Ultrasonic knife, ultrasonic transmission assembly and minimally invasive surgery robot

Abstract

The utility model discloses an ultrasonic knife, an ultrasonic transmission assembly and a minimally invasive surgery robot, and belongs to the technical field of medical instruments. The ultrasonic knife comprises a knife rod and a knife head, the knife rod comprises a first rod part, a second rod part, a third rod part and a fourth rod part which are sequentially connected, the knife head is connected to the fourth rod part, the third rod part comprises a plurality of segments, each segment comprises a thin cylindrical part and a thick cylindrical part, the thin cylindrical part is connected with the second rod part, and the thick cylindrical part is connected with the fourth rod part; at least part of the thin cylindrical parts are different in length, and at least part of the thick cylindrical parts are different in length. The multiple sections are divided into a plurality of first sections and a plurality of second sections, the diameters of the first sections are different from those of the second sections, the lengths from the first rod part to the fourth rod part are 15.1 mm, 7.8 mm, 528.1 mm and 0.7 mm in sequence, the cutter rod is effectively prevented from being broken, and the cutting frequency is increased.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to an ultrasonic scalpel, an ultrasonic transmission component, and a minimally invasive surgical robot. Background Technology

[0002] An ultrasonic scalpel is a surgical instrument consisting of a handle and a cutting head connected to the handle. An ultrasonic transducer transmits ultrasonic waves through the handle to the cutting head, causing the handle to vibrate. The cutting head then cuts and coagulates the tissue it contacts. Currently, the durability of the ultrasonic scalpel handle after a period of use is insufficient to meet surgical requirements. Utility Model Content

[0003] The purpose of this invention is to provide an ultrasonic scalpel, an ultrasonic transmission component, and a minimally invasive surgical robot, which effectively prevents the scalpel shaft from breaking and increases the number of cuts.

[0004] To achieve this objective, the present invention adopts the following technical solution:

[0005] An ultrasonic scalpel includes a scalpel shaft and a scalpel head. The scalpel shaft comprises a first shaft section, a second shaft section, a third shaft section, and a fourth shaft section connected sequentially. The scalpel head is connected to the fourth shaft section. The third shaft section comprises multiple segments, each segment including a thin cylindrical section and a coarse cylindrical section. Multiple thin cylindrical sections and multiple coarse cylindrical sections are alternately connected to form the third shaft section. The thin cylindrical sections are connected to the second shaft section, and the coarse cylindrical sections are connected to the fourth shaft section. At least some of the thin cylindrical sections have different lengths, and at least some of the coarse cylindrical sections have different lengths. The multiple segments are divided into several first segments and several second segments. The diameter of the first segment is different from the diameter of the second segment. The length of the first shaft section is 15.1 mm, the length of the second shaft section is 7.8 mm, the length of the third shaft section is 528.1 mm, and the length of the fourth shaft section is 0.7 mm.

[0006] In some possible implementations, the segments are four in number: one first segment and three second segments, with the first segment located between two second segments; along the direction from the cutter bar to the cutter head, the lengths of the thin cylindrical portion and the coarse cylindrical portion of the three second segments are 90.1 mm and 79 mm, and 50 mm and 75.5 mm, and 95 mm and 14 mm, respectively; the lengths of the thin cylindrical portion and the coarse cylindrical portion of the first segment are 38.5 mm and 86 mm, respectively.

[0007] In some possible implementations, the diameter of the coarse cylindrical portion of the first segment is less than or equal to the diameter of the coarse cylindrical portion of the second segment, and the diameter of the fine cylindrical portion of the first segment is less than or equal to the diameter of the fine cylindrical portion of the second segment.

[0008] In some possible implementations, a transition fillet is provided between the coarse cylindrical portion and the fine cylindrical portion.

[0009] In some possible implementations, the cutter head includes a straight cylindrical portion and a cutting portion, the straight cylindrical portion being connected to the fourth rod portion, the cutting portion having both a concave and convex surface having a cutting surface, and the cutting portion gradually thinning from the rear end to the front end of the cutter head until reaching the axis of the cutter head.

[0010] In some possible implementations, both the concave and convex surfaces gradually thin from the rear end to the front end of the cutter head until they reach the axis of the cutter head, and the thickness of the front end of the cutter head is 1 / 3 to 1 / 2 of the diameter of the straight cylindrical portion.

[0011] In some possible implementations, the cutting surface on the concave surface includes a first arc-shaped cutting surface and a second arc-shaped cutting surface arranged at an angle, the area of ​​the first arc-shaped cutting surface is larger than the area of ​​the second arc-shaped cutting surface, and the thickness of the second arc-shaped cutting surface and the cutting surface on the convex surface at the end of the cutter head is 1 / 5 to 1 / 3 of the thickness of the cutting portion.

[0012] In some possible implementations, the radius of curvature of the cutting surface on the convex surface is 35mm-39mm, and the cutting length is 11.3mm-15.3mm; the radius of curvature of the first arc-shaped cutting surface is 37mm-41mm, and the cutting length is 13mm-17.5mm; the radius of curvature of the second arc-shaped cutting surface is smaller than that of the first arc-shaped cutting surface, and the cutting length is 10.5mm-14.5mm.

[0013] An ultrasonic transmission assembly includes an inner sleeve, an outer sleeve, a clamping arm, a fixing assembly, and an ultrasonic scalpel as described in any of the preceding claims. The inner sleeve is sleeved on the outside of the scalpel shaft, and the outer sleeve is sleeved on the outside of the inner sleeve. The inner sleeve is fixed to the fixing assembly. The clamping arm is movably disposed on the inner sleeve and the outer sleeve and is configured to pivot with the tip of the ultrasonic scalpel between an open position and a closed position, so that the clamping arm and the tip of the ultrasonic scalpel form a clamping mechanism.

[0014] In some possible implementations, the fixing assembly includes a rear sleeve, a first front sleeve, a second front sleeve, a third front sleeve, a first wave spring, a second wave spring, and a pin, wherein the outer sleeve, the inner sleeve, and the tool bar are radially perforated by the pin;

[0015] The front end of the third forward sleeve passes axially through the interior of the backward sleeve and is connected and fixed to the rear end of the inner sleeve. The first forward sleeve and the second forward sleeve are both axially sleeved on the outside of the backward sleeve and located between the flange of the backward sleeve and the flange of the third forward sleeve. The first wave spring is disposed between the first forward sleeve and the second forward sleeve, and the second wave spring is disposed between the second forward sleeve and the third forward sleeve.

[0016] A minimally invasive surgical robot includes a mechanical housing, an ultrasonic transducer, and an ultrasonic transmission assembly as described in any of the preceding claims. The mechanical housing drives the clamping mechanism to open and close, and the ultrasonic transducer is acoustically connected to the blade of the ultrasonic transmission assembly to transmit ultrasonic energy to the blade tip of the ultrasonic transmission assembly.

[0017] The beneficial effects of this utility model are:

[0018] This invention provides an ultrasonic scalpel that comprises a third rod consisting of multiple segments, each segment including thin cylindrical sections and coarse cylindrical sections, with the thin and coarse cylindrical sections alternately connected to form the third rod. The lengths of at least some of the thin cylindrical sections are different, and the lengths of at least some of the coarse cylindrical sections are also different. The multiple segments are further divided into several first segments and several second segments, with the diameters of the first and second segments differing, thus achieving an irregular alternating structure of varying lengths and thicknesses.

[0019] When ultrasound passes through this structure, longitudinal and transverse vibrations are generated in the third rod. As the sound wave propagates in each structure, it generates longitudinal and transverse vibrations within each structure due to the relationship between its wavelength and the structure's period, and propagates forward. Vibration occurs in each structure, causing resonance. The energy of the resonance can be directly transferred to the cutting head, causing the cutting tip to vibrate at its maximum amplitude, thus making it suitable for medical surgery.

[0020] By setting an irregular alternating structure of varying thicknesses and lengths, firstly, longitudinal vibration can be effectively increased while lateral vibration is reduced, resulting in enhanced amplitude and improved energy conversion efficiency; secondly, when the sound waves transmitted to the cutter head cancel each other out due to the phase difference, the energy of the sound waves is completely absorbed after passing through several structures of different lengths and thicknesses, making the cutter head work stably, thereby improving fatigue resistance, effectively preventing cutter bar breakage, increasing the number of cuts, and affecting durability.

[0021] Since the slender cylindrical part faces the first rod part, and the diameter difference between the two is relatively large, the second rod part is located between the first and third rod parts to act as a transition and conduction mechanism, reducing the diameter difference and effectively preventing the tool holder from breaking. The fourth rod part is located between the third rod part and the tool head to provide a fixed connection. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of an ultrasonic scalpel provided in a specific embodiment of this utility model;

[0023] Figure 2 This is a schematic diagram of the cutter head from one perspective, provided by a specific embodiment of this utility model;

[0024] Figure 3 This is a schematic diagram of the cutter head from another perspective, provided by a specific embodiment of this utility model;

[0025] Figure 4 This is an exploded view of the ultrasonic transmission component provided in a specific embodiment of this utility model;

[0026] Figure 5 This is a schematic diagram of an ultrasonic transmission component provided in a specific embodiment of the present invention;

[0027] Figure 6 This is a partial schematic diagram of the ultrasonic transmission component provided in a specific embodiment of this utility model;

[0028] Figure 7 This is an exploded view of the fixing component from one perspective, provided by a specific embodiment of this utility model;

[0029] Figure 8 This is an exploded view of the fixing component from another perspective, provided by a specific embodiment of this utility model;

[0030] Figure 9 This is a partial schematic diagram of the minimally invasive surgical robot provided in a specific embodiment of this utility model.

[0031] In the picture:

[0032] 100. Ultrasonic transmission assembly; 200. Mechanical housing; 300. Ultrasonic transducer;

[0033] 1. Ultrasonic scalpel; 11. Blade; 111. First rod section; 112. Second rod section; 113. Third rod section; 1131. First segment; 1132. Second segment; 1133. Thin cylindrical section; 1134. Coarse cylindrical section; 114. Fourth rod section; 12. Blade head; 121. Straight cylindrical section; 122. Cutting section; 1221. Concave surface; 12211. First arc-shaped cutting surface; 12212. Second arc-shaped cutting surface; 1222. Convex surface;

[0034] 2. Inner sleeve; 3. Outer sleeve; 31. Process surface; 4. Clamping arm; 5. Fixing assembly; 51. Pin; 52. Rear sleeve; 53. First forward sleeve; 54. Second forward sleeve; 55. Third forward sleeve; 56. First wave spring; 57. Second wave spring. Detailed Implementation

[0035] To make the technical problems solved by this utility model, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this utility model will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0036] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. The term "front" refers to the direction closer to the patient, and "rear" refers to the direction farther from the patient.

[0037] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0038] like Figures 1-3As shown, this embodiment provides an ultrasonic scalpel, including a scalpel 11 and a scalpel head 12. The scalpel 11 includes a first rod portion 111, a second rod portion 112, a third rod portion 113, and a fourth rod portion 114 connected in sequence. The scalpel head 12 is connected to the fourth rod portion 114. The third rod portion 113 includes multiple segments, including thin cylindrical portions 1133 and coarse cylindrical portions 1134. Multiple thin cylindrical portions 1133 and multiple coarse cylindrical portions 1134 are alternately connected to form the third rod portion 113. The thin cylindrical portions 1133 are connected to the second rod portion 112, and the coarse cylindrical portions 1134 are connected to the second rod portion 112. The column portion 1134 is connected to the fourth rod portion 114; at least some of the thin cylindrical portions 1133 have different lengths, and at least some of the thick cylindrical portions 1134 have different lengths; the multiple segments are divided into several first segments 1131 and several second segments 1132, the diameter of the first segment 1131 is different from the diameter of the second segment 1132, the length of the first rod portion 111 is 15.1 mm, the length of the second rod portion 112 is 7.8 mm, the length of the third rod portion 113 is 528.1 mm, and the length of the fourth rod portion 114 is 0.7 mm. Optionally, the length of the ultrasonic scalpel 1 is approximately 580.7 mm.

[0039] The third rod 113 is composed of multiple segments, each segment including a thin cylindrical portion 1133 and a thick cylindrical portion 1134, which are alternately connected to form the third rod 113. The lengths of at least some of the thin cylindrical portions 1133 are different, and the lengths of at least some of the thick cylindrical portions 1134 are also different. The multiple segments are divided into several first segments 1131 and several second segments 1132, with the diameters of the first segments 1131 and the second segments 1132 being different, thus achieving an irregular alternating structure of varying lengths and thicknesses. The third rod 113 has a central axis, and all the thick cylindrical portions 1134 and thin cylindrical portions 1133 are symmetrical about the central axis, with the centers of gravity of all the thick cylindrical portions 1134 and thin cylindrical portions 1133 lying on the central axis.

[0040] When ultrasound passes through this structure, longitudinal and transverse vibrations are generated in the third rod 113. As the sound wave propagates in each structure, the sound wave, due to the relationship between its wavelength and the structure's period, generates longitudinal and transverse vibrations and propagates forward. Vibration occurs in each structure, causing resonance. The energy of the resonance can be directly transferred to the blade tip 12, causing the blade tip 12 to vibrate at its maximum amplitude, thus making it suitable for medical surgery.

[0041] By setting an irregular alternating structure of varying thicknesses and lengths, firstly, longitudinal vibration can be effectively increased while lateral vibration is reduced, resulting in enhanced amplitude and improved energy conversion efficiency; secondly, when the sound waves transmitted to the cutter head 12 cancel each other out due to phase difference, the energy of the sound waves is completely absorbed after passing through several structures of different lengths and thicknesses, making the cutter head 12 work stably, thereby improving fatigue resistance, effectively preventing the cutter shank 11 from breaking, and increasing the number of cuts. Optionally, the first shank 111 is a cylinder with a diameter of 4.5 mm, the second shank 112 is a cylinder with a diameter of 4.7 mm, and the fourth shank 114 is a cylinder with a diameter of 3.9 mm.

[0042] Since the thin cylindrical portion 1133 faces the first rod portion 111, and the diameter difference between the two is relatively large, the second rod portion 112 is located between the first rod portion 111 and the third rod portion 113 to serve as a transition and conduction mechanism, reducing the diameter difference and effectively preventing the tool holder from breaking. The fourth rod portion 114 is located between the third rod portion 113 and the tool head 12 to provide a fixed connection.

[0043] In some possible implementations, there are four segments: one first segment 1131 and three second segments 1132, with the first segment 1131 located between two second segments 1132. Along the direction from the cutter shank 11 to the cutter head 12, the lengths of the thin cylindrical portion 1133 and the coarse cylindrical portion 1134 of the three second segments 1132 are 90.1 mm and 79 mm, and 50 mm and 75.5 mm, and 95 mm and 14 mm, respectively. Along the direction from the cutter shank 11 to the cutter head 12, the lengths of the coarse cylindrical portion 1134 and the thin cylindrical portion 1133 of the first segment 1131 are 38.5 mm and 86 mm, respectively.

[0044] In some possible implementations, the diameter of the coarse cylindrical portion 1134 of the first segment 1131 is less than or equal to the diameter of the coarse cylindrical portion 1134 of the second segment 1132, and the diameter of the thin cylindrical portion 1133 of the first segment 1131 is less than or equal to the diameter of the thin cylindrical portion 1133 of the second segment 1132. Optionally, the difference between the diameter of the thin cylindrical portion 1133 and the diameter of the coarse cylindrical portion 1134 of the first segment 1131 is 0.3 mm, and the difference between the diameter of the thin cylindrical portion 1133 and the diameter of the coarse cylindrical portion 1134 of the second segment 1132 is 0.2 mm. Optionally, the diameters of the thin cylindrical portion 1133 and the coarse cylindrical portion 1134 of the first segment 1131 are 2.9 mm and 3.2 mm, respectively, and the diameters of the thin cylindrical portion 1133 and the coarse cylindrical portion 1134 of the second segment 1132 are 3.2 mm and 3.4 mm, respectively. Four nodes are set on the eight segments of the third rod 113, and all four nodes are set on cylinders with a diameter of 3.2 mm. The diameter relationship of the nodes on the tool holder 11 is limited to reduce the excitation of other potential resonant frequencies that may affect the stability of the system.

[0045] In some possible implementations, a transition fillet is provided between the coarse cylindrical portion 1134 and the fine cylindrical portion 1133 to prevent stress concentration, making the stress smoother when the tool holder 11 vibrates, and the stress at the connection is relatively smaller, avoiding the possibility of sudden structural failure of the tool holder 11, extending its service life, and making it more aesthetically pleasing.

[0046] In some possible embodiments, the cutter head 12 includes a straight cylindrical portion 121 and a cutting portion 122. The straight cylindrical portion 121 is connected to the fourth rod portion 114. The cutting portion 122 is curved, forming a concave surface 1221 and a convex surface 1222. Both the concave surface 1221 and the convex surface 1222 are provided with cutting surfaces. The cutting portion 122 gradually thins from the rear end to the front end of the cutter head 12 until it reaches the axis of the cutter head 12. Optionally, the length of the cutter head 12 is 29 mm, and the length of the cutter shank 11 usually has an error of 0.1 mm.

[0047] The cutting portion 122 is formed by processing the cutter head 12 with a straight cylindrical portion 121 and a curved cylindrical portion extending from the straight cylindrical portion 121. Cutting surfaces are provided on both the concave surface 1221 and the convex surface 1222 of the cutting portion 122. The cutting length, radius and thickness of the cutting surfaces are limited to minimize the bending vibration of the cutter head 12 and to control the vibration and the resulting thermal damage within the area of ​​the cutter head 12, while the cutter shank 11 still maintains simple longitudinal vibration.

[0048] In some possible implementations, both the concave surface 1221 and the convex surface 1222 gradually thin out from the rear end to the front end of the cutter head 12 until they reach the axis of the cutter head 12. The concave surface 1221 and the convex surface 1222 make the thickness of the front end of the cutter head 12 1 / 3 to 1 / 2 of the diameter of the straight cylindrical portion 121. The tapered cutting surface at the front end of the cutter head 12 can increase the cutting accuracy of the cutter head 12.

[0049] In some possible embodiments, the cutting surface of the concave surface 1221 includes a first arc-shaped cutting surface 12211 and a second arc-shaped cutting surface 12212 arranged at an angle, with a cutting edge formed at their junction. The area of ​​the first arc-shaped cutting surface 12211 is larger than the area of ​​the second arc-shaped cutting surface 12212. The thickness of the second arc-shaped cutting surface 12212 and the cutting surface of the convex surface 1222 at the end of the cutter head 12 is 1 / 5 to 1 / 3 of the thickness of the cutting portion 122. A top view of the cutting surface of the concave surface 1221 is shown below. Figure 2 As shown, the section gradually narrows from the cutting portion 122 to the straight cylindrical portion 121. The first arc-shaped cutting surface 12211 and the second arc-shaped cutting surface 12212 form cutting edges with the straight cylindrical portion 121, respectively. The first arc-shaped cutting surface 12211 is the main cutting surface, occupying the majority of the cutting area. The second arc-shaped cutting surface 12212 is a further cut made between the edge of the first arc-shaped cutting surface 12211 and the straight cylindrical portion 121; the second arc-shaped cutting surface 12212 removes one edge of the first arc-shaped cutting surface 12211. The presence of the second arc-shaped cutting surface 12212 results in a thinner thickness on one side of the cutting head 12. The angle at the intersection of the first arc-shaped cutting surface 12211 and the second arc-shaped cutting surface 12212 is approximately 120°. The concave surface 1221 is also provided with an arc-shaped groove at the edge. The arc-shaped groove is within 1 / 4 wavelength of the far end of the cutter head 12, and the cutting surface extends along the center line of the cutter head 12. The arc-shaped groove can reduce the lateral bending vibration of the cutter head 12 while ensuring the pure longitudinal vibration of the cutter bar 11.

[0050] The convex surface 1222 may also have one or more cutting surfaces. In some possible embodiments, the convex surface 1222 has one cutting surface, and the radius of curvature of the cutting surface on the convex surface 1222 is 35mm-39mm, specifically 36mm, 37mm or 38mm, etc., without limitation. The cutting length is 11.3mm-15.3mm, specifically 12.3mm, 13.3mm or 14.3mm, etc., without limitation. The radius of curvature of the first arc-shaped cutting surface 12211 is 37mm-41mm, which can be 38mm, 39mm or 40mm, etc., without limitation; the cutting length is 13mm-17.5mm, which can be 13mm, 14mm, 15mm, 16mm or 17mm, etc., without limitation; the radius of curvature of the second arc-shaped cutting surface 12212 is smaller than the radius of curvature of the first arc-shaped cutting surface 12211, and the cutting length is 10.5mm-14.5mm, which can be 11mm, 11.5mm, 12mm, 12.5mm, 13mm, 13.5mm, 14mm, 14.5mm, 15mm, 15.5mm, 16mm, 16.5mm or 17mm, etc., without limitation.

[0051] The curved shape is beneficial for the surgeon's operation and field of vision. However, such a blade tip 12 will generate lateral vibration in the bending direction. Without a good balance design, this bending vibration will cause the blade handle 11 to bend and vibrate, resulting in the entire blade handle 11 lacking an effective joint to securely connect to the outer sleeve, and even causing vibration of the handle shell. These are all things that should be avoided in the design of an ultrasonic surgical scalpel system. At the same time, excessive bending vibration of the blade tip 12 in the bending direction will increase thermal damage to the tissue on the cutting side. This design can improve the mass distribution of the blade tip 12 along the vibration axis, thereby improving the amplitude and pressure distribution characteristics of the blade tip 12 along the vibration axis, further improving the temperature uniformity of the tip when coagulating or cutting biological tissue, improving the coagulation effect, and preventing tissue adhesion to the blade tip 12.

[0052] The vibration characteristics of the ultrasonic scalpel 1 are the result of the combined effect of the scalpel shank 11 and the scalpel head 12 maintaining vibration consistency and coordination. The better the vibration consistency and uniformity input from the first scalpel 111, the smaller the energy loss and the less heat generated during surgery. The scalpel head 12, designed according to the above method, greatly reduces the bending vibration of the scalpel head 12 and the scalpel shank 11.

[0053] Optionally, the ultrasonic scalpel 1 is made of titanium alloy material, which has the characteristics of high modulus, low density and high strength, and can ensure ultrasonic transmission efficiency and mechanical properties.

[0054] like Figures 4-8As shown, this embodiment also provides an ultrasonic transmission assembly, including an inner sleeve 2, an outer sleeve 3, a clamping arm 4, a fixing component 5, and an ultrasonic scalpel 1 as described above. The inner sleeve 2 is sleeved on the outside of the blade 11 of the ultrasonic scalpel 1, and the outer sleeve 3 is sleeved on the outside of the inner sleeve 2. The inner sleeve 2 is fixed to the fixing component 5. The clamping arm 4 is movably disposed on the inner sleeve 2 and the outer sleeve 3 and is configured to pivot with the blade 12 of the ultrasonic scalpel 1 between an open position and a closed position, so that the clamping arm 4 and the blade 12 of the ultrasonic scalpel 1 form a clamping mechanism capable of processing tissue.

[0055] In some possible implementations, the fixing assembly 5 includes a rearward sleeve 52, a first forward sleeve 53, a second forward sleeve 54, a third forward sleeve 55, a first wave spring 56, a second wave spring 57, and a pin 51. The outer sleeve 3, the inner sleeve 2, and the tool holder 11 are radially connected with the pin 51 to achieve relative fixation among the three. The front end of the third forward sleeve 55 passes axially through the interior of the rearward sleeve 52 and is connected and fixed to the rear end of the inner sleeve 2. The first forward sleeve 53 and the second forward sleeve 54 are both axially sleeved on the outside of the rearward sleeve 52 and located between the flange of the rearward sleeve 52 and the flange of the third forward sleeve 55. The first wave spring 56 is located between the first forward sleeve 53 and the second forward sleeve 54, and the second wave spring 57 is located between the second forward sleeve 54 and the third forward sleeve 55. The rear end of the inner sleeve 2 extends beyond the outer sleeve 3, and multiple holes at the rear end of the inner sleeve 2 engage with multiple protrusions at the front end of the third forward sleeve 55, thereby locking them together. The tool holder 11, the inner sleeve 2, and the outer sleeve 3 are all fixed together by the same pin 51. The rear end of the tool holder 11 can pass through the backward sleeve 52 and the third forward sleeve 55 and be installed onto the amplitude rod of the transducer. The rear end of the tool holder 11 is typically provided with an internal threaded hole.

[0056] Optionally, such as Figure 7 As shown, the first forward sleeve 53, the second forward sleeve 54, and the third forward sleeve 55 each include a cylindrical portion and a flange located at the right end of the cylindrical portion, while the backward sleeve 52 includes a cylindrical portion and a flange located at the left end of the cylindrical portion. The ends of the first forward sleeve 53, the second forward sleeve 54, and the third forward sleeve 55 furthest from the flange are all provided with perforated cylindrical portions. The edges of the perforated cylindrical portions at the front end of the first forward sleeve 53 and the front end of the perforated cylindrical portions of the second forward sleeve 54 abut against the flange of the backward sleeve 52, and the first forward sleeve 53 is fitted over the outside of the second forward sleeve 54. The third forward sleeve 55 is fitted inside the backward sleeve 52, and multiple protrusions at the front end of the third forward sleeve 55 engage with multiple holes at the rear end of the inner sleeve 2.

[0057] like Figure 6 As shown, the outer tube 3 has a variable diameter section, on which a process surface 31 is provided. The process surface 31 is used in conjunction with a torque wrench to install the ultrasonic scalpel 1 onto the ultrasonic transducer 300.

[0058] like Figure 9 As shown, this embodiment also provides a minimally invasive surgical robot, including a mechanical box 200, an ultrasonic transducer 300, and an ultrasonic transmission component 100 as described above. The mechanical box 200 drives the clamping mechanism to open and close. The ultrasonic transducer 300 is acoustically connected to the blade 11 of the ultrasonic transmission component 100 to transmit ultrasonic energy to the blade 12 of the ultrasonic transmission component 100.

[0059] Optionally, the mechanical box 200 includes a transmission mechanism and a drive mechanism connected to the inner sleeve 2 and / or the fixing assembly 5. The output end of the transmission mechanism drives the clamping arm 4 to rotate, thereby opening and closing. Exemplarily, the transmission mechanism is a belt drive mechanism or a gear drive mechanism, etc., and the drive mechanism is a motor connected to the input end of the transmission mechanism. The mechanical box 200 also includes a protective cover that encloses the motor and the transmission mechanism, providing protection.

[0060] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. An ultrasonic scalpel, characterized in that, The device includes a cutter shank (11) and a cutter head (12). The cutter shank (11) comprises a first rod portion (111), a second rod portion (112), a third rod portion (113), and a fourth rod portion (114) connected in sequence. The cutter head (12) is connected to the fourth rod portion (114). The third rod portion (113) comprises multiple segments, including thin cylindrical portions (1133) and coarse cylindrical portions (1134). Multiple thin cylindrical portions (1133) and multiple coarse cylindrical portions (1134) are alternately connected to form the third rod portion (113). The thin cylindrical portions (1133) are connected to the second rod portion (112), and the coarse cylindrical portions... (1134) is connected to the fourth rod (114); at least some of the thin cylindrical parts (1133) have different lengths, and at least some of the thick cylindrical parts (1134) have different lengths; the plurality of segments are divided into a plurality of first segments (1131) and a plurality of second segments (1132), the diameter of the first segment (1131) is different from the diameter of the second segment (1132), the length of the first rod (111) is 15.1 mm, the length of the second rod (112) is 7.8 mm, the length of the third rod (113) is 528.1 mm, and the length of the fourth rod (114) is 0.7 mm.

2. The ultrasonic scalpel according to claim 1, characterized in that, The segment is provided with four parts, with one first segment (1131) and three second segments (1132). The first segment (1131) is located between two second segments (1132). Along the direction from the cutter bar (11) to the cutter head (12), the lengths of the thin cylindrical portion (1133) and the coarse cylindrical portion (1134) of the three second segments are 90.1 mm and 79 mm, and 50 mm and 75.5 mm, and 95 mm and 14 mm, respectively. The lengths of the thin cylindrical portion (1133) and the coarse cylindrical portion (1134) of the first segment (1131) are 38.5 mm and 86 mm, respectively.

3. The ultrasonic scalpel according to claim 1, characterized in that, The diameter of the coarse cylindrical portion (1134) of the first segment (1131) is less than or equal to the diameter of the coarse cylindrical portion (1134) of the second segment (1132); the diameter of the thin cylindrical portion (1133) of the first segment (1131) is less than or equal to the diameter of the thin cylindrical portion (1133) of the second segment (1132).

4. The ultrasonic scalpel according to claim 1, characterized in that, A transition fillet is provided between the coarse cylindrical portion (1134) and the fine cylindrical portion (1133).

5. The ultrasonic scalpel according to claim 1, characterized in that, The cutter head (12) includes a straight cylindrical part (121) and a cutting part (122). The straight cylindrical part (121) is connected to the fourth rod part (114). The concave surface (1221) and the convex surface (1222) of the cutting part (122) are both provided with cutting surfaces. The cutting part (122) gradually thins from the rear end of the cutter head (12) to the front end until it reaches the axis of the cutter head (12).

6. The ultrasonic scalpel according to claim 5, characterized in that, Both the concave surface (1221) and the convex surface (1222) gradually thin out from the rear end to the front end of the cutter head (12) until they reach the axis of the cutter head (12). The thickness of the front end of the cutter head (12) is 1 / 3 to 1 / 2 of the diameter of the straight cylindrical part (121).

7. The ultrasonic scalpel according to claim 5, characterized in that, The cutting surface provided on the concave surface (1221) includes a first arc-shaped cutting surface (12211) and a second arc-shaped cutting surface (12212) arranged at an angle. The area of ​​the first arc-shaped cutting surface (12211) is larger than the area of ​​the second arc-shaped cutting surface (12212). The thickness of the second arc-shaped cutting surface (12212) and the cutting surface provided on the convex surface (1222) at the end of the cutter head (12) is 1 / 5 to 1 / 3 of the thickness of the cutting part (122).

8. The ultrasonic scalpel according to claim 7, characterized in that, The radius of curvature of the cutting surface on the convex surface (1222) is 35mm-39mm, and the cutting length is 11.3mm-15.3mm; the radius of curvature of the first arc-shaped cutting surface (12211) is 37mm-41mm, and the cutting length is 13mm-17.5mm; the radius of curvature of the second arc-shaped cutting surface (12212) is smaller than the radius of curvature of the first arc-shaped cutting surface (12211), and the cutting length is 10.5mm-14.5mm.

9. An ultrasonic transmission component, characterized in that, The device includes an inner sleeve (2), an outer sleeve (3), a clamping arm (4), a fixing assembly (5), and an ultrasonic scalpel as described in any one of claims 1-8. The inner sleeve (2) is sleeved on the outside of the scalpel shaft (11), and the outer sleeve (3) is sleeved on the outside of the inner sleeve (2). The inner sleeve (2) is fixed to the fixing assembly (5). The clamping arm (4) is movably disposed on the inner sleeve (2) and the outer sleeve (3) and is configured to pivot with the tip (12) of the ultrasonic scalpel between an open position and a closed position, so that the clamping arm (4) and the tip (12) of the ultrasonic scalpel form a clamping mechanism.

10. The ultrasonic transmission assembly according to claim 9, characterized in that, The fixing assembly (5) includes a rearward sleeve (52), a first forward sleeve (53), a second forward sleeve (54), a third forward sleeve (55), a first wave spring (56), a second wave spring (57), and a pin (51). The outer sleeve (3), the inner sleeve (2), and the tool holder are radially connected by the pin (51). The front end of the third forward sleeve (55) axially passes through the interior of the rearward sleeve (52) and is connected to the rear end of the inner sleeve (2). And fixed, the first forward sleeve (53) and the second forward sleeve (54) are both axially sleeved on the outside of the rear sleeve (52) and located between the flange of the rear sleeve (52) and the flange of the third forward sleeve (55), the first wave spring (56) is disposed between the first forward sleeve (53) and the second forward sleeve (54), and the second wave spring (57) is disposed between the second forward sleeve (54) and the third forward sleeve (55).

11. A minimally invasive surgical robot, characterized in that, The device includes a mechanical housing (200), an ultrasonic transducer (300), and an ultrasonic transmission assembly as described in claim 9 or 10. The mechanical housing (200) drives the clamping mechanism to open and close. The ultrasonic transducer (300) is acoustically connected to the blade (11) of the ultrasonic transmission assembly to transmit ultrasonic energy to the blade (12) of the ultrasonic transmission assembly (100).

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