receiving portion 101 , and the button 31 does not protrude from the first surface.

[0149] The first wall 10A includes a main body 10B and a raised portion 10C, which protrudes from the inner surface of the main body 10B. The raised portion 10C includes a top wall portion 10D and two side walls 10E, which are disposed on either side of the top wall portion 10D in the first direction Y. The top wall portion 10D is connected to the main body 10B via the side walls 10E. The top wall portion 10D and the two side walls 10E together form the first accommodating portion 101. The first direction Y, the thickness direction Z of the first wall, and the extension direction X of the guide rail 2100 are perpendicular to each other.

[0150] The housing 10 has a second wall 10F extending away from the blade head 21 along an extension direction X. A first support bar 10G is provided on the inner surface of the second wall 10F and protrudes from the second wall 10F along the extension direction X. Along the thickness direction Z of the first wall, the first support bar 10G has a first side facing the first wall 10A. A second accommodating portion 102 is provided on the first side, and at least a portion of the activation mechanism 30 is disposed within the second accommodating portion 102.

[0151] The medical device case 100 also includes a conversion base 34 and a wire 33. The housing 10 has a second wall 10F extending away from the cutting head 21 along the extension direction X of the guide rail 2100. The conversion base 34 is disposed on the outer surface of the second wall 10F. The transducer 300 is detachably connected to the conversion base 34. The wire 33 is located within the housing 10 and electrically connects the excitation mechanism 30 to the conversion base 34.

[0152] A second support bar 10K is provided on the inner surface of the second wall 10F and protrudes from the second wall 10F along the extension direction X. Along the thickness direction Z of the first wall, the second support bar 10K is located between the excitation mechanism 30 and the conversion seat 34. The end of the second support bar 10K away from the second wall 10F is provided with a clamping groove 10L for clamping the wire 33. 。

[0153] The housing 10 includes a shell 11, a base 12, and a first screw. The shell 11 has an opening, which is covered by the base 12. The side wall of the shell 11 facing away from the opening is a second wall 10F. A first threaded hole 10H is defined at one end of a first support bar 10G facing away from the second wall 10F. The first screw passes through the base 12 and is threadedly connected to the first threaded hole 10H. A second threaded hole 10M is defined at the end of a second support bar 10K facing away from the second wall 10F. The second screw passes through the base 12 and is threadedly connected to the second threaded hole 10M.

[0154] In some embodiments, the button 31 protrudes from the bottom surface of the first accommodating portion 101, the depth H2 of the first accommodating portion 101 is 4-8 mm, and the protruding height H1 of the button 31 is 0.5-2 mm. The first accommodating portion 101 includes a first accommodating segment 101A and a second accommodating segment 101B arranged along the extension direction X of the guide rail 2100. The second accommodating segment 101B is farther away from the blade 21 than the first accommodating segment 101A. The button 31 is arranged on the bottom surface of the second accommodating segment 101B. In the direction away from the blade 21, the width of the second accommodating segment 101B gradually increases or first gradually increases and then remains constant. The width B1 of the first accommodating segment 101A is 8-15 mm, the maximum width B2 of the second accommodating segment 101B is 20-30 mm, and the length L of the second accommodating segment 101B is 12-20 mm, wherein the width B1 of the first accommodating segment 101A is less than the length L of the second accommodating segment 101B and is less than the maximum width B2 of the second accommodating segment 101B. The top wall portion 10D has a mounting hole for the button 31 to pass through. On a projection plane parallel to the first wall 10A, the orthographic projection of the second receiving portion 102 and the orthographic projection of the button 31 at least partially overlap.

[0155] In other embodiments, the housing 10 has a third wall 10J in the first direction Y, and the adjacent third wall 10J, the main body 10B and the side wall portion 10E in the first direction Y together form a third accommodating portion 103, the main body 10B has a mounting hole for the button 31 to pass through, and at least a portion of the excitation mechanism 30 is accommodated in the third accommodating portion 103.

[0156] 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.

[0157] 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 for detachably mounting on a surgical robot, the surgical robot comprising a transducer and a robotic arm, the medical device box being slidable relative to a guide rail of the robotic arm via a transmission mechanism, the transducer being detachably connected to the medical device box, characterized in that: The medical device box comprises: a housing having a first wall facing the guide rail, the first wall having a first accommodating portion, wherein when the medical device box is assembled on the surgical robot, at least a portion of the guide rail protruding from the robot arm is accommodated in the first accommodating portion; a waveguide rod, one end of which is disposed in the housing and connected to the transducer, and the other end of which is located outside the housing and configured as a cutting head; an excitation mechanism, the excitation mechanism comprising a button disposed on the first wall, the excitation mechanism being configured to control the transducer to operate so as to drive the blade of the waveguide rod to vibrate when the button is excited; The button is located on the bottom surface of the first accommodating portion, or, on a projection plane parallel to the first wall, the orthographic projection of the first accommodating portion does not overlap with the orthographic projection of the button.

2. The medical device box according to claim 1, wherein: The first wall has a first surface facing the guide rail, the first surface is recessed to form the first receiving portion, and the button does not protrude from the first surface.

3. The medical device box according to claim 2, wherein: The button protrudes from the bottom surface of the first accommodating portion.

4. The medical device box according to claim 3, wherein: The depth of the first accommodating portion is 4-8 mm, and the height of the button protrusion is 0.5-2 mm.

5. The medical device box according to any one of claims 1 to 4, characterized in that: The first accommodating portion includes a first accommodating section and a second accommodating section arranged along the extension direction of the guide rail. The second accommodating section is farther away from the cutting head than the first accommodating section. The button is arranged on the bottom surface of the second accommodating section. Along the direction away from the cutting head, the width of the second accommodating section gradually increases or first gradually increases and then remains constant.

6. The medical device box according to claim 5, wherein: The width of the first accommodating section is 8-15 mm, the maximum width of the second accommodating section is 20-30 mm, and the length of the second accommodating section is 12-20 mm, wherein the width of the first accommodating section is less than the length of the second accommodating section and is less than the maximum width of the second accommodating section.

7. The medical device box according to claim 1, wherein: The first wall includes a body and a convex portion, wherein the convex portion protrudes from the inner surface of the body; The convex portion includes a top wall portion and two side wall portions, the two side wall portions are respectively arranged on both sides of the top wall portion in the first direction, the top wall portion is connected to the main body through the side wall portions, the top wall portion and the two side wall portions together form the first accommodating portion, and the first direction, the thickness direction of the first wall and the extension direction of the guide rail are perpendicular to each other.

8. The medical device box according to claim 7, wherein: The housing has a second wall away from the cutter head along the extension direction of the guide rail, and a first support bar is provided on the inner surface of the second wall protruding from the second wall along the extension direction; Along the thickness direction of the first wall, the first support bar has a first side facing the first wall, a second accommodating portion is provided on the first side, and at least a part of the excitation mechanism is provided in the second accommodating portion.

9. The medical device box according to claim 8, wherein: The top wall portion has a mounting hole for the button to pass through; On a projection plane parallel to the first wall, an orthographic projection of the second receiving portion at least partially overlaps with an orthographic projection of the button.

10. The medical device box according to claim 8, wherein: The shell has a third wall in the first direction, and the third wall, the main body and the side wall portion adjacent to each other in the first direction together form a third accommodating portion. The main body has a mounting hole for the button to pass through, and at least part of the excitation mechanism is accommodated in the third accommodating portion.

11. The medical device box according to any one of claims 8 to 10, characterized in that: The shell includes a shell, a base and a first screw. The shell has an opening, the base covers the opening, the side wall of the shell away from the opening is the second wall, and a first threaded hole is formed at one end of the first support bar away from the second wall. The first screw passes through the base and is threadedly connected to the first threaded hole.

12. The medical device box according to claim 1, wherein: The medical device box also includes: A conversion seat, wherein the housing has a second wall away from the cutter head along the extension direction of the guide rail, the conversion seat is arranged on the outer surface of the second wall, and the transducer is detachably connected to the conversion seat; A wire is located in the housing and is used to electrically connect the excitation mechanism and the conversion seat.

13. The medical device box according to claim 12, wherein: A second support bar protruding from the second wall along the extension direction is provided on the inner surface of the second wall. Along the thickness direction of the first wall, the second support bar is located between the excitation mechanism and the conversion seat. The end of the second support bar away from the second wall is provided with a clamping groove for clamping the wire.

14. The medical device box according to claim 12, wherein: The shell includes a shell, a base and a second screw. The shell has an opening, the base covers the opening, the side wall of the shell away from the opening is the second wall, and a second threaded hole is formed at one end of the second support bar away from the second wall. The second screw passes through the base and is threadedly connected to the second threaded hole.

15. An ultrasonic scalpel, characterized in that: The medical device box comprises the medical device box, the power box and the transducer according to any one of claims 1 to 14, wherein the device box and the power box are detachably connected.

16. A surgical robot comprising a patient operating platform having a plurality of robotic arms, characterized in that: The robotic arm has a guide rail, and the instrument box of the ultrasonic scalpel as described in claim 15 is adjustably set on the robotic arm through the guide rail.

Images