Ultrasonic surgical instrument and ultrasonic surgical system

Abstract

An ultrasonic surgical instrument and an ultrasonic surgical system, the ultrasonic surgical instrument comprising a transmission mechanism, an instrument rod and a blade head mechanism connected in sequence, the transmission mechanism comprising a transmission assembly and a first transmission rope, the blade head mechanism comprising a connecting part, a blade head, a first sleeve, an elastic member and a clamping arm, the blade head being connected with the connecting part, the first sleeve being movably sleeved on the connecting part, the first transmission rope being connected with the transmission assembly and the first sleeve respectively, the transmission assembly being capable of driving the first sleeve to move from a second position to a first position through the first transmission rope. The elastic member is connected with the connecting part and the first sleeve, and is used for providing an elastic force for moving the first sleeve from the first position to the second position. The clamping arm is hinged with the connecting part and is in transmission cooperation with the first sleeve, and the first sleeve is capable of driving the clamping arm to rotate towards a direction away from the blade head in the process of moving from the first position to the second position, and the first sleeve is capable of driving the clamping arm to rotate towards the blade head when moving from the second position to the first position.

Description

Technical Field

[0001] This utility model relates to the field of medical devices, and in particular to an ultrasonic surgical instrument and an ultrasonic surgical system. Background Technology

[0002] Ultrasonic surgical instruments are devices that perform surgical procedures by inserting themselves into the patient's body, enabling operations such as cutting and coagulation of human tissue. During surgery, ultrasonic surgical instruments require the cooperation of a clamping arm and a cutting head to grasp and cut the target tissue. Existing ultrasonic surgical instruments used to drive the clamping arm movement have complex structures, high costs, and low reliability. Utility Model Content

[0003] In view of this, the present invention proposes an ultrasonic surgical instrument and an ultrasonic surgical system.

[0004] The ultrasonic surgical instrument of the first aspect of this utility model includes a transmission mechanism, an instrument rod, and a cutting head mechanism. The proximal end of the instrument rod is connected to the transmission mechanism, and the distal end of the instrument rod is connected to the cutting head mechanism. The transmission mechanism includes a transmission component and a first transmission rope. The cutting head mechanism includes:

[0005] Connecting part;

[0006] The cutting head is connected to the connecting part;

[0007] A first sleeve is movably fitted onto the connecting part. The first sleeve can move to a first position and a second position relative to the connecting part. The first position is closer to the instrument rod than the second position. The first transmission rope connects the transmission assembly and the first sleeve respectively. The transmission assembly can drive the first sleeve from the second position to the first position through the first transmission rope.

[0008] An elastic element, one end connected to the connecting portion and the other end connected to the first sleeve, the elastic element being used to provide an elastic force that moves the first sleeve from the first position to the second position; and

[0009] The clamping arm is hinged to the connecting part and drives the first sleeve. When the first sleeve moves between the first position and the second position, it can drive the clamping arm to rotate toward or away from the cutter head, so that the clamping arm and the cutter head switch between the open state and the closed state.

[0010] In some embodiments, during the movement of the first sleeve from the first position to the second position, it can drive the clamping arm to rotate in a direction away from the cutter head, causing the clamping arm and the cutter head to change from a closed state to an open state; conversely, when the first sleeve moves from the second position to the first position, it can drive the clamping arm to rotate towards the cutter head, causing the clamping arm and the cutter head to change from an open state to a closed state; or...

[0011] During the process of the first sleeve moving from the first position to the second position, it can drive the clamping arm to rotate toward the cutter head, so that the clamping arm and the cutter head change from an open state to a closed state. When the first sleeve moves from the second position to the first position, it can drive the clamping arm to rotate in a direction away from the cutter head, so that the clamping arm and the cutter head change from a closed state to an open state.

[0012] In some embodiments, the first sleeve is provided with a guide groove, and the clamping arm is provided with a protrusion. The protrusion is movably embedded in the guide groove. When the first sleeve moves between the first position and the second position, it can drive the protrusion to rotate around the hinge point between the clamping arm and the connecting part, so as to drive the clamping arm to rotate toward or away from the cutter head.

[0013] In some embodiments, the connecting portion includes a second sleeve disposed inside the first sleeve, the clamping arm is hinged to the second sleeve, one end of the elastic member abuts against the first sleeve, and the other end of the elastic member abuts directly or indirectly against the second sleeve.

[0014] In some embodiments, the connecting portion further includes an ultrasonic transducer disposed within the second sleeve, and the cutter head is connected to the ultrasonic transducer.

[0015] In some embodiments, the transmission mechanism further includes a pull rod disposed inside the first sleeve with both ends of the pull rod passing through the wall of the first sleeve, one end of the first transmission rope being connected to the transmission assembly, and the other end of the first transmission rope being connected to the pull rod.

[0016] In some embodiments, the ultrasonic surgical instrument further includes a joint assembly connected to the distal end of the blade mechanism and the instrument rod; the transmission mechanism is drively connected to the joint assembly, and the transmission mechanism can drive the joint assembly to rotate, so that the blade mechanism can rotate relative to the instrument rod.

[0017] In some embodiments, driven by the transmission mechanism, the cutter head mechanism can rotate relative to the instrument rod in a first rotation direction, a second rotation direction, a third rotation direction, or a fourth rotation direction, wherein the second rotation direction is the opposite of the first rotation direction, and the fourth rotation direction is the opposite of the third rotation direction.

[0018] In some embodiments, the joint assembly includes:

[0019] The first joint seat is connected to the distal end of the instrument rod;

[0020] The second joint seat is connected to the cutter head mechanism;

[0021] A joint component includes a first end and a second end. The first end of the joint component is rotatably connected to the first joint seat about a first axis, and the second end of the joint component is rotatably connected to the second joint seat about a second axis. The first axis and the second axis are approximately perpendicular.

[0022] The transmission mechanism is connected to the joint member and the second joint seat for driving the joint member to rotate around the first axis and for driving the second joint seat to rotate around the second axis.

[0023] In some embodiments, the transmission mechanism further includes a second transmission rope and a third transmission rope. The second transmission rope connects the joint member and the transmission assembly. The transmission assembly drives the joint member to rotate around the first axis via the second transmission rope. The third transmission rope connects the second joint seat and the transmission assembly. The transmission assembly drives the second joint seat to rotate around the second axis via the third transmission rope.

[0024] In some embodiments, the joint includes a first side and a second side opposite to the first side in a first direction, the first direction being the radial direction of the instrument rod and perpendicular to the first axis; at least two second transmission ropes are provided, one of which extends from the transmission assembly to the first side of the joint and is connected to the joint, and the other of which extends from the transmission assembly to the second side of the joint and is connected to the joint; and / or,

[0025] The second joint seat includes a third side and a fourth side opposite to the third side in a second direction, the second direction being a radial direction and perpendicular to the second axis. At least two third transmission ropes are provided, one of which extends from the transmission assembly to the third side of the second joint seat and is connected to the second joint seat, and the other of which extends from the transmission assembly to the fourth side of the second joint seat and is connected to the second joint seat.

[0026] In some embodiments, the ultrasonic surgical instrument further includes at least one reel, the at least one reel being disposed at the joint assembly, the reel being provided with a first groove, and the portion of the first transmission rope corresponding to the reel being embedded in the first groove.

[0027] In some embodiments, the reel is provided with a second groove, and the portion of the third transmission rope corresponding to the reel is embedded in the second groove.

[0028] In some embodiments, the at least one reel includes a first reel and a second reel, the first reel and the second reel each including a first thread-carrying side and a second thread-carrying side opposite to the first thread-carrying side in a first direction, the first direction being a radial direction and perpendicular to the first axis, the first drive rope extending from the first thread-carrying side of the first reel through the space between the first reel and the second reel to the second thread-carrying side of the second reel.

[0029] In some embodiments, the third drive rope extends from the first cable routing side of the first spool, through the space between the first spool and the second spool, to the second cable routing side of the second spool.

[0030] The ultrasonic surgical instrument according to the second aspect of this utility model includes a transmission mechanism, an instrument rod, a joint assembly, and a blade mechanism. The proximal end of the instrument rod is connected to the transmission mechanism, and the joint assembly is connected between the distal end of the instrument rod and the blade mechanism. The transmission mechanism includes a transmission component, a second transmission cable, and a third transmission cable. The joint assembly includes:

[0031] The first joint seat is connected to the distal end of the instrument rod;

[0032] The second joint seat is connected to the cutter head mechanism; and

[0033] A joint component includes a first end and a second end. The first end of the joint component is rotatably connected to the first joint seat about a first axis, and the second end of the joint component is rotatably connected to the second joint seat about a second axis. The first axis and the second axis are approximately perpendicular.

[0034] The second transmission rope connects the joint and the transmission assembly respectively. The transmission assembly drives the joint to rotate around the first axis through the second transmission rope. The third transmission rope connects the second joint seat and the transmission assembly respectively. The transmission assembly drives the second joint seat to rotate around the second axis through the third transmission rope.

[0035] In some embodiments, the joint includes a first side and a second side opposite to the first side in a first direction, the first direction being the radial direction of the instrument rod and perpendicular to the first axis; at least two second transmission ropes are provided, one of which extends from the transmission assembly to the first side of the joint and is connected to the joint, and the other of which extends from the transmission assembly to the second side of the joint and is connected to the joint; and / or,

[0036] The second joint seat includes a third side and a fourth side opposite to the third side in a second direction. The second direction is the radial direction of the instrument rod and is perpendicular to the second axis. At least two third transmission ropes are provided, one of which extends from the transmission assembly to the third side of the second joint seat and is connected to the second joint seat, and the other of which extends from the transmission assembly to the fourth side of the second joint seat and is connected to the second joint seat.

[0037] In some embodiments, the ultrasonic surgical instrument further includes at least one reel, the at least one reel being disposed at the joint assembly, the reel being provided with a second groove, and the portion of the third transmission rope corresponding to the reel being embedded in the second groove.

[0038] In some embodiments, the at least one reel includes a first reel and a second reel, the first reel and the second reel each including a first threading side and a second threading side opposite to the first threading side in a first direction, the first direction being a radial direction and perpendicular to the first axis, the third drive rope extending from the first threading side of the first reel through the space between the first reel and the second reel to the second threading side of the second reel.

[0039] The ultrasonic surgical system proposed in the third aspect of this utility model includes:

[0040] Handle mechanism or robotic arm; and

[0041] In the aforementioned ultrasonic surgical instrument, the transmission mechanism is connected to the handle mechanism or the robotic arm, and the transmission mechanism is driven by the handle mechanism or the robotic arm.

[0042] As can be seen from the above technical solution, the ultrasonic surgical instrument proposed in the first aspect of this utility model is driven by the opening or closing of the clamping arm and the blade head through the cooperation of an elastic element, a transmission component and a first transmission rope. The drive structure is simple, which can effectively reduce costs and has high reliability. Attached Figure Description

[0043] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0044] Figure 1 This is a schematic diagram of the structure of an ultrasonic surgical instrument according to an embodiment of the present invention;

[0045] Figure 2 This is a partial structural schematic diagram of an ultrasonic surgical instrument according to an embodiment of the present invention;

[0046] Figure 3 This is a partial structural schematic diagram of an ultrasonic surgical instrument according to an embodiment of the present invention. As shown in the figure, the first sleeve is in the first position, and the clamping arm and the blade are in a closed state.

[0047] Figure 4 This is a partial structural schematic diagram of an ultrasonic surgical instrument according to an embodiment of the present invention. As shown in the figure, the first sleeve is in the second position, and the clamping arm and the blade are in an open state.

[0048] Figure 5 yes Figure 4 A magnified schematic diagram of a portion of the structure shown;

[0049] Figure 6 yes Figure 2 A magnified schematic diagram of a portion of the structure shown;

[0050] Figure 7 This is a partial structural schematic diagram of an ultrasonic surgical instrument according to an embodiment of the present invention;

[0051] Figure 8 This is a partial structural schematic diagram of an ultrasonic surgical instrument according to an embodiment of the present invention;

[0052] Figure 9 This is a partial structural schematic diagram of a joint assembly proposed in an embodiment of the present invention;

[0053] Figure 10 This is a schematic diagram of the structure of an ultrasonic surgical system proposed in one embodiment of the present invention. Detailed Implementation

[0054] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. Other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are all within the protection scope of the present utility model.

[0055] like Figures 1 to 4 As shown, an embodiment of this utility model provides an ultrasonic surgical instrument 100, which is mounted on a handle mechanism or a robotic arm. The surgeon can control the ultrasonic surgical instrument 100 to be inserted into the patient's lesion for tissue cutting or coagulation through the handle mechanism or the operating table that controls the operation of the robotic arm.

[0056] The proposed ultrasonic surgical instrument 100 includes a transmission mechanism 10, an instrument rod 20, and a cutting head mechanism 30. The proximal end of the instrument rod 20 is connected to the transmission mechanism 10, and the distal end of the instrument rod 20 is connected to the cutting head mechanism 30. The transmission mechanism 10 includes a transmission component 11 and a first transmission rope 12. The cutting head mechanism 30 includes a connecting part 31, a cutting head 32, a first sleeve 33, an elastic element 34, and a clamping arm 35. The cutting head 32 is connected to the connecting part 31. The first sleeve 33 is movably fitted onto the connecting part 31 and can move to a first position and a second position relative to the connecting part 31. The first position is closer to the instrument rod 20 than the second position. The first transmission rope 12 connects the transmission component 11 and the first sleeve 33 respectively. The transmission component 11 can drive the first sleeve 33 from the second position to the first position through the first transmission rope 12. One end of the elastic element 34 is connected to the connecting part 31, and the other end of the elastic element 34 is connected to the first sleeve 33. The elastic element 34 is used to provide elastic force to move the first sleeve 33 from the first position to the second position. The clamping arm 35 is hinged to the connecting part 31 and drives the first sleeve 33. When the first sleeve 33 moves between the first position and the second position, it can drive the clamping arm 35 to rotate toward or away from the cutter head 32, so that the clamping arm 35 and the cutter head 32 switch between the open state and the closed state.

[0057] The ultrasonic surgical instrument 100 proposed in this embodiment of the invention is driven by the elastic element 34, the transmission component 11 and the first transmission rope 12 in cooperation to open or close the clamping arm 35 and the blade 32. The drive structure is simple, which can effectively reduce costs and has high reliability.

[0058] In some embodiments, during the process of the first sleeve 33 moving from the first position to the second position, it can drive the clamping arm 35 to rotate in a direction away from the cutter head 32, so that the clamping arm 35 and the cutter head 32 change from a closed state to an open state. When the first sleeve 33 moves from the second position to the first position, it can drive the clamping arm 35 to rotate towards the cutter head 32, so that the clamping arm 35 and the cutter head 32 change from an open state to a closed state.

[0059] Of course, the implementation is not limited to the above-described embodiments. For example, in some other embodiments, the first sleeve 33 can drive the clamping arm 35 to rotate toward the cutter head 32 during the process of moving from the first position to the second position, so that the clamping arm 35 and the cutter head 32 change from the open state to the closed state. It is also possible for the first sleeve 33 to drive the clamping arm 35 to rotate away from the cutter head 32 when moving from the second position to the first position, so that the clamping arm 35 and the cutter head 32 change from the closed state to the open state.

[0060] In a practical application scenario, when a surgeon uses the blade 32 to cut a patient's tissue, the first sleeve 33 is held in the second position by the elastic force of the elastic element 34, while the clamping arm 35 and the blade 32 remain in the open state (see...). Figure 3 When the surgeon needs to close the clamping arm 35 and the blade 32 to clamp the patient's tissue for coagulation, the transmission component 11 of the ultrasonic surgical instrument 100 is driven by the handle mechanism or the operating table that controls the operation of the robotic arm. The operating transmission component 11 drives the first sleeve 33 from the second position to the first position via the first transmission rope 12. The moving first sleeve 33 drives the clamping arm 35 to rotate toward the blade 32, so that the clamping arm 35 and the blade 32 change from the open state to the closed state to clamp the patient's tissue (see...). Figure 4 During this process, the first sleeve 33 compresses the elastic element 34. After the surgeon completes the coagulation of the tissue, the drive of the handle mechanism or the operating table to the transmission component 11 is disconnected. Under the elastic force of the elastic element 34, the first sleeve 33 moves from the first position to the second position. The moving first sleeve 33 drives the clamping arm 35 to rotate away from the blade head 32, so that the clamping arm 35 and the blade head 32 change from the closed state back to the open state.

[0061] In some embodiments, the elastic element 34 is a helical spring, which is disposed within the first sleeve 33 and sleeved on the connecting portion 31. Optionally, the helical spring is a compression spring, which generates a thrust through elastic deformation, causing the first sleeve 33 to move from a first position to a second position. Of course, the helical spring is not limited to being a compression spring; it can also be a tension spring, which generates a tension through elastic deformation, causing the first sleeve 33 to move from the first position to the second position. It should be noted that the elastic element 34 is not limited to being a helical spring; it can also be a spring sheet or other components capable of elastic deformation, depending on the actual design requirements.

[0062] like Figures 2 to 5 As shown, in some embodiments, the first sleeve 33 is provided with a guide groove a, and the clamping arm 35 is provided with a protrusion b. The protrusion b is movably embedded in the guide groove a. When the first sleeve 33 moves between a first position and a second position, it can drive the protrusion b to rotate around the hinge point k between the clamping arm 35 and the connecting part 31, thereby driving the clamping arm 35 to rotate toward or away from the cutter head 32. Optionally, the guide groove a extends along the radial direction of the first sleeve 33. It should be noted that the positions of the protrusion b and the guide groove a can be interchanged. That is, in some other embodiments, the first sleeve 33 is provided with a protrusion b, while the clamping arm 35 is provided with a guide groove a. The specific arrangement can be determined according to actual design needs.

[0063] like Figure 5 As shown, in some embodiments, the connecting part 31 includes a second sleeve 311, which is disposed inside the first sleeve 33. The clamping arm 35 is hinged to the second sleeve 311. One end of the elastic member 34 abuts against the first sleeve 33, and the other end of the elastic member 34 abuts directly or indirectly against the second sleeve 311.

[0064] like Figure 5 As shown, in some embodiments, the first sleeve 33 includes a first pipe segment 331 and a second pipe segment 332 connected to the first pipe segment 331, the diameter of the second pipe segment 332 being smaller than the diameter of the first pipe segment 331. The second sleeve 311 includes a third pipe segment 3111 and a fourth pipe segment 3112 connected to the third pipe segment 3111, the diameter of the fourth pipe segment 3112 being smaller than the diameter of the third pipe segment 3111. The connecting portion 31 also includes a limiting gasket 312, which is sleeved on the fourth pipe segment 3112 and abuts against the third pipe segment 3111. One end of the elastic member 34 abuts against the limiting gasket 312, and the other end of the elastic member 34 abuts against the connection between the first pipe segment 331 and the second pipe segment 332.

[0065] It should be noted that the connecting part 31 is not limited to including the limiting gasket 312. For example, in some other embodiments, one end of the elastic member 34 can directly abut against the first pipe section 331.

[0066] It should also be noted that the first sleeve 33 is not limited to including a first pipe segment 331 and a second pipe segment 332. For example, in some other embodiments, the first sleeve 33 can be configured as a body of equal diameter, with a first limiting portion provided on the inner side wall of the first sleeve 33, and one end of the elastic member 34 abutting against the first limiting portion. Similarly, the second sleeve 311 is not limited to including a third pipe segment 3111 and a fourth pipe segment 3112. For example, in some other embodiments, the second sleeve 311 can be configured as a body of equal diameter, with a second limiting portion provided on the outer side wall of the second sleeve 311, and the other end of the elastic member 34 abutting against the second limiting portion.

[0067] like Figure 5 As shown, in some embodiments, the connecting part 31 further includes an ultrasonic transducer (not shown), which is disposed within the second sleeve 311, and the blade 32 is connected to the ultrasonic transducer. In this embodiment, by placing the ultrasonic transducer at the front, not only is the path of energy from the transducer assembly to the blade 32 shortened, thereby improving the energy transfer efficiency, but the traditional amplitude transformer extending from the handle mechanism or robotic arm to the blade mechanism 30 can be eliminated, making the structural design of the ultrasonic surgical instrument 100 more flexible. For example, a joint assembly can be added to the ultrasonic surgical instrument 100, allowing the blade mechanism 30 to rotate, thus giving the blade mechanism 30 greater range of motion and higher flexibility.

[0068] Of course, the ultrasonic transducer is not limited to being set in the front. For example, in some other embodiments, the ultrasonic transducer may also be set to the handle mechanism or the robotic arm and transmit ultrasonic vibrations to the cutter head 32 via the amplitude transformer.

[0069] like Figures 2 to 4 As shown, in some embodiments, the transmission mechanism 10 further includes a pull rod 13, which is disposed inside the first sleeve 33 and both ends of the pull rod 13 pass through the tube wall of the first sleeve 33. One end of the first transmission rope 12 is connected to the transmission assembly 11, and the other end of the first transmission rope 12 is connected to the pull rod 13.

[0070] like Figure 1 As shown, in some embodiments, the ultrasonic surgical instrument 100 further includes a joint assembly 40, which is connected to the distal end of the tip mechanism 30 and the instrument rod 20. A transmission mechanism 10 is drively connected to the joint assembly 40, and when the transmission mechanism 10 operates, it can drive the joint assembly 40 to rotate, allowing the tip mechanism 30 to rotate relative to the instrument rod 20. In this embodiment, the tip mechanism 30 has a large range of motion and high flexibility.

[0071] like Figure 1As shown, in some embodiments, driven by the transmission mechanism 10, the cutting head mechanism 30 can rotate relative to the instrument rod 20 in a first rotation direction F1, a second rotation direction F2, a third rotation direction F3, or a fourth rotation direction F4. The second rotation direction F2 is the opposite direction of the first rotation direction F1, and the fourth rotation direction F4 is the opposite direction of the third rotation direction F3. In this embodiment, the cutting head mechanism 30 can rotate in four directions, providing a large range of motion and high flexibility. It should be noted that the cutting head mechanism 30 is not limited to being able to rotate in four directions. For example, in other embodiments, the cutting head mechanism 30 can also be configured to rotate in any one, any two, or any three of the first, second, third, and fourth rotation directions F1 and F2, or even in more than four directions, depending on the actual design requirements.

[0072] In some embodiments, the first rotation direction F1 and the second rotation direction F2 are left-right directions, and the third rotation direction F3 and the fourth rotation direction F4 are up-down directions. That is, the cutting head mechanism 30 can perform yaw and pitch movements. The "left-right direction" and "up-down direction" refer to the orientation of the ultrasonic surgical instrument 100 in normal use.

[0073] like Figure 1 and Figure 6 As shown, in some embodiments, the joint assembly 40 includes a first joint seat 41, a second joint seat 42, and a joint member 43. The first joint seat 41 is connected to the distal end of the instrument rod 20, the second joint seat 42 is connected to the blade mechanism 30, and the joint member 43 includes a first end and a second end. The first end of the joint member 43 is rotatably connected to the first joint seat 41 about a first axis L1, and the second end of the joint member 43 is rotatably connected to the second joint seat 42 about a second axis L2. The first axis L1 and the second axis L2 are substantially perpendicular. The transmission mechanism 10 is drively connected to the joint member 43 and the second joint seat 42 to drive the joint member 43 to rotate about the first axis L1 and to drive the second joint seat 42 to rotate about the second axis L2.

[0074] like Figure 1 and Figure 6 As shown, in some embodiments, the transmission mechanism 10 further includes a second transmission rope 14 and a third transmission rope 15. The second transmission rope 14 is connected to the joint member 43 and the transmission assembly 11 respectively. The transmission assembly 11 drives the joint member 43 to rotate around the first axis L1 through the second transmission rope 14. The third transmission rope 15 is connected to the second joint seat 42 and the transmission assembly 11 respectively. The transmission assembly 11 drives the second joint seat 42 to rotate around the second axis L2 through the third transmission rope 15.

[0075] like Figure 7 and Figure 8 As shown, in some embodiments, the joint 43 includes a first side C1 and a second side C2 opposite to the first side C1 in the first direction X. The first direction X is the radial direction of the instrument rod 20 and is perpendicular to the first axis L1. Two second transmission ropes 14 are provided. One second transmission rope 14 extends from the transmission assembly 11 to the first side C1 of the joint 43 and is connected to the joint 43. The other second transmission rope 14 extends from the transmission assembly 11 to the second side C2 of the joint 43 and is connected to the joint 43. The transmission assembly 11 drives the joint 43 to rotate in the first rotation direction F1 through one of the second transmission ropes 14, and drives the joint 43 to rotate in the second rotation direction F2 through the other second transmission rope 14. It should be noted that the number of second transmission ropes 14 is not limited to two; there can also be three or more, depending on the actual design requirements.

[0076] like Figure 7 and Figure 8 As shown, in some embodiments, the second joint seat 42 includes a third side C3 and a fourth side C4 opposite to the third side C3 in the second direction Y. The second direction Y is the radial direction of the instrument rod 20 and is perpendicular to the second axis L2. Two third transmission ropes 15 are provided. One third transmission rope 15 extends from the transmission assembly 11 to the third side C3 of the second joint seat 42 and is connected to the second joint seat 42. The other third transmission rope 15 extends from the transmission assembly 11 to the fourth side C4 of the second joint seat 42 and is connected to the second joint seat 42. The transmission assembly 11 drives the second joint seat 42 to rotate in the third rotation direction F3 through one of the third transmission ropes 15, and drives the second joint seat 42 to rotate in the fourth rotation direction F4 through the other third transmission rope 15. It should be noted that the number of third transmission ropes 15 is not limited to two; it can also be three or more, depending on the actual design requirements.

[0077] like Figure 6 As shown, in some embodiments, the ultrasonic surgical instrument 100 further includes at least one reel 50, which is disposed at the joint assembly 40. The reel 50 is provided with a first groove 51, and the portion of the first transmission rope 12 corresponding to the reel 50 is embedded in the first groove 51. In this embodiment, by setting the reel 50 to guide and constrain the first transmission rope 12, the first transmission rope 12 can run smoothly while avoiding tangling.

[0078] like Figure 6As shown, in some embodiments, the spool 50 is provided with a second groove 52, and the portion of the third transmission rope 15 corresponding to the spool 50 is embedded in the second groove 52. Similarly, in this embodiment, the spool 50 can guide and constrain the third transmission rope 15, so that the third transmission rope 15 can run smoothly, while avoiding interference between the third transmission rope 15 and the first transmission rope 12 and the second transmission rope 14.

[0079] like Figure 9 As shown, in some embodiments, at least one reel 50 includes a first reel 50a and a second reel 50b. Both the first reel 50a and the second reel 50b include a first threading side M1 and a second threading side M2 ​​opposite to the first threading side M1 in a first direction X. The first direction X is a radial direction and is perpendicular to the first axis L1. The first transmission rope 12 extends from the first threading side M1 of the first reel 50a through the space between the first reel 50a and the second reel 50b to the second threading side M2 ​​of the second reel 50b.

[0080] like Figure 9 As shown, in some embodiments, the third drive rope 15 extends from the first cable routing side M1 of the first spool 50a through the space between the first spool 50a and the second spool 50b to the second cable routing side M2 ​​of the second spool 50b.

[0081] like Figure 6 As shown, in some embodiments, the second joint seat 42 is provided with a first limiting platform 421, and the first limiting platform 421 is provided with a first wire hole 4211. The first transmission rope 12 passes through the first wire hole 4211. The first limiting platform 421 can limit and constrain the first transmission rope 12, so that the first transmission rope 12 runs smoothly, while avoiding interference between the first transmission rope 12 and the third transmission rope 15.

[0082] like Figure 6 As shown, in some embodiments, the transmission mechanism 10 further includes a power line 16, one end of which is connected to the transmission component and the other end of which is connected to the ultrasonic transducer. The power line 16 is used to transfer the energy generated by the ultrasonic host to the ultrasonic transducer.

[0083] like Figure 6 As shown, in some embodiments, the joint 43 is provided with a second limiting platform 431, and the second limiting platform 431 is provided with a second wire hole 4311. The power line 16 passes through the second wire hole 4311. The second limiting platform 431 can limit and constrain the power line 16 to prevent the power line 16 from becoming tangled and interfering with other transmission ropes.

[0084] like Figures 1 to 9As shown, an embodiment of this utility model also proposes an ultrasonic surgical instrument 100, which includes a transmission mechanism 10, an instrument rod 20, a joint assembly 40, and a cutting head mechanism 30. The proximal end of the instrument rod 20 is connected to the transmission mechanism 10, and the joint assembly 40 is connected between the distal end of the instrument rod 20 and the cutting head mechanism 30. The transmission mechanism 10 includes a transmission component 11, a second transmission rope 14, and a third transmission rope 15. The joint assembly 40 includes a first joint seat 41, a second joint seat 42, and a joint member 43. The first joint seat 41 is connected to the distal end of the instrument rod 20, the second joint seat 42 is connected to the cutting head mechanism 30, and the joint member 43 includes a first end and a second end. The first end of the joint member 43 is rotatably connected to the first joint seat 41 about a first axis L1, and the second end of the joint member 43 is rotatably connected to the second joint seat 42 about a second axis L2. The first axis L1 and the second axis L2 are substantially perpendicular. The second transmission rope 14 connects the joint 43 and the transmission assembly 11 respectively. The transmission assembly 11 drives the joint 43 to rotate around the first axis L1 through the second transmission rope 14. The third transmission rope 15 connects the second joint seat 42 and the transmission assembly 11 respectively. The transmission assembly 11 drives the second joint seat 42 to rotate around the second axis L2 through the third transmission rope 15.

[0085] The ultrasonic surgical instrument 100 proposed in this embodiment of the invention features a joint assembly 40 between the distal end of the instrument rod 20 and the cutting head mechanism 30, allowing the cutting head mechanism 30 to rotate relative to the instrument rod 20. This provides the cutting head mechanism 30 with a large range of motion and high flexibility. Furthermore, the joint member 43 can rotate around a first axis L1, and the second joint seat 42 can rotate around a second axis L2, enabling the cutting head mechanism 30 to pitch and yaw. This further enhances the cutting head mechanism 30's large range of motion and high flexibility. In addition, the rotation of the joint member 43 along the first axis L1 is achieved by the transmission assembly 11 via a second transmission rope 14, and the rotation of the second joint seat 42 around the second axis L2 is achieved by the transmission assembly 11 via a third transmission rope 15. This simple transmission structure effectively reduces costs and improves reliability.

[0086] Optionally, the joint 43 can rotate 90° in both directions relative to the first joint seat 41.

[0087] Optionally, the second joint seat 42 can rotate 90° in both directions relative to the joint member 43.

[0088] In some embodiments, the joint 43 includes a first side C1 and a second side C2 opposite to the first side C1 in a first direction X. The first direction X is the radial direction of the instrument rod 20 and is perpendicular to the first axis L1. At least two second transmission ropes 14 are provided, one of which extends from the transmission assembly 11 to the first side C1 of the joint 43 and is connected to the joint 43, and the other of which extends from the transmission assembly 11 to the second side C2 of the joint 43 and is connected to the joint 43.

[0089] In some embodiments, the second joint seat 42 includes a third side C3 and a fourth side C4 opposite to the third side C3 in the second direction Y, the second direction Y being the radial direction of the instrument rod 20 and perpendicular to the second axis L2, and at least two third transmission ropes 15 are provided, wherein one third transmission rope 15 extends from the transmission assembly 11 to the third side C3 of the second joint seat 42 and is connected to the second joint seat 42, and the other third transmission rope 15 extends from the transmission assembly 11 to the fourth side C4 of the second joint seat 42 and is connected to the second joint seat 42.

[0090] In some embodiments, the ultrasonic surgical instrument 100 further includes at least one reel 50, which is disposed at the joint assembly 40. The reel 50 is provided with a second groove 52, and the portion of the third transmission rope 15 corresponding to the reel 50 is embedded in the second groove 52.

[0091] In some embodiments, at least one reel 50 includes a first reel 50a and a second reel 50b. Both the first reel 50a and the second reel 50b include a first threading side M1 and a second threading side M2 ​​opposite to the first threading side M1 in a first direction X. The first direction X is a radial direction and is perpendicular to the first axis L1. The third transmission rope 15 extends from the first threading side M1 of the first reel 50a through the space between the first reel 50a and the second reel 50b to the second threading side M2 ​​of the second reel 50b.

[0092] Other structures, connections, extended descriptions, and beneficial effects of the components of the ultrasonic surgical instrument 100 proposed in this embodiment can be referred to the above embodiments, and will not be repeated here.

[0093] like Figure 10 As shown, an embodiment of this utility model also proposes an ultrasonic surgical system, which includes a handle mechanism 200 and the aforementioned ultrasonic surgical instrument 100. A transmission mechanism 10 is connected to the handle mechanism 200 and is driven by the handle mechanism 200. It should be noted that this ultrasonic surgical system is not limited to using a handle mechanism 200. For example, in some other embodiments, the ultrasonic surgical system includes a robotic arm, and the transmission mechanism 10 is connected to the robotic arm and is driven by the robotic arm.

[0094] The ultrasonic surgical system proposed in this embodiment, due to the use of the aforementioned ultrasonic surgical instrument 100, has the advantage that the opening or closing of the drive clamping arm 35 and the blade 32 is achieved by the cooperation of the elastic element 34, the transmission assembly 11 and the first transmission rope 12. The drive structure is simple, which can effectively reduce costs and improve the reliability of operation.

[0095] Other structures, connections, extended descriptions, and beneficial effects of the components of the ultrasonic surgical system proposed in this embodiment can be referred to the above embodiments, and will not be repeated here.

[0096] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this utility model, and these modifications or substitutions should all be covered within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. An ultrasonic surgical instrument, characterized in that, The device includes a transmission mechanism, an instrument rod, and a cutting head mechanism. The proximal end of the instrument rod is connected to the transmission mechanism, and the distal end of the instrument rod is connected to the cutting head mechanism. The transmission mechanism includes a transmission assembly and a first transmission rope. The cutting head mechanism includes: Connecting part; The cutting head is connected to the connecting part; A first sleeve is movably fitted onto the connecting part. The first sleeve can move to a first position and a second position relative to the connecting part. The first position is closer to the instrument rod than the second position. The first transmission rope connects the transmission assembly and the first sleeve respectively. The transmission assembly can drive the first sleeve from the second position to the first position through the first transmission rope. An elastic element, one end connected to the connecting portion and the other end connected to the first sleeve, the elastic element being used to provide an elastic force that moves the first sleeve from the first position to the second position; and The clamping arm is hinged to the connecting part and drives the first sleeve. When the first sleeve moves between the first position and the second position, it can drive the clamping arm to rotate toward or away from the cutter head, so that the clamping arm and the cutter head switch between the open state and the closed state.

2. The ultrasonic surgical instrument as described in claim 1, characterized in that, During the process of the first sleeve moving from the first position to the second position, it can drive the clamping arm to rotate in a direction away from the cutter head, so that the clamping arm and the cutter head change from a closed state to an open state. When the first sleeve moves from the second position to the first position, it can drive the clamping arm to rotate towards the cutter head, so that the clamping arm and the cutter head change from an open state to a closed state. or, During the process of the first sleeve moving from the first position to the second position, it can drive the clamping arm to rotate toward the cutter head, so that the clamping arm and the cutter head change from an open state to a closed state. When the first sleeve moves from the second position to the first position, it can drive the clamping arm to rotate in a direction away from the cutter head, so that the clamping arm and the cutter head change from a closed state to an open state.

3. The ultrasonic surgical instrument as described in claim 1, characterized in that, The first sleeve is provided with a guide groove, and the clamping arm is provided with a protrusion. The protrusion is movably embedded in the guide groove. When the first sleeve moves between the first position and the second position, it can drive the protrusion to rotate around the hinge point between the clamping arm and the connecting part, so as to drive the clamping arm to rotate toward or away from the cutter head.

4. The ultrasonic surgical instrument as described in claim 1, characterized in that, The connecting part includes a second sleeve, which is disposed inside the first sleeve. The clamping arm is hinged to the second sleeve. One end of the elastic element abuts against the first sleeve, and the other end of the elastic element abuts directly or indirectly against the second sleeve.

5. The ultrasonic surgical instrument as described in claim 4, characterized in that, The connecting part also includes an ultrasonic transducer, which is disposed inside the second sleeve, and the cutter head is connected to the ultrasonic transducer.

6. The ultrasonic surgical instrument as described in claim 1, characterized in that, The transmission mechanism further includes a pull rod, which is disposed inside the first sleeve and has both ends passing through the wall of the first sleeve. One end of the first transmission rope is connected to the transmission assembly, and the other end of the first transmission rope is connected to the pull rod.

7. The ultrasonic surgical instrument as described in claim 1, characterized in that, The ultrasonic surgical instrument further includes a joint assembly and at least one reel. The joint assembly is connected to the distal end of the blade mechanism and the instrument rod, respectively. The at least one reel is disposed at the joint assembly and has a first groove. The portion of the first transmission rope corresponding to the reel is embedded in the first groove.

8. An ultrasonic surgical instrument, characterized in that, The device includes a transmission mechanism, an instrument rod, a joint assembly, and a cutting head mechanism. The proximal end of the instrument rod is connected to the transmission mechanism, and the joint assembly is connected between the distal end of the instrument rod and the cutting head mechanism. The transmission mechanism includes a transmission component, a second transmission rope, and a third transmission rope. The joint assembly includes: The first joint seat is connected to the distal end of the instrument rod; The second joint seat is connected to the cutter head mechanism; and A joint component includes a first end and a second end. The first end of the joint component is rotatably connected to the first joint seat about a first axis, and the second end of the joint component is rotatably connected to the second joint seat about a second axis. The first axis and the second axis are substantially perpendicular. The second transmission rope connects the joint and the transmission assembly respectively. The transmission assembly drives the joint to rotate around the first axis through the second transmission rope. The third transmission rope connects the second joint seat and the transmission assembly respectively. The transmission assembly drives the second joint seat to rotate around the second axis through the third transmission rope.

9. The ultrasonic surgical instrument as described in claim 8, characterized in that, The joint includes a first side and a second side opposite to the first side in a first direction, the first direction being the radial direction of the instrument rod and perpendicular to the first axis. At least two second transmission ropes are provided, one of which extends from the transmission assembly to the first side of the joint and connects to the joint, and the other extends from the transmission assembly to the second side of the joint and connects to the joint; and / or, The second joint seat includes a third side and a fourth side opposite to the third side in a second direction. The second direction is the radial direction of the instrument rod and is perpendicular to the second axis. At least two third transmission ropes are provided, one of which extends from the transmission assembly to the third side of the second joint seat and is connected to the second joint seat, and the other of which extends from the transmission assembly to the fourth side of the second joint seat and is connected to the second joint seat.

10. The ultrasonic surgical instrument as described in claim 8, characterized in that, The ultrasonic surgical instrument further includes at least one reel, which is disposed at the joint assembly. The reel has a second groove, and the portion of the third transmission rope corresponding to the reel is embedded in the second groove.

11. The ultrasonic surgical instrument as described in claim 10, characterized in that, The at least one reel includes a first reel and a second reel. The first reel and the second reel each include a first thread-carrying side and a second thread-carrying side opposite to the first thread-carrying side in a first direction. The first direction is a radial direction and is perpendicular to the first axis. The third transmission rope extends from the first thread-carrying side of the first reel, passes between the first reel and the second reel, and extends to the second thread-carrying side of the second reel.

12. An ultrasonic surgical system, characterized in that, include: Handle mechanism or robotic arm; as well as The ultrasonic surgical instrument according to any one of claims 1 to 11, wherein the transmission mechanism is connected to the handle mechanism or the robotic arm, and the transmission mechanism is driven by the handle mechanism or the robotic arm.

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