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 shell, a push-pull piece, a lever and a push button assembly. The shell is provided with a first wall in the first direction and a second wall in the second direction, the push-pull piece penetrates through the first wall and is provided with a first end and a second end, and the second end is configured to be connected with the tool bit assembly; the lever is rotatably arranged in the shell and is connected with the first end; a part of the push button assembly is movably arranged on the outer surface of the second wall, the push button assembly is provided with a fourth end located in the shell, the push button assembly is provided with a first position and a second position, and the fourth end is configured in the mode that a gap is formed between the fourth end and the third end of the lever in the second direction at the first position, and the fourth end abuts against the third end in the second direction at the second position; when the push button assembly moves in the first direction at the second position, the lever can be driven to rotate around the fulcrum of the lever, so that the push-pull piece is driven to move in the axial direction, and opening and closing of the tool bit assembly are controlled.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical instruments, in particular, to a medical instrument box, an ultrasonic knife and a surgical robot. BACKGROUND

[0002] With the continuous development of medical instruments, computer technology and control technology, minimally invasive surgery is widely used for its small surgical trauma, short recovery time and less patient pain. The minimally invasive surgical robot can avoid operation limitations such as hand tremor during filtering operation due to its high dexterity, high control precision and intuitive surgical image, and is widely used in abdominal, pelvic and thoracic surgical areas. The surgical robot generally includes a medical instrument box, a power box and a sterile isolation plate connecting the two, and the power box is used to drive the movement of the medical instrument box to complete the surgical operation.

[0003] When using a surgical robot instrument such as an ultrasonic knife, it is necessary to consider closing the knife head assembly during installation so that the ultrasonic knife can be smoothly inserted into the surgical sleeve. At the same time, it is necessary to consider the opening and closing of the knife head assembly in case of an accident to meet the demand that the jaw is first opened to release the tissue and then closed to smoothly remove the ultrasonic knife from the surgical sleeve.

[0004] In related technologies, for example, the medical instrument box in CN217987705U can control the opening and closing of the knife head assembly by rotating the emergency control mechanism (emergency knob) provided on the upper side of the shell, but since the emergency control mechanism needs to be rotated, and the emergency control mechanism and the knife head assembly are located on opposite sides of the shell, the operator needs to use both hands to assist when controlling the opening and closing of the knife head assembly through the emergency control mechanism, which is not convenient for the operator to insert or remove the push-pull piece and other structural components into or from the surgical sleeve. Moreover, the movement direction of rotation has no intuitive connection with the movement direction of the push-pull piece (which determines the opening and closing direction of the knife head assembly), so the user needs to be trained and the emergency knob needs to have a picture / text prompt, even so, it is still difficult to avoid mistakes. UTILITY MODEL CONTENT

[0005] The embodiments of the present application provide a medical instrument box, an ultrasonic knife and a surgical robot to improve the problem that the operator is not convenient to operate when inserting or removing the push-pull piece and other structural components into or from the surgical sleeve.

[0006] In a first aspect, the embodiments of the present application provide a medical instrument box comprising a housing, a push-pull piece, a lever and a push button assembly. The housing has a first wall in a first direction and a second wall in a second direction, the first direction being perpendicular to the second direction; the push-pull piece is arranged through the first wall and has a first end and a second end outside the housing, the second end being configured to be connected with a blade head assembly; the lever is rotatably arranged in the housing and connected with the first end; the push button assembly is movably arranged on the second wall, part of the push button assembly being located outside the second wall, the push button assembly having a fourth end located in the housing, the push button assembly having a first position and a second position, the fourth end being configured to have a gap with a third end of the lever in the second direction in the first position and abut against the third end in the second direction in the second position; when the push button assembly is in the second position, movement of the push button assembly along the first direction can drive the lever to rotate around a fulcrum of the lever, thereby driving the push-pull piece to move axially to control opening and closing of the blade head assembly.

[0007] In the above technical solution, the second wall provided with the push button assembly and the first wall provided with the push-pull piece are arranged along the second direction and the first direction respectively; the push button assembly has a first position and a second position, and the fourth end is configured to have a gap with the third end of the lever in the second direction in the first position and abut against the third end in the second direction in the second position; and when the push button assembly is in the second position, movement of the push button assembly along the first direction can drive the lever to rotate around the fulcrum of the lever to drive the push-pull piece to move axially to control opening and closing of the blade head assembly. Thus, when operating the blade head assembly to open and close, the operator only needs to cover part of the second wall and part of the wall (such as the first wall) of the housing perpendicular to the second wall with one hand to limit the movement of the medical instrument box, press the push button assembly along the second direction with the palm of the thumb of the hand to make the push button assembly be in the second position, and drive the push button assembly to move along the first direction by the friction force between the palm of the thumb and the push button assembly, thereby driving the lever to rotate around the fulcrum of the lever to drive the push-pull piece to move axially to control opening and closing of the blade head assembly, so that the operator can limit the movement of the medical instrument box and control opening and closing of the blade head assembly with only one hand, and the other hand of the operator can be used to assist in inserting or taking out the blade head assembly from the surgical sleeve, thereby facilitating the operator to insert or take out the ultrasonic knife from the surgical sleeve, and the movement direction of the push button assembly and the movement of the push-pull piece are both parallel to the first direction, which is intuitive and easy to feel.

[0008] In some embodiments, the third end has a first surface facing the fourth end, the first surface is curved, and a center of curvature of the first surface is located on a side of the first surface away from the fourth end; the fourth end has a second surface facing the third end, the second surface is flat, and the second surface is configured to abut against the first surface when in the second position.

[0009] In the above technical solution, the center of curvature of the first surface coincides with the fulcrum, so that the second surface stably contacts the first surface when the second surface abuts against the first surface and moves in the first direction to make the first surface rotate around the fulcrum, thereby facilitating the second surface to drive the third end to rotate around the fulcrum through the friction between the first surface and the second surface, and improving the stability of the lever driven by the push button assembly.

[0010] In some embodiments, the first surface is a circular arc surface, and a center of the circular arc surface coincides with the fulcrum.

[0011] In the above technical solution, the first surface is a circular arc surface, and the center of the circular arc surface coincides with the fulcrum, so that the relative position between the abutment of the first surface and the second surface and the fulcrum does not change when the first surface drives the third end to rotate relative to the fulcrum, thereby preventing the push button assembly from moving in the second direction during the rotation of the third end, and increasing the stability of the transmission.

[0012] In some embodiments, the third end has a tooth; and the push button assembly includes a rack configured to engage with the tooth when in the second position.

[0013] In the above technical solution, the transmission between the third end and the fourth end is achieved by the engagement between the tooth of the third end and the rack of the push button assembly, thereby improving the transmission efficiency, the accuracy of the transmission, and the reliability of the transmission while reducing the risk of slipping, as compared with the case where the transmission between the third end and the fourth end is achieved by relying on the friction.

[0014] In some embodiments, the push button assembly includes a push button, a first body, and a second body connected in sequence, the push button is located outside the second wall, and an end of the second body away from the first body in the second direction is the fourth end; the second wall has a first through hole for the first body to pass through, the first through hole is a waist-shaped hole extending in the first direction, the size of the first body in the first direction is smaller than the size of the first through hole in the first direction, and the size of the second body in the first direction is greater than the size of the first through hole in the first direction.

[0015] In the technical solution, the size of the first body in the first direction is smaller than the size of the first through hole in the first direction, so that the first body can move relative to the first through hole in the first direction, and the structure is simple and easy to implement; meanwhile, the size of the second body in the first direction is larger than the size of the first through hole in the first direction, so that the risk of the second body moving out of the interior of the shell along the second direction from the first through hole is reduced.

[0016] In some embodiments, the push button assembly further comprises a first elastic member. The first elastic member is connected with the push button, and is located between the second wall and the push button in the second direction and abuts against the outer surface of the second wall. The first elastic member is used to provide an elastic force to the push button to drive the push button assembly to move to the first position.

[0017] In the technical solution, the first elastic member is arranged to provide an elastic force to the push button to drive the push button assembly to move to the first position, so that the push button assembly is in the first position when no external force is applied to the push button assembly, and a gap is formed between the third end and the fourth end in the second direction, thereby reducing the risk of the tool bit assembly opening or closing due to accidental touch of the push button assembly.

[0018] In some embodiments, the outer surface of the second wall is recessed to form a first accommodating portion, the first through hole is located at the bottom surface of the first accommodating portion, and the push button and at least part of the first body are accommodated in the first accommodating portion. In the first direction, the first accommodating portion has oppositely arranged first and second sides, and the first body has a third side facing the first side and a fourth side facing the second side. The push button assembly further comprises a second elastic member and a third elastic member. The two ends of the second elastic member are connected with the first side and the third side respectively, and the two ends of the third elastic member are connected with the second side and the fourth side respectively.

[0019] In the technical solution, the second elastic member and the third elastic member are arranged, so that the push button assembly can be located at the middle position of the stroke in the first direction when no external force is applied to the push button assembly. When an external force in the second direction is applied to the push button assembly to make the push button assembly located at the second position, the push button assembly can move towards the first wall in the first direction or move away from the first wall in the first direction, so that the third end can rotate counterclockwise around the fulcrum or rotate clockwise around the fulcrum, thereby facilitating adjustment of the opening or closing of the tool bit assembly according to actual use.

[0020] In some embodiments, in the extension direction of the lever, the first end is located between the third end and the fulcrum of the lever.

[0021] In the technical solution, the first end is located between the third end and the fulcrum of the lever along the extension direction of the lever, so that the distance from the first end to the fulcrum is less than the distance from the third end to the fulcrum, and the lever is a force-saving lever structure, thereby facilitating the operator to drive the lever to rotate with a smaller external force, and facilitating the operator to control the opening and closing of the tool head assembly. Moreover, the movement direction of the push button assembly is consistent with the movement direction of the push-pull piece, which is intuitive and good for users to use, and the risk of mistakenly closing the jaw in case of an accident is reduced.

[0022] In some embodiments, the housing has a third wall in the second direction, the third wall being disposed opposite the second wall; along the second direction, the third wall is located between the second wall and the mechanical arm of the surgical robot.

[0023] In the technical solution, along the second direction, the third wall is located between the second wall and the mechanical arm of the surgical robot, thereby reducing the risk that the structural part of the mechanical arm touches the push button assembly to cause the tool head assembly to open or close during the movement of the medical instrument box relative to the mechanical arm, and improving the reliability of the medical instrument box.

[0024] In some embodiments, in a plane perpendicular to the first direction, along the second direction, the orthographic projection of the push-pull piece is located between the midpoint of the orthographic projection of the first wall and the orthographic projection of the second wall.

[0025] In the technical solution, along the second direction, the orthographic projection of the push-pull piece is located between the midpoint of the orthographic projection of the first wall and the orthographic projection of the second wall, so that the center of gravity of the medical instrument box is offset towards the second wall, thereby facilitating the operator to limit the movement of the medical instrument box when the operator covers the second wall with one hand.

[0026] In a second aspect, the embodiments of the present application also provide an ultrasonic knife, comprising the medical instrument box and the transducer described above, the transducer being detachably connected to the medical instrument box and used for providing energy for the tool head assembly.

[0027] In a third aspect, the embodiments of the present application also provide a surgical robot, comprising a patient surgery platform, the patient surgery platform having a plurality of mechanical arms, the mechanical arms having power boxes at the ends, and one of the power boxes detachably mounting the ultrasonic knife described above. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0029] Figure 1 Structure diagram of a medical instrument box provided for some embodiments of the present application;

[0030] Figure 2 Assembly diagram of partial internal structure of a medical instrument box provided for some embodiments of the present application;

[0031] Figure 3 Structure exploded view of a driving wheel and a lever provided for some embodiments of the present application;

[0032] Figure 4 Structure diagram of a knife head assembly when opened provided for some embodiments of the present application;

[0033] Figure 5 Structure diagram of a knife head assembly when closed provided for some embodiments of the present application;

[0034] Figure 6 Structure diagram of a push button assembly when in a first position provided for some embodiments of the present application;

[0035] Figure 7 Structure diagram of a push button assembly when in a second position provided for some embodiments of the present application;

[0036] Figure 8 Structure diagram of another push button assembly when in a first position provided for some embodiments of the present application;

[0037] Figure 9 Structure diagram of another push button assembly when in a second position provided for some embodiments of the present application;

[0038] Figure 10 Structure diagram of another push button assembly provided for some embodiments of the present application;

[0039] Figure 11 Sectional view of a medical instrument box provided for some embodiments of the present application;

[0040] Figure 12 Structure exploded view of another push button assembly provided for some embodiments of the present application;

[0041] Figure 13 Structure diagram of another medical instrument box provided for some embodiments of the present application; Figure 1 Enlarged view of a portion of A;

[0042] Figure 14 Sectional view of another medical instrument box provided for some embodiments of the present application;

[0043] Figure 15 Structure diagram of yet another push button assembly provided for some embodiments of the present application;

[0044] Figure 16 Structure diagram of the push-pull piece and the lever provided for some embodiments of the present application;

[0045] Figure 17 Structure explosion diagram of the surgical robot provided for some embodiments of the present application.

[0046] Icon: 1000-surgical robot;

[0047] 100-medical instrument box; 110-housing; 111-first wall; 111A-support; 112-second wall; 1121-first through hole; 1122-first accommodating portion; 1122A-first side; 1122B-second side; 113-third wall;

[0048] 120-push-pull piece; 120A-first end; 120B-second end; 120C-first groove; 121-outer sleeve; 122-waveguide rod;

[0049] 130-levet; 130A-pivot point; 131-third end; 131A-first protrusion; 1311-first surface; 1312-rack; 132-fifth end; 132A-second protrusion;

[0050] 140-push button assembly; 141-push button; 1411-inclined surface; 142-first body; 142A-third side; 142B-fourth side; 143-second body; 1431-fourth end; 14311-second surface; 14312-tooth; 14313-avoidance slot; 144-first elastic member;

[0051] 150-tool head assembly; 151-first tool head; 152-second tool head

[0052] 160-opening and closing input shaft; 161-driving wheel; 161A-helical groove;

[0053] 200-power box;

[0054] 2000-mechanical arm; 2100-guide rail;

[0055] X-first direction; Y-second direction; Z-third direction. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0057] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the specification herein is for describing particular embodiments only and is not intended to be limiting of the application. Unless otherwise defined, all terms used in disclosing the application, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms used herein should be interpreted as having a meaning that is consistent with their meaning in the context of this specification and the relevant art and will not be interpreted in an idealized or overly literal sense unless expressly so defined by the patentee.

[0058] Reference throughout this application to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrase "in an embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily all directed to the same embodiment, nor are they necessarily all mutually exclusive or alternative embodiments.

[0059] In the description of the application, it is necessary to explain that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting", "attachment" should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integral connection; it can be direct connection, or indirect connection through intermediate medium, it can be the internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0060] In the application, the term "and / or" is only a description of the association relationship between the associated objects, which means that there can be three kinds of relationships, for example, A and / or B can represent the existence of A alone, the existence of A and B together, and the existence of B alone. In addition, the character " / " in the application generally represents an "or" relationship between the front and rear associated objects.

[0061] In the embodiments of the application, the same reference signs represent the same parts, and for the sake of brevity, the detailed description of the same parts is omitted in different embodiments. It should be understood that the thickness, length, width and other dimensions of various components in the embodiments of the application shown in the drawings, as well as the overall thickness, length, width and other dimensions of integrated devices, are only exemplary and should not constitute any limitation on the application.

[0062] "Multiple" appearing in the application refers to two or more (including two).

[0063] A surgical system typically includes a surgeon control console, a patient surgical console, and an image console. The surgeon sits at the surgeon control console, views a two- or three-dimensional image of the surgical field transmitted by a scope placed in the patient's body, and manipulates the movement of a robotic arm on the patient surgical console and the medical instrument cartridge or scope attached to the robotic arm. The robotic arm is analogous to a simulated human arm, and the medical instrument cartridge is analogous to a simulated human hand, both providing the surgeon with a range of motions analogous to a human wrist, while filtering out the tremors of the human hand.

[0064] The patient surgical console includes a base, a column, a robotic arm, and a power cartridge. The robotic arm is coupled to the column, and the power cartridge is disposed at the end of the robotic arm. The medical instrument cartridge and / or scope are removably attached to the power cartridge.

[0065] The medical instrument cartridge refers to a medical device for insertion into a patient's body and performing a surgical or diagnostic procedure. The medical instrument cartridge includes an execution end. The execution end can be a surgical tool for performing one or more surgical-related tasks. Exemplary execution ends can be forceps, needle holders, scissors, bipolar cautery, tissue stabilizers or retractors, clip appliers, stapling devices, imaging devices (e.g., endoscopes or ultrasound probes), etc.

[0066] Each power cartridge is capable of moving the various types of medical instrument cartridges in one or more degrees of mechanical freedom during a surgical procedure. Exemplary power cartridges are capable of moving the various types of medical instrument cartridges in six, five, or fewer degrees of freedom.

[0067] Typically, each power cartridge is constrained to rotate the medical instrument cartridge about a center of motion that remains stationary relative to the patient platform. This center of motion is referred to as the "telecenter."

[0068] The image console typically includes a display for displaying images captured by a medical instrument cartridge (often an endoscope) having video image capture capabilities. The images can be captured by one medical instrument cartridge or by multiple medical instrument cartridges.

[0069] In some embodiments in which the medical instrument cartridge is an endoscope, the medical instrument cartridge includes a sensor for transmitting images from the patient's body to outside the patient's body, and then through photoelectric conversion and other steps to transmit the video images to a host computer of the image console. The processed images are then displayed on a video display for viewing by an assistant.

[0070] Exemplary sensors can be CCD or CMOS sensors.

[0071] When using a surgical instrument such as an ultrasonic knife for a robot, it is necessary to consider closing the knife head assembly during installation so that the ultrasonic knife can be smoothly inserted into the surgical sleeve; at the same time, it is necessary to consider the opening and closing of the knife head assembly in the event of an accident to meet the demand that the jaw is first opened to release the tissue and then closed to smoothly remove the ultrasonic knife from the surgical sleeve. In the related art, for example, the medical instrument box in CN217987705U can control the opening and closing of the knife head assembly by rotating the emergency control mechanism (emergency knob) provided on the upper side of the shell, but since the emergency control mechanism needs to be rotated, and the emergency control mechanism and the knife head assembly are located on opposite sides of the shell, the operator needs to assist with both hands when controlling the opening and closing of the knife head assembly through the emergency control mechanism, which is not convenient for the operator to insert or remove the push-pull piece and other structural components into or from the surgical sleeve; Moreover, the movement direction of rotation has no intuitive connection with the movement direction of the push-pull piece (which determines the opening and closing direction of the knife head assembly), so the user needs to be trained and the emergency knob needs to have a picture / text prompt, even so, it is still difficult to avoid mistakes.

[0072] Based on the above considerations, in order to improve the problem that the operator is not convenient to operate when inserting or removing the push-pull piece and other structural components into or from the surgical sleeve. The medical instrument box provided by the embodiment of the present application includes a shell, a push-pull piece, a lever and a push button assembly. The shell has a first wall in a first direction and a second wall in a second direction, the first direction being perpendicular to the second direction; the push-pull piece is provided through the first wall and has a first end and a second end located outside the shell, the second end being configured to be connected with the knife head assembly; the lever is rotatably arranged in the shell and connected with the first end; the push button assembly is movably arranged on the second wall, part of the push button assembly is located outside the second wall, the push button assembly has a fourth end located in the shell, the push button assembly has a first position and a second position, the fourth end is configured to have a gap with a third end of the lever in the second direction in the first position, and the fourth end is configured to abut against the third end in the second direction in the second position; when the push button assembly is in the second position, moving the push button assembly in the first direction can drive the lever to rotate around the fulcrum of the lever to drive the push-pull piece to move in the axial direction to control the opening and closing of the knife head assembly.

[0073] In the medical instrument box of the structure, the second wall provided with the push button assembly and the first wall provided with the push-pull piece are respectively arranged along the second direction and the first direction; wherein the push button assembly has a first position and a second position, and the fourth end is configured to have a gap with the third end of the lever in the second direction in the first position and abut against the third end in the second direction in the second position. And when the push button assembly is in the second position, moving the push button assembly along the first direction X can drive the lever to rotate around the fulcrum of the lever to drive the push-pull piece to move axially to control the opening and closing of the blade head assembly. Therefore, when operating the opening and closing of the blade head assembly, the operator only needs to cover part of the second wall and part of the wall (such as the first wall) perpendicular to the second wall in the shell with one hand to limit the movement of the medical instrument box, and at the same time, press the push button assembly along the second direction with the palm of the thumb of the hand to make the push button assembly be in the second position, and drive the push button assembly to move along the first direction by the friction between the palm and the push button assembly, thereby driving the lever to rotate around the fulcrum of the lever to drive the push-pull piece to move axially to control the opening and closing of the blade head assembly, so that the operator can limit the movement of the medical instrument box and control the opening and closing of the blade head assembly with only one hand, and the other hand of the operator can be used to assist inserting or taking out the blade head assembly from the surgical sleeve, thereby facilitating the operator to insert or take out the ultrasonic knife from the surgical sleeve. Moreover, the movement direction of the push button assembly and the movement of the push-pull piece are parallel to the first direction, which is intuitive and easy to feel.

[0074] According to some embodiments of the present application, please refer to Figures 1-9 The medical instrument box 100 provided by the embodiments of the present application comprises a shell 110, a push-pull piece 120, a lever 130 and a push button assembly 140. The shell 110 has a first wall 111 in a first direction X and a second wall 112 in a second direction Y, and the first direction X is perpendicular to the second direction Y; the push-pull piece 120 is arranged through the first wall 111 and has a first end 120A and a second end 120B outside the shell 110, and the second end 120B is configured to be connected with a blade head assembly 150; the lever 130 is rotatably arranged in the shell 110 and connected with the first end 120A; the push button assembly 140 is movably arranged on the second wall 112, part of the push button assembly 140 is located outside the second wall 112, and the push button assembly 140 has a fourth end 1431 located in the shell 110. The push button assembly 140 has a first position and a second position, and the fourth end 1431 is configured to have a gap with the third end 131 of the lever 130 in the second direction Y in the first position and abut against the third end 131 in the second direction Y in the second position. When the push button assembly 140 is in the second position, moving the push button assembly 140 along the first direction X can drive the lever 130 to rotate around the fulcrum 130A of the lever 130 to drive the push-pull piece 120 to move axially to control the opening and closing of the blade head assembly 150.

[0075] The housing 110 is a component with a receiving cavity inside. Exemplarily, a sealed space is formed in the housing 110 to provide a stable working environment for the transmission mechanism of the medical instrument box 100, thereby improving the reliability of the medical instrument box 100.

[0076] The first wall 111 is a wall portion of the housing 110 facing the power box 200.

[0077] In some embodiments, referring to Figure 2 The first wall 111 can be a base for mounting the push-pull member 120 in the medical instrument box 100, and the remaining part of the housing 110 is a shell wrapped around the periphery of the first wall 111 to form a sealed space. Exemplarily, the first wall 111 can be made of hard plastic, stainless steel, aluminum alloy, or other metal or non-metal hard materials.

[0078] In some embodiments, referring to Figure 2 The medical instrument box 100 further comprises a support 111A disposed on the first wall 111. The support 111A has a gap with the first wall 111 in the first direction X. A transmission mechanism for driving the cutting head assembly 150 and the push-pull member 120 to rotate is disposed in the gap. The fulcrum 130A of the lever 130 is disposed on the side of the support 111A away from the first wall 111 in the first direction X, so as to reduce the risk of interfering with the movement of the transmission mechanism when the lever 130 rotates relative to the fulcrum 130A.

[0079] It can be understood that the first wall 111 is the part of the medical instrument box 100 connected to the power box 200.

[0080] The push-pull member 120 is a component of the medical instrument box 100 for driving the cutting head assembly 150 to open and close. It can be understood that the push-pull member 120 can move relative to the first wall 111 in the axial direction of the push-pull member 120 to drive the execution end to open and close.

[0081] In some embodiments, referring to Figure 4 and Figure 5The knife head assembly 150 comprises a first knife head 151 and a second knife head 152. The medical instrument box 100 further comprises a waveguide rod 122 and an outer sleeve 121. The waveguide rod 122 is arranged in the push-pull member 120, and an end of the waveguide rod 122 located outside the housing 110 is configured as the second knife head 152. The outer sleeve 121 is arranged outside the push-pull member 120 and is fixed relative to the first wall 111. A part of the first knife head 151 is rotatably arranged at an end of the outer sleeve 121 close to the second knife head 152, and another part of the first knife head 151 is rotatably arranged at an end of the push-pull member 120 close to the second knife head 152, and the rotation connection between the first knife head 151 and the outer sleeve 121 and the rotation connection between the first knife head 151 and the push-pull member 120 are located on both sides of the waveguide rod 122 along the radial direction of the waveguide rod 122, so that when the push-pull member 120 is driven by the lever 130 to move in the axial direction, the push-pull member 120 can move in the axial direction relative to the outer sleeve 121, and the push-pull member 120 drives the first knife head 151 to rotate relative to the second knife head 152. Thus, the axial movement of the push-pull member 120 can drive the first knife head 151 to open or close relative to the second knife head 152.

[0082] The first knife head 151 is one component of the knife head assembly 150, and the first knife head 151 rotates relative to the second knife head 152 to open and close the execution end to clamp and cut the tissue.

[0083] The waveguide rod 122 is a component for transmitting high-frequency mechanical energy in the medical instrument box 100. Exemplarily, the axial direction of the waveguide rod 122 can be the same as the axial direction of the push-pull member 120, i.e., the extension direction of the push-pull member 120 is the same as the extension direction of the waveguide rod 122. The waveguide rod 122 can be connected with a transducer. It can be understood that the mechanical energy is transmitted to the second knife head 152 through the waveguide rod 122, so that the second knife head 152 mechanically vibrates at an ultrasonic frequency. The high-power ultrasonic wave makes the tissue cells in contact with the second knife head 152 instantaneously gasify water, break hydrogen bonds of proteins, and disintegrate cells, so as to cut the tissue, and the friction heat caused by the mechanical vibration can coagulate and stop bleeding while cutting the tissue.

[0084] The lever 130 can transmit the external force in the axial direction of the push button assembly 140 to the push-pull member 120 in the same or opposite direction. Exemplarily, the lever 130 can be made of hard plastic (such as peek), stainless steel, aluminum alloy, or other metal or non-metal hard materials.

[0085] In some embodiments, with reference to Figure 2 and Figure 3The medical instrument box 100 further comprises an opening and closing input shaft 160 rotatably arranged on the first wall 111, and an axis of the opening and closing input shaft 160 is parallel to an axis of the push-pull piece 120. A driving wheel 161 is sleeved on the third opening and closing input shaft 160, and an outer circumferential surface of the driving wheel 161 is provided with a helical groove 161A. The lever 130 has a fifth end 132 provided with a second protruding portion 132A, the second protruding portion 132A is in sliding fit with the helical groove 161A, and the lever 130 is connected with the first end 120A of the push-pull piece 120. Rotation of the opening and closing input shaft 160 and the driving wheel 161 can drive the lever 130 to rotate around the fulcrum 130A, so as to drive the push-pull piece 120 to move along the axis, and drive the first cutter head 151 to open or close relative to the second cutter head 152. The power box 200 comprises a third driving motor (not shown in the figure) for driving the opening and closing input shaft 160 to rotate.

[0086] It can be understood that the axis of the push-pull piece 120 is parallel to the axis of the opening and closing input shaft 160, so that when the push-pull piece 120 bears an external force provided by the lever 130, the push-pull piece 120 can be driven to move along the axis by the external force.

[0087] The fulcrum 130A is a part of the lever 130 rotatably connected with the first wall 111, and the lever 130 rotates around the fulcrum 130A. Exemplarily, the fulcrum 130A can be a rotating shaft. Exemplarily, the fulcrum 130A of the lever 130 is located between the opening and closing input shaft 160 and the push-pull piece 120.

[0088] The second wall 112 is a wall part of the housing 110 perpendicular to the first wall 111. Exemplarily, in some embodiments, the second wall 112 can be adjacent to the first wall 111.

[0089] The first direction X can be a thickness direction of the first wall 111, and the second direction Y can be a thickness direction of the second wall 112. The third direction Z is a direction perpendicular to the first direction X and the second direction Y. In some embodiments, the first direction X is parallel to an axis of the push-pull piece 120.

[0090] The push button assembly 140 is an activation mechanism arranged on the second wall 112.

[0091] The fourth end 1431 is an end of the push button assembly 140 close to the third end 131 in the second direction Y.

[0092] Referring to Figures 6-9 The first position and the second position are two opposite positions of the push button assembly 140 in the second direction Y. In the second position, the fourth end 1431 can be coupled with the third end 131 by a mechanical structure such as gear meshing, clamping or the like, or can be directly abutted.

[0093] In the embodiment, the second wall 112 provided with the push button assembly 140 is arranged along the second direction Y, and the first wall 111 provided with the push-pull piece 120 is arranged along the first direction X; the push button assembly 140 has a first position and a second position, and the fourth end 1431 is configured to have a gap with the third end 131 of the lever 130 in the second direction Y in the first position, and abut against the third end 131 in the second direction Y in the second position. When the push button assembly 140 moves along the first direction X in the second position, the lever 130 is driven to rotate around the fulcrum 130A of the lever 130, so as to drive the push-pull piece 120 to move axially, thereby controlling the opening and closing of the blade head assembly 150. When the operator operates the opening and closing of the blade head assembly 150, the operator only needs to cover part of the second wall 112 and part of the wall (such as the first wall 111) of the shell 110 perpendicular to the second wall 112 with one hand, so as to limit the movement of the medical instrument box 100, and press the push button assembly 140 along the second direction Y with the thenar eminence of the thumb of the hand, so that the push button assembly 140 is located in the second position, and the thenar eminence drives the push button assembly 140 to move along the first direction X by the friction force between the thenar eminence and the push button assembly 140, thereby driving the lever 130 to rotate around the fulcrum 130A of the lever 130, so as to drive the push-pull piece 120 to move axially to control the opening and closing of the blade head assembly 150, so that the operator can limit the movement of the medical instrument box 100 and control the opening and closing of the blade head assembly 150 with one hand, and the other hand of the operator can be used to assist in inserting or taking out the blade head assembly 150 from the surgical sleeve, thereby facilitating the operator to insert or take out the ultrasonic knife from the surgical sleeve. Moreover, the movement direction of the push button assembly 140 and the movement of the push-pull piece 120 are parallel to the first direction, which is intuitive and easy to feel.

[0094] Please refer to Figure 6 and Figure 7 According to some embodiments of the present application, the third end 131 has a first surface 1311 facing the fourth end 1431, the first surface 1311 is a curved surface, and the curvature center of the first surface 1311 coincides with the fulcrum 130A; the fourth end 1431 has a second surface 14311 facing the third end 131, the second surface 14311 is a flat surface, and the second surface 14311 is configured to abut against the first surface 1311 in the second position.

[0095] In some embodiments, the first surface 1311 and the second surface 14311 can both be frosted surfaces, so as to increase the friction between the second surface 14311 and the first surface 1311 when the first surface 1311 moves relative to the second surface 14311.

[0096] In some embodiments, a silica gel pad is arranged on the first surface 1311, and a silica gel pad is also arranged on the second surface 14311, so as to increase the friction between the second surface 14311 and the first surface 1311 when the first surface 1311 moves relative to the second surface 14311.

[0097] In the present embodiment, the curvature center of the first surface 1311 coincides with the fulcrum 130A, so that the second surface 14311 can stably contact the first surface 1311 when the second surface 14311 is in abutment with the first surface 1311 and the second surface 14311 moves in the first direction X to make the first surface 1311 rotate around the fulcrum 130A, thereby facilitating the second surface 14311 to drive the third end 131 to rotate around the fulcrum 130A through the friction between the first surface 1311 and the second surface 14311, and improving the stability of the lever 130 driven by the push button assembly 140.

[0098] Please refer to Figure 6 and Figure 7 According to some embodiments of the present application, the first surface 1311 is a circular arc surface, and the curvature center of the circular arc surface coincides with the fulcrum 130A.

[0099] In the present embodiment, the first surface 1311 is a circular arc surface, and the curvature center of the circular arc surface coincides with the fulcrum 130A, so that the relative position between the abutment position of the first surface 1311 and the second surface 14311 and the fulcrum 130A does not change when the first surface 1311 drives the third end 131 to rotate relative to the fulcrum 130A, thereby preventing the push button assembly 140 from moving in the second direction Y during the rotation of the third end 131, and increasing the stability of the transmission.

[0100] Please refer to Figure 8 and Figure 9 According to some embodiments of the present application, the third end 131 has a tooth 14312, and the push button assembly 140 includes a rack 1312 configured to engage with the tooth 14312 when in the second position.

[0101] In some embodiments, the third end 131 has a first surface 1311 facing the fourth end 1431, the first surface 1311 is a circular arc surface, the curvature center of the circular arc surface coincides with the fulcrum 130A, the tooth 14312 is arranged along the circumference of the first surface 1311, and the rack 1312 is a straight rack 1312.

[0102] In the embodiment, the gear 14312 of the third end 131 and the rack 1312 of the push button assembly 140 are engaged to realize the transmission of the third end 131 and the fourth end 1431, so that compared with the case where the transmission of the third end 131 and the fourth end 1431 is realized by relying on friction, the transmission efficiency is improved, the accuracy of transmission is improved, the risk of slipping is reduced, and the reliability of transmission is improved.

[0103] Please refer to Figure 10 and Figure 11 According to some embodiments of the present application, the push button assembly 140 comprises a push button 141, a first body 142 and a second body 143 connected in sequence, the push button 141 is located outside the second wall 112, and the second body 143 has a fourth end 1431 away from the first body 142 in the second direction Y; the second wall 112 has a first through hole 1121 for the first body 142 to pass through, the first through hole 1121 is a waist-shaped hole extending along the first direction X, and the size of the first body 142 in the first direction X is smaller than the size of the first through hole 1121 in the first direction X. The size of the second body 143 in the first direction X is greater than the size of the first through hole 1121 in the first direction X.

[0104] The push button 141 is the part of the push button assembly 140 located outside the second wall 112, and the operator can apply a pressing force along the second direction Y to the push button assembly 140 through the push button 141, and can drive the push button assembly 140 to move along the first direction X through the push button 141.

[0105] In some embodiments, referring to Figure 11 The side of the push button 141 away from the second wall 112 in the second direction Y has an inclined surface 1411, and the inclined surface 1411 forms an angle with the first direction X to facilitate the thumb of the operator to provide a squeezing force along the first direction X to the push button 141 to drive the push button assembly 140 to move along the first direction X. It can be understood that the inclined surface 1411 is provided along the first direction X. Two inclined surfaces 1411 are symmetrically arranged.

[0106] Exemplarily, the size of the push button 141 in the first direction X should be greater than the size of the first through hole 1121 in the first direction X, so as to reduce the risk of the push button 141 entering the inside of the shell 110 through the first through hole 1121.

[0107] The first body 142 is the part of the push button assembly 140 passing through the first through hole 1121, and it can be understood that the first body 142 is away from the first through hole 1121 in the second direction Y by a certain distance, so that the push button assembly 140 can move relative to the first through hole 1121 in the second direction Y, and thus the push button assembly 140 can be switched between the first position and the second position.

[0108] In some embodiments, the first body 142 has a dimension in the third direction Z that is adapted to the dimension of the first through hole 1121 in the third direction Z, so that the first through hole 1121 forms a structural limit to the first body 142, thereby reducing the risk of rotation of the second body 143 relative to the first through hole 1121.

[0109] It can be understood that the first body 142 has a dimension in the first direction X that is different from the dimension of the first through hole 1121 in the first direction X by a certain difference L.

[0110] In embodiments in which the first surface 1311 is a circular arc surface, the above-mentioned difference L should satisfy L / D≥2θ, where D is the diameter of curvature of the first surface 1311, and θ is the radian of the first surface 1311. That is, when the first body 142 is located at the middle position of the first through hole 1121 in the first direction X, the displacement amount of the lever 130 to complete the full stroke of rotation can be moved by pushing the knob assembly 140 in the direction close to the first wall 111 or in the direction away from the first wall 111, so that the lever 130 can complete the opening or closing of the tool head assembly 150 at any angle by moving the knob assembly 140 when the first body 142 is located at the middle position of the first through hole 1121 in the first direction X.

[0111] It can be understood that the first body 142 and the knob 141 can be integrally formed, which on the one hand reduces the processing procedures of the knob assembly 140 and saves processing costs, and on the other hand improves the connection strength of the first body 142 and the knob 141 and increases the structural strength of the knob assembly 140.

[0112] The second body 143 is the part of the knob assembly 140 that is used to abut against the third end 131, and in some embodiments, the second body 143 is a rack 1312.

[0113] It can be understood that the length of the second body 143 in the first direction X should be greater than or equal to twice the arc length of the first surface 1311 in the circumferential direction thereof. So that the lever 130 can complete the opening or closing of the tool head assembly 150 at any angle by moving the knob assembly 140 when the first body 142 is located at the middle position of the first through hole 1121 in the first direction X.

[0114] In some embodiments, the second body 143 and the first body 142 can be detachably connected through screwing, clamping or the like. Specifically, after a part of the first body 142 is inserted into the housing 110 through the first through hole, the second body 143 and the first body 142 are detachably connected, so that the second wall 112 forms a structural limit to the knob assembly 140 in the second direction Y.

[0115] In the embodiment, the first body 142 has a dimension in the first direction X smaller than that of the first through hole 1121 in the first direction X, so that the first body 142 can move relative to the first through hole 1121 in the first direction X, and the structure is simple and easy to implement; at the same time, since the second body 143 has a dimension in the first direction X larger than that of the first through hole 1121 in the first direction X, the risk of the second body 143 moving out of the interior of the shell 110 along the second direction Y from the first through hole 1121 is reduced.

[0116] Please refer to Figure 12 According to some embodiments of the present application, the push button assembly 140 further comprises a first elastic member 144. The first elastic member 144 is connected with the push button 141, and is located between the second wall 112 and the push button 141 along the second direction Y and abuts against the outer surface of the second wall 112. The first elastic member 144 is used to provide an elastic force to the push button 141 to drive the push button assembly 140 to move to the first position.

[0117] The first elastic member 144 is a component that can elastically deform when subjected to an external force. Illustratively, the first elastic member 144 can be a rubber pad, a spring, a spring sheet, or the like.

[0118] In some embodiments, the first elastic member 144 can be a spring, and a first end 120A of the first elastic member 144 is connected with one of the push button 141 or the second wall 112, and the other end abuts against the other one so as to be slidable relative to the other one.

[0119] In some embodiments, the first elastic member 144 can be a spring sheet, and the push button 141 and the second body 143 are respectively located on both sides of the middle part of the first elastic member 144 along the second direction Y and cooperate to clamp the middle part of the first elastic member 144, and the two ends of the first elastic member 144 in the extension direction thereof respectively abut against the outer surfaces of the second wall 112 located on both sides of the first through hole 1121 in the first direction X.

[0120] Illustratively, the side surface of the second body 143 in the first direction X is recessed to form a recessed groove 14313 for the first elastic member 144 to pass through.

[0121] In the embodiment, by providing the first elastic member 144, the first elastic member 144 provides an elastic force to the push button 141 to drive the push button assembly 140 to move to the first position, so that when the push button assembly 140 is not subjected to an external force, it is in the first position, so that there is a gap between the third end 131 and the fourth end 1431 in the second direction Y, thereby reducing the risk of the tool bit assembly 150 opening and closing due to accidental touch of the push button assembly 140.

[0122] Please refer to Figures 13-15According to some embodiments of the present application, the outer surface of the second wall 112 is recessed to form a first accommodating portion 1122, the first through hole 1121 is located at the bottom surface of the first accommodating portion 1122, and the push button 141 and at least part of the first body 142 are accommodated in the first accommodating portion 1122; in the first direction X, the first accommodating portion 1122 has oppositely arranged first and second sides 1122A and 1122B, and the first body 142 has a third side 142A facing the first side 1122A and a fourth side 142B facing the second side 1122B; the push button assembly 140 further comprises a second elastic member and a third elastic member, two ends of the second elastic member are connected with the first side 1122A and the third side 142A respectively, and two ends of the third elastic member are connected with the second side 1122B and the fourth side 142B respectively.

[0123] Exemplarily, when located at the first position, part of the first body 142 extends out of the first through hole 1121 along the second direction Y and is located in the first accommodating portion 1122; when located at the second position, part of the push button 141 extends into the first accommodating portion 1122 along the second direction Y.

[0124] The second elastic member is a component that can elastically deform when subjected to external force. Exemplarily, the second elastic member can be a rubber pad, a spring, a spring sheet, or the like.

[0125] The third elastic member is a component that can elastically deform when subjected to external force. Exemplarily, the third elastic member can be a rubber pad, a spring, a spring sheet, or the like.

[0126] It can be understood that, since the two ends of the second elastic member and the third elastic member are connected with the wall portion of the first accommodating portion 1122 and the first body 142, when the push button assembly 140 moves along the second direction Y, the second elastic member and the third elastic member will deform along the second direction Y.

[0127] The first and second sides 1122A and 1122B are two sides of the first accommodating portion 1122 oppositely arranged in the first direction X; the third and fourth sides 142A and 142B are two sides of the first body 142 oppositely arranged in the first direction X, wherein the third side 142A is closer to the first side 1122A than the fourth side 142B, and the fourth side 142B is closer to the second side 1122B than the third side 142A.

[0128] In some embodiments, referring to Figure 15 The second elastic member and the third elastic member are springs with the same elastic coefficient and the same natural length.

[0129] In some embodiments, the first side 1122A is recessed to form a first spring groove for accommodating part of the second elastic member; and the second side 1122B is recessed to form a second spring groove for accommodating part of the third elastic member.

[0130] In the embodiment, by arranging the second elastic member and the third elastic member, the push button assembly 140 can be located at the middle position of the stroke in the first direction X when the push button assembly 140 does not bear external force, so that when the external force in the second direction Y is applied to the push button assembly 140 to make the push button assembly 140 located at the second position, the push button assembly 140 can move towards the first wall 111 in the first direction X or move away from the first wall 111 in the first direction X, and then the third end 131 can rotate counterclockwise around the fulcrum 130A or rotate clockwise around the fulcrum 130A, thereby facilitating adjustment of the opening or closing of the tool head assembly 150 according to actual use.

[0131] Please refer to Figure 16 According to some embodiments of the present application, along the extension direction of the lever 130, the first end 120A is located between the third end 131 and the fulcrum 130A of the lever 130.

[0132] In some embodiments, the first end 120A of the push-pull member 120 is provided with a first groove 120C extending along the circumference of the push-pull member 120, and the lever 130 has a first protrusion 131A located in the first groove 120C; along the extension direction of the lever 130, the first protrusion 131A is located between the third end 131 and the fulcrum 130A of the lever 130.

[0133] The first groove 120C is a groove extending around the side of the push-pull member 120, which can be formed on the side of the push-pull member 120 by machining methods such as milling, or can be made synchronously with the push-pull member 120 by integral molding.

[0134] In some embodiments, the first groove 120C can be annular to prevent the first protrusion 131A located in the first groove 120C from abutting against the end wall of the first groove 120C when the push-pull member 120 rotates around the axis of the push-pull member 120, causing the execution end to be unable to rotate.

[0135] The first protrusion 131A is a part protruding from the side of the lever 130 facing the first groove 120C, and the shape of the first protrusion 131A can be various, for example, the first protrusion 131A can be cylindrical or prismatic.

[0136] In some embodiments, the first protrusion 131A can be arranged on the lever 130 by adhesion, hot melting or other connection methods; in some embodiments, the first protrusion 131A and the lever 130 can be integrally formed.

[0137] In order to facilitate the cooperation between the lever 130 and the push-pull member 120, please refer to Figure 16, the first protrusion 131A and the first recess 120C are shown in dotted lines, and it should be noted that the dotted lines only represent the range of the first protrusion 131A and the first recess 120C, and do not have other meanings.

[0138] Specifically, the first protrusion 131A is located in the first recess 120C, and when the driving wheel 161 rotates to drive the lever 130 to rotate away from the one end of the push-pull piece 120 around the fulcrum 130A, or when the fourth end 1431 drives the third end 131 to rotate around the fulcrum 130A, the first protrusion 131A can abut against the groove wall of the first recess 120C, thereby driving the push-pull piece 120 to move axially, and in turn driving the first tool bit 151 of the tool bit assembly 150 to rotate, so as to open and close the tool bit assembly 150.

[0139] In some embodiments, along the second direction Y, the third end 131 is located between the first end 120A and the fourth end 1431.

[0140] In the present embodiment, along the extension direction of the lever 130, the first protrusion 131A is located between the third end 131 and the fulcrum 130A of the lever 130, so that the distance from the first protrusion 131A to the fulcrum 130A is less than the distance from the third end 131 to the fulcrum 130A, thereby making the lever 130 a force-saving lever 130 structure, thereby facilitating the operator to drive the lever 130 to rotate with smaller external force, and in turn facilitating the operator to control the opening and closing of the tool bit assembly 150. Moreover, the movement direction of the push button assembly 140 is consistent with the movement direction of the push-pull piece 120, which is intuitive and good to feel, and the user is less likely to make mistakes, especially reducing the risk of mistakenly closing the tool bit assembly 150 in case of an accident.

[0141] Please refer to Figure 17 According to some embodiments of the present application, the shell 110 has a third wall 113 opposite the second wall 112 in the second direction Y; along the second direction Y, the third wall 113 is located between the second wall 112 and the mechanical arm 2000 of the surgical robot 1000.

[0142] The third wall 113 is a wall part opposite the second wall 112 in the second direction Y.

[0143] In some embodiments, the surgical robot 1000 includes a transducer and a mechanical arm 2000, and the medical instrument box 100 is slidable relative to the guide rail 2100 of the mechanical arm 2000 through a transmission mechanism, and the third wall 113 is recessed to form a containing part for containing part of the guide rail 2100.

[0144] In the embodiment, along the second direction Y, the third wall 113 is located between the second wall 112 and the mechanical arm 2000 of the surgical robot 1000, thereby reducing the risk that the structural member of the mechanical arm 2000 touches the push-button assembly 140 to cause the blade assembly 150 to open or close during the movement of the medical instrument box 100 relative to the mechanical arm 2000, and improving the reliability of the medical instrument box 100.

[0145] Please refer to Figure 1 According to some embodiments of the present application, along the second direction Y, the orthographic projection of the push-pull piece 120 is located between the midpoint of the orthographic projection of the first wall 111 and the orthographic projection of the second wall 112 in the plane perpendicular to the first direction X.

[0146] In the embodiment, along the second direction Y, the orthographic projection of the push-pull piece 120 is located between the midpoint of the orthographic projection of the first wall 111 and the orthographic projection of the second wall 112, so that the center of gravity of the medical instrument box 100 is offset towards the second wall 112, thereby facilitating the operator to limit the movement of the medical instrument box 100 when covering the second wall 112 with one hand.

[0147] Please refer to Figure 17 The present application also provides an ultrasonic knife, comprising the medical instrument box 100 and a transducer, the transducer being detachably connected to the medical instrument box and used for providing energy for the blade assembly 150.

[0148] Please refer to Figure 17 The present application also provides a surgical robot 1000, comprising a patient surgery platform, the patient surgery platform having a plurality of mechanical arms 2000, the mechanical arms 2000 having power boxes 200 at the ends, and one of the power boxes 200 detachably mounting the ultrasonic knife.

[0149] According to some embodiments of the present application, a medical instrument box 100 is provided, which comprises a box body 110, a push-button assembly 140 and a blade assembly 150. Figures 1-17The medical instrument box 100 comprises a housing 110, a push-pull piece 120, a lever 130 and a push button assembly 140. The housing 110 has a first wall 111 in a first direction X and a second wall 112 in a second direction Y, the first direction X being perpendicular to the second direction Y; the push-pull piece 120 is arranged through the first wall 111 and has a first end 120A and a second end 120B outside the housing 110, the second end 120B being configured to be connected with a tool bit assembly 150; the lever 130 is rotatably arranged in the housing 110 and connected with the first end 120A; a part of the push button assembly 140 is movably arranged on the outer surface of the second wall 112, the push button assembly 140 has a fourth end 1431 inside the housing 110, the push button assembly 140 has a first position and a second position, the fourth end 1431 is configured to have a gap with a third end 131 of the lever 130 in the second direction Y in the first position and abut against the third end 131 in the second direction Y in the second position; the lever 130 is driven to rotate around a fulcrum 130A of the lever 130 to drive the push-pull piece 120 to move axially to control the opening and closing of the tool bit assembly 150 when the push button assembly 140 moves along the first direction X in the second position.

[0150] The third end 131 has a first surface 1311 facing the fourth end 1431, the first surface 1311 is a curved surface, and the center of curvature of the first surface 1311 coincides with the fulcrum 130A. The first surface 1311 has a tooth 14312, and the push button assembly 140 comprises a rack 1312 configured to engage with the tooth 14312 in the second position.

[0151] The push button assembly 140 comprises a push button 141, a first body 142 and a second body 143 connected in sequence, the push button 141 is located outside the second wall 112, and the second body 143 has the fourth end 1431 away from the first body 142 in the second direction Y; the second wall 112 has a first through hole 1121 for the first body 142 to pass through, the first through hole 1121 is a waist-shaped hole extending along the first direction X, and the size of the first body 142 in the first direction X is smaller than the size of the first through hole 1121 in the first direction X. The size of the second body 143 in the first direction X is greater than the size of the first through hole 1121 in the first direction X.

[0152] The push button assembly 140 further comprises a first elastic member 144. The first elastic member 144 is connected with the push button 141, is located between the second wall 112 and the push button 141 in the second direction Y, and abuts against the outer surface of the second wall 112, and the first elastic member 144 is used to provide an elastic force to the push button 141 to drive the push button assembly 140 to move to the first position.

[0153] An outer surface of the second wall 112 is concave to form a first accommodating portion 1122, a first through hole 1121 is located at a bottom surface of the first accommodating portion 1122, and at least part of the push button 141 and the first body 142 are accommodated in the first accommodating portion 1122; in the first direction X, the first accommodating portion 1122 has a first side 1122A and a second side 1122B arranged oppositely, the first body 142 has a third side 142A facing the first side 1122A and a fourth side 142B facing the second side 1122B; the push button assembly 140 further includes a second elastic member and a third elastic member, two ends of the second elastic member are connected with the first side 1122A and the third side 142A respectively, and two ends of the third elastic member are connected with the second side 1122B and the fourth side 142B respectively.

[0154] The first end 120A of the push-pull piece 120 is provided with a first groove 120C extending along the circumference of the push-pull piece 120, and the lever 130 has a first protrusion 131A located in the first groove 120C; along the extension direction of the lever 130, the first protrusion 131A is located between the third end 131 and the fulcrum 130A of the lever 130. The outer shell 110 has a third wall 113 arranged oppositely to the second wall 112 in the second direction Y; along the second direction Y, the third wall 113 is located between the second wall 112 and the mechanical arm 2000 of the surgical robot 1000. In a plane perpendicular to the first direction X, along the second direction Y, the orthographic projection of the push-pull piece 120 is located between the orthographic projection of the first wall 111 and the orthographic projection of the second wall 112.

[0155] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0156] The above embodiments are only used to illustrate the technical solutions of the present application, and are not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A medical device cassette, characterized in that, The utility model relates to a cutting tool, comprising: a housing having a first wall in a first direction and a second wall in a second direction, the first direction being perpendicular to the second direction; a push-pull member disposed through the first wall and having a first end inside the housing and a second end outside the housing, the second end being configured to connect with a tool head assembly; a lever rotatably disposed inside the housing and connected with the first end; a push button assembly movably disposed on the second wall, a portion of the push button assembly being located outside the second wall, the push button assembly having a fourth end inside the housing, the push button assembly having a first position and a second position, the fourth end being configured to have a gap with a third end of the lever in the second direction in the first position and abut against the third end in the second direction in the second position; when the push button assembly is in the second position, moving the push button assembly in the first direction can drive the lever to rotate about a fulcrum of the lever to drive the push-pull member to move axially, thereby controlling the opening and closing of the tool head assembly.

2. The medical device cassette of claim 1, wherein, the third end has a first surface facing the fourth end, the first surface being a curved surface, and a center of curvature of the first surface being located on a side of the first surface away from the fourth end; the fourth end has a second surface facing the third end, the second surface being a flat surface, and the second surface being configured to abut against the first surface in the second position.

3. The medical device cassette of claim 2, wherein, the first surface is a circular arc surface, and a center of the circular arc surface coincides with the fulcrum.

4. The medical device cartridge of claim 1, wherein, the third end has a tooth; the push button assembly includes a rack configured to engage with the tooth in the second position.

5. The medical device cartridge of claim 1, wherein, the push button assembly includes a push button, a first body and a second body connected in sequence, the push button being located outside the second wall, and an end of the second body away from the first body in the second direction being the fourth end; the second wall has a first through hole for the first body to pass through, the first through hole being a waist-shaped hole extending in the first direction, and a dimension of the first body in the first direction being smaller than a dimension of the first through hole in the first direction; a dimension of the second body in the first direction is greater than a dimension of the first through hole in the first direction.

6. The medical device cartridge of claim 5, wherein, the push button assembly further includes: a first elastic member connected with the push button, located between the second wall and the push button in the second direction, and abutting against an outer surface of the second wall, the first elastic member being configured to provide an elastic force to the push button to drive the push button assembly to move towards the first position.

7. The medical device cartridge of claim 5, wherein, an outer surface of the second wall is recessed to form a first accommodating portion, the first through hole being located on a bottom surface of the first accommodating portion, and at least a portion of the push button and the first body being accommodated in the first accommodating portion; in the first direction, the first accommodating portion has oppositely arranged first and second sides, the first body has a third side facing the first side and a fourth side facing the second side; The push button assembly further comprises a second elastic member and a third elastic member, two ends of the second elastic member are connected with the first side and the third side respectively, and two ends of the third elastic member are connected with the second side and the fourth side respectively.

8. The medical device cartridge of claim 1, wherein, The first end is between the third end and a fulcrum of the lever in the extension direction of the lever.

9. The medical device cartridge of claim 1, wherein, The housing has a third wall in the second direction, the third wall is opposite to the second wall; In the second direction, the third wall is between the second wall and a mechanical arm of the surgical robot.

10. The medical device cartridge of claim 1, wherein, In a plane perpendicular to the first direction, in the second direction, the orthographic projection of the push-pull member is between the midpoint of the orthographic projection of the first wall and the orthographic projection of the second wall.

11. An ultrasonic blade, comprising: The medical instrument box and the transducer are detachably connected to each other, and the transducer is used for providing energy for the knife head assembly.

12. A surgical robot comprising a patient surgical platform having a number of robotic arms, characterised in that, The mechanical arm end has a power box, and one of the power boxes is detachably installed with the ultrasonic knife of claim 11.

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