Medical ultrasonic scalpel, medical ultrasonic scalpel system, and robot-assisted ultrasonic scalpel system

Abstract

The present application provides a medical ultrasonic scalpel, a medical ultrasonic scalpel system, and a robot-assisted ultrasonic scalpel system, and relates to the technical field of medical instruments. In the medical ultrasonic scalpel, a complex vibration pattern generating unit is provided on at least one of the handle and the shank, and can drive the blade under the action of a vibration source to generate complex vibrations including at least two of longitudinal vibration, torsional vibration, and bending vibration, so that the medical ultrasonic scalpel can generate various vibrations to adapt to various types of surgery, thereby improving the application range of the medical ultrasonic scalpel in surgery.

Description

[Technical field]

[0001] The present application relates to the field of medical instruments, and in particular to medical ultrasonic scalpels, medical ultrasonic scalpel systems, and robotic assisted ultrasonic scalpel systems. [Background technology]

[0002] In modern medicine, common surgical tools include medical high-speed grinding drills, oscillating saws, and other conventional tools. Bone cutting, drilling, or grinding can be carried out with surgical tools to achieve the purpose of bone treatment.

[0003] However, in the actual use of surgical tools, it is difficult to ensure that conventional surgical tools such as high-speed grinding drills and oscillating saws can treat bones without damaging soft tissues, especially when the surgical site is close to the interface between bone and soft tissue (especially the spinal cord). Specifically, medical high-speed grinding drills are difficult to precisely control the depth of bone drilling and may damage soft tissues during bone drilling, while oscillating saws are not only difficult to precisely control due to their large vibration amplitude, but may also accidentally damage soft tissues near bones.

[0004] With the development of ultrasonic technology and its combination with modern medicine, medical ultrasonic scalpels are gradually applied in surgery. In addition, due to the characteristics of ultrasound, when the medical ultrasonic scalpel contacts the bone with high hardness, the bone is not easily deformed, so that it can produce a cut at the contact position. When the medical ultrasonic scalpel contacts the soft tissue, the soft tissue bounces back or deforms under the elastic action of the soft tissue, and vibrates slightly with the vibration of the medical ultrasonic scalpel, thereby offsetting the energy at the blade and avoiding cutting. Therefore, especially in the case of surgery where the surgical site is located near the interface between the bone and the soft tissue, the medical ultrasonic scalpel has a great advantage in bone cutting.

[0005] Based on this, how medical ultrasonic scalpels can be utilized to replace traditional surgical tools and be widely used in various types of surgery has become a research hotspot. Summary of the Invention

[0006] The present application is intended to solve at least one of the technical problems existing in the related art. To this end, the purpose of the present application is to propose a medical ultrasonic scalpel, a medical ultrasonic scalpel system, and a robot-assisted ultrasonic scalpel system to improve the application range of the medical ultrasonic scalpel in surgery.

[0007] In a first aspect, one embodiment of the present application is a medical ultrasonic scalpel, comprising: a handle having a handle central longitudinal axis, a first end of the handle configured to be connected to a vibration source for receiving vibrations generated by the vibration source; a shank having a shank central longitudinal axis, the first end of the shank connected to a second end of the handle opposite the first end of the handle; a shank; a blade having a blade central longitudinal axis, the first end of the blade connected to a second end of the shank opposite the first end of the shank, the second end of the blade being provided with a cutting portion for cutting tissue to be cut; and a blade having a plurality of blades disposed on at least one of the handle and the shank. and a composite vibration pattern generating unit configured to convert vibrations received from a vibration source into a composite vibration of a cutting portion of a blade, the composite vibration including at least two of the following vibrations: 1) longitudinal vibration parallel to at least one of the handle longitudinal center axis, the shank longitudinal center axis, and the blade longitudinal center axis; 2) torsional vibration having at least one of the handle longitudinal center axis, the shank longitudinal center axis, and the blade longitudinal center axis as a torsional center axis; and 3) bending vibration laterally shifted from at least one of the handle longitudinal center axis, the shank longitudinal center axis, and the blade longitudinal center axis.

[0008] In a second aspect, an embodiment of the present application provides a medical ultrasonic scalpel system including a vibration source and a medical ultrasonic scalpel as described above, wherein the vibration source is connected to a first end of a handle of the medical ultrasonic scalpel and configured to generate vibrations.

[0009] In a third aspect, an embodiment of the present application provides a robotic-assisted ultrasonic scalpel system including a robotic-assisted surgical device and a medical ultrasonic scalpel system as described above, wherein the robotic-assisted surgical device is connected to the medical ultrasonic scalpel of the medical ultrasonic scalpel system to control a movement of the medical ultrasonic scalpel.

[0010] In the medical ultrasonic scalpel, medical ultrasonic scalpel system, and robot-assisted ultrasonic scalpel system provided in the embodiments of the present application, the complex vibration pattern generating unit is provided on at least one of the handle and the shank, and can drive the blade under the action of the vibration source to generate complex vibrations including at least two of longitudinal vibration, torsional vibration, and bending vibration, so that the medical ultrasonic scalpel can generate various vibrations to adapt to various types of surgeries, thereby improving the application range of the medical ultrasonic scalpel in surgery.

[0011] In the accompanying drawings, the same reference numerals, unless otherwise specified, refer to the same or similar components or elements throughout the several accompanying drawings. The accompanying drawings are not necessarily drawn to scale. It should be understood that the drawings depict only some embodiments according to the present disclosure herein and should not be construed as limiting the scope of the present application. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a structural diagram of a medical ultrasonic scalpel system according to an embodiment of the present application. [Diagram 2]FIG. 1 is a schematic structural diagram of a medical ultrasonic scalpel according to an embodiment of the present application; [Diagram 3] FIG. 3 is a front view of the medical ultrasonic scalpel of FIG. 2. [Figure 4] FIG. 3 is a rear view of the medical ultrasonic scalpel of FIG. 2. [Diagram 5] FIG. 3 is a top view of the medical ultrasonic scalpel of FIG. 2. [Figure 6] FIG. 3 is a bottom view of the medical ultrasonic scalpel of FIG. 2. [Figure 7] FIG. 3 is a left side view of the medical ultrasonic scalpel of FIG. 2. [Figure 8] FIG. 3 is a right side view of the medical ultrasonic scalpel of FIG. 2. [Figure 9] FIG. 2 is a schematic structural diagram of a medical ultrasonic scalpel according to another embodiment of the present application. [Figure 10] FIG. 10 is a front view of the medical ultrasonic scalpel of FIG. [Figure 11] FIG. 10 is a rear view of the medical ultrasonic scalpel of FIG. [Figure 12] FIG. 10 is a top view of the medical ultrasonic scalpel of FIG. [Figure 13] FIG. 10 is a bottom view of the medical ultrasonic scalpel of FIG. [Figure 14] FIG. 10 is a left side view of the medical ultrasonic scalpel of FIG. [Figure 15] FIG. 10 is a right side view of the medical ultrasonic scalpel of FIG. [Figure 16] FIG. 13 is a schematic structural diagram of a medical ultrasonic scalpel according to yet another embodiment of the present application. [Figure 17] FIG. 17 is a front view of the medical ultrasonic scalpel of FIG. 16. [Figure 18] FIG. 17 is a rear view of the medical ultrasonic scalpel of FIG. 16. [Figure 19] FIG. 17 is a top view of the medical ultrasonic scalpel of FIG. 16. [Figure 20] FIG. 17 is a bottom view of the medical ultrasonic scalpel of FIG. 16. [Figure 21] FIG. 17 is a left side view of the medical ultrasonic scalpel of FIG. 16. [Figure 22] FIG. 17 is a right side view of the medical ultrasonic scalpel of FIG. 16. [Figure 23]FIG. 13 is a schematic structural diagram of a medical ultrasonic scalpel according to yet another embodiment of the present application. [Figure 24] FIG. 24 is a front view of the medical ultrasonic scalpel of FIG. 23. [Diagram 25] FIG. 24 is a rear view of the medical ultrasonic scalpel of FIG. 23. [Figure 26] FIG. 24 is a top view of the medical ultrasonic scalpel of FIG. 23. [Figure 27] FIG. 24 is a bottom view of the medical ultrasonic scalpel of FIG. 23. [Figure 28] FIG. 24 is a left side view of the medical ultrasonic scalpel of FIG. 23. [Figure 29] FIG. 24 is a right side view of the medical ultrasonic scalpel of FIG. 23. [Diagram 30] 1A-1D are diagrams illustrating deformation of a medical ultrasonic scalpel according to an embodiment of the present application during longitudinal vibration. [Diagram 31] 1A-1C are diagrams illustrating the deformation of a medical ultrasonic scalpel according to an embodiment of the present application during bending vibration. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Only some exemplary embodiments are briefly described below. As can be understood by those skilled in the art, the described embodiments can be modified in various ways without departing from the spirit or scope of the present application. Therefore, the accompanying drawings and descriptions are to be regarded as illustrative in nature, rather than restrictive.

[0014] Fig. 1 is a structural diagram of a medical ultrasonic scalpel system according to an embodiment of the present application. Referring to Fig. 1, the medical ultrasonic scalpel system includes a medical ultrasonic scalpel 10 and a vibration source 60. The medical ultrasonic scalpel 10 includes a handle 100, a shank 200, a blade 300, and a complex vibration pattern generating unit 400.

[0015] The handle 100 may be of a rod-like structure, and its cross section may be of various shapes, such as circular or square. The handle 100 has a handle longitudinal central axis L1, and two opposing ends of the handle 100 along the handle longitudinal central axis L1 are the first end (left end in FIG. 1 ) and the second end (right end in FIG. 1 ) of the handle 100, respectively. The first end of the handle 100 may be connected to a vibration source 60 to receive vibrations generated by the vibration source 60.

[0016] The shank 200 may be of an elongated strip-like structure, and its cross section may be of various shapes, such as square or elliptical. The shank 200 has a shank longitudinal central axis L2, and two opposite ends of the shank 200 along the shank longitudinal central axis L2 are the first end (left end in FIG. 1) and the second end (right end in FIG. 1) of the shank 200, respectively. The first end of the shank 200 is connected to the second end of the handle 100.

[0017] The blade 300 may also be of an elongated strip-like structure, and its cross section may have a variety of shapes, such as a cross or a diamond shape. The blade 300 has a blade longitudinal central axis L3, and the two opposing ends of the blade 300 along the blade longitudinal central axis L3 are the first end (left end in FIG. 1) and the second end (right end in FIG. 1) of the blade 300, respectively. The first end of the blade 300 is connected to the second end of the shank 200, and the second end of the blade 300 is provided with a cutting portion 310 for cutting the tissue to be cut.

[0018] The tissue to be cut may be bone, blood vessels, and other tissues that need to be treated. For ease of explanation, the following description is given assuming that the tissue to be cut is bone. The cutting portion 310 may be located at a second end of the blade 300 facing outward from the handle 100, and the cutting portion 310 may be the first to contact the bone during surgery to treat the bone.

[0019] It can be seen that the handle 100, the shank 200, and the blade 300 may be connected in series generally in the left to right direction of FIG. 1. In some embodiments, the handle 100 may be of a cylindrical structure and the shank 200 may be of a sheet-like structure. The cross section of the shank 200 may be generally rectangular in shape and the cross section of the blade 300 may be generally diamond in shape. Also, of the three, the cross section of the handle 100 is the largest, the cross section of the blade 300 is the smallest, and the cross section of the shank 200 is between the cross sections of the handle 100 and the blade 300.

[0020] Additionally, the relationship between the handle longitudinal axis L1, the shank longitudinal axis L2, and the blade longitudinal axis L3 may vary.

[0021] In some embodiments, the handle longitudinal center axis L1 and the shank longitudinal center axis L2 are coincident with one another, and the blade longitudinal center axis L3 is offset from the handle longitudinal center axis L1 and the shank longitudinal center axis L2 by a predetermined distance or at a predetermined angle relative to the handle longitudinal center axis L1 and the shank longitudinal center axis L2. That is, the handle 100 and the shank 200 may extend in the same direction, and the blade longitudinal center axis L3 may be at a predetermined angle relative to the shank longitudinal center axis L2, or the blade longitudinal center axis L3 may be parallel to the shank longitudinal center axis L2 and offset from the shank longitudinal center axis L2 by a predetermined distance.

[0022] In some other embodiments, the handle longitudinal center axis L1 and the blade longitudinal center axis L3 are coincident with each other, and the shank longitudinal center axis L2 is offset from the handle longitudinal center axis L1 and the blade longitudinal center axis L3 by a predetermined distance or at a predetermined angle relative to the handle longitudinal center axis L1 and the blade longitudinal center axis L3. That is, the handle 100 and the blade 300 may extend in the same direction, and the shank longitudinal center axis L2 may be at a predetermined angle relative to the blade longitudinal center axis L3, or the shank longitudinal center axis L2 may be parallel to the blade longitudinal center axis L3 and offset from the blade longitudinal center axis L3 by a predetermined distance.

[0023] In yet another embodiment, the handle longitudinal center axis L1, the shank longitudinal center axis L2, and the blade longitudinal center axis L3 are coincident with each other, and the three may be connected in sequence in the same direction.

[0024] The above various configurations may enable the connection of the handle 100, the shank 200, and the blade 300. The preset angle may be greater than 0° and less than 180°, and the preset distance may be set according to actual requirements.

[0025] The medical ultrasonic scalpel 10 further includes a complex vibration pattern generating unit 400. The complex vibration pattern generating unit 400 is provided on at least one of the handle 100 and the shank 200, and is configured to convert the vibration received from the vibration source 60 into a complex vibration of the cutting portion 310 of the blade 300. The complex vibration includes at least two of the following vibrations:

[0026] 1) Longitudinal vibration parallel to at least one of the handle longitudinal center axis L1, the shank longitudinal center axis L2, and the blade longitudinal center axis L3. Taking the longitudinal vibration parallel to the blade longitudinal center axis L3 as an example, this longitudinal vibration can change the length of the medical ultrasonic scalpel 10 back and forth in the first direction A (L3 direction).

[0027] 2) Torsional vibration with at least one of the handle longitudinal central axis L1, the shank longitudinal central axis L2, and the blade longitudinal central axis L3 as a torsional central axis. Taking the blade longitudinal central axis L3 as an example of the torsional central axis, the torsional vibration can rotate the medical ultrasonic scalpel 10 back and forth in the second direction B.

[0028] 3) Bending vibration offset laterally from at least one of the handle longitudinal central axis L1, the shank longitudinal central axis L2, and the blade longitudinal central axis L3. Taking the bending vibration offset from the blade longitudinal central axis L3 as an example, the bending vibration can bend and deform the medical ultrasonic scalpel 10 in the third direction C.

[0029] It can be understood that the composite vibration may include at least two of longitudinal vibration, torsional vibration, and bending vibration. The combination of longitudinal vibration and torsional vibration may simulate the movement of a high-speed grinding drill or an oscillating saw to realize the drilling or grinding treatment of bone, and the combination of longitudinal motion and bending motion may simulate the movement of an oscillating saw or an osteotome to realize the grinding or cutting treatment of bone. The combination of torsional vibration and bending vibration may also realize the drilling or grinding treatment of bone. Furthermore, the combination of longitudinal vibration, torsional vibration, and bending vibration may realize the drilling, cutting, or grinding treatment of bone.

[0030] During surgery, the complex vibration mode of the blade 300 may be selected according to the type of surgery to replace traditional surgical tools such as high-speed grinding drills or oscillating saws for bone treatment, so that the medical ultrasonic scalpel 10 can be applied to a variety of different types of surgery, thereby improving the application range of the medical ultrasonic scalpel in surgery. In addition, the surgery performed using the medical ultrasonic scalpel 10 does not damage the soft tissues near the bone, and is highly safe.

[0031] It can be understood that the complex vibration of the blade 300 can be realized in various ways. For example, the structure of the medical ultrasonic scalpel 10 may be configured by the complex vibration pattern generating unit 400 such that the medical ultrasonic scalpel 10 converts a single type of vibration generated by the vibration source 60 into a complex vibration. In another example, the vibration source 60 may be configured such that the vibration source 60 can provide various types of vibration to the medical ultrasonic scalpel 10. In this case, the complex vibration pattern generating unit 400 may be formed by at least a portion of the handle 100 and the shank 200.

[0032] The method for generating composite vibration is described below with reference to the accompanying drawings.

[0033] FIG. 2 is a schematic structural diagram of a medical ultrasonic scalpel according to one embodiment of the present application, FIG. 3 is a front view of the medical ultrasonic scalpel of FIG. 2, FIG. 4 is a rear view of the medical ultrasonic scalpel of FIG. 2, FIG. 5 is a top view of the medical ultrasonic scalpel of FIG. 2, FIG. 6 is a bottom view of the medical ultrasonic scalpel of FIG. 2, FIG. 7 is a left side view of the medical ultrasonic scalpel of FIG. 2, and FIG. 8 is a right side view of the medical ultrasonic scalpel of FIG. 2.

[0034] 2 to 8, the vibration source 60 can generate longitudinal vibration. The complex vibration pattern generating unit 400 includes a first complex vibration pattern generating unit 410 provided in the handle 100. The first complex vibration pattern generating unit 410 is configured to convert the longitudinal vibration component of the vibration source 60 into torsional vibration, and thereby, by configuring the structure of the medical ultrasonic scalpel 10, complex vibration (superposition of longitudinal vibration and torsional vibration) of the cutting portion 310 of the blade 300 can be realized.

[0035] The first complex vibration pattern generating unit 410 may have various structures. For example, the first complex vibration pattern generating unit 410 may be a groove provided on the handle 100.

[0036] 5, the first complex vibration pattern generating unit 410 includes at least one inclined groove 411 provided on the outer periphery of the handle 100 at a first predetermined included angle with respect to the handle longitudinal central axis L1. The inclined groove 411 may be at the first predetermined included angle with respect to the handle longitudinal central axis L1. That is, the extension direction of the inclined groove 411 is not parallel to the handle longitudinal central axis L1.

[0037] In addition, there may be one or more angled grooves 411. When multiple angled grooves 411 are present, the at least one angled groove 411 includes two or more angled grooves 411 evenly distributed along the circumference of the handle 100. That is, the multiple angled grooves 411 may be equally spaced along the circumference of the handle 100. The first predetermined included angle may be greater than 0° and less than 180°.

[0038] When the vibration source 60 generates the longitudinal vibration, a part of the longitudinal vibration component of the longitudinal vibration acts on the first complex vibration pattern generating part 410. Because the inclined groove 411 is at a first predetermined included angle with respect to the handle longitudinal central axis L1, a part of the longitudinal vibration component is converted into a torsional vibration that rotates along the circumferential direction of the handle 100 to drive the cutting part 310 to realize a torsional vibration. In addition, because there is still a part of the longitudinal vibration component that is not converted into a torsional vibration, the cutting part 310 can still generate a longitudinal vibration under the action of the vibration source 60. That is, the cutting part 310 of the blade 300 can realize a complex vibration of a longitudinal vibration and a torsional vibration.

[0039] In some embodiments, the first complex vibration pattern generating unit 410 may include at least one helical groove provided on the outer periphery of the handle 100 at a first predetermined included angle with respect to the handle longitudinal central axis L1. The helical groove may extend in the direction of a helix, and the first predetermined included angle may be a helix angle of the helix.

[0040] In addition, there may be one or more helical grooves. When multiple helical grooves are present, at least one helical groove includes two or more helical grooves evenly distributed around the circumference of the handle 100. That is, the multiple helical grooves are spaced apart circumferentially around the handle 100.

[0041] Of course, the first complex vibration pattern generating unit 410 may include both at least one inclined groove 411 and at least one spiral groove, and may enable the cutting unit 310 to realize a complex vibration of longitudinal vibration and torsional vibration. That is, the at least one inclined groove and the at least one spiral groove each include two or more inclined grooves and two or more spiral grooves evenly distributed along the outer periphery of the handle 100.

[0042] The first complex vibration pattern generating portion 410 may be provided as a protrusion on the handle 100 in addition to being a groove provided on the handle 100.

[0043] For example, the first complex vibration pattern generating unit 410 is at least one strip-shaped protrusion provided on the outer periphery of the handle 100 at a first predetermined included angle with respect to the handle longitudinal central axis L1. The inclined groove 411 may be at a first predetermined included angle with respect to the handle longitudinal central axis L1. That is, the extension direction of the strip-shaped protrusion is not parallel to the handle longitudinal central axis L1.

[0044] In addition, there may be one or more strip-like projections. The multiple strip-like projections may be equally spaced along the circumference of the handle 100. The first predetermined included angle may be greater than 0° and less than 180°.

[0045] When the vibration source 60 generates the longitudinal vibration, a part of the longitudinal vibration component of the longitudinal vibration acts on the first complex vibration pattern generating unit 410. Since the strip-shaped protrusion is at a first predetermined included angle with respect to the handle longitudinal central axis L1, a part of the longitudinal vibration component is converted into a torsional vibration that rotates along the circumferential direction of the handle 100 to drive the cutting part 310 to realize the torsional vibration. Furthermore, since there is still a part of the longitudinal vibration component that is not converted into the torsional vibration, the cutting part 310 can still generate the longitudinal vibration under the action of the vibration source 60. That is, the cutting part 310 of the blade 300 can realize the complex vibration of the longitudinal vibration and the torsional vibration.

[0046] For example, the first complex vibration pattern generating unit 410 is a helical protrusion provided on the outer periphery of the handle 100 at a first predetermined included angle with respect to the handle longitudinal central axis L1. The helical protrusion may extend in the direction of the helix, and the first predetermined included angle may be the helix angle of the helix.

[0047] In addition, there may be one or more helical protrusions. When multiple helical protrusions are present, multiple helical grooves may be spaced apart along the handle longitudinal center axis L1 or circumferentially around the handle 100.

[0048] In yet another example, the first complex vibration pattern generating unit 410 may include both at least one strip-shaped protrusion and at least one spiral protrusion, and may enable the cutting unit 310 to realize a complex vibration of longitudinal vibration and torsional vibration.

[0049] Of course, in some other embodiments, the first complex vibration pattern generating unit 410 may include both grooves and protrusions provided on the handle 100.

[0050] Any of the above various structures of the first complex vibration pattern generating unit 410 can convert the longitudinal vibration component into torsional vibration so that the cutting unit 310 realizes a complex vibration of longitudinal vibration and torsional vibration.

[0051] FIG. 9 is a schematic structural diagram of a medical ultrasonic scalpel according to one embodiment of the present application, FIG. 10 is a front view of the medical ultrasonic scalpel of FIG. 9, FIG. 11 is a rear view of the medical ultrasonic scalpel of FIG. 9, FIG. 12 is a top view of the medical ultrasonic scalpel of FIG. 9, FIG. 13 is a bottom view of the medical ultrasonic scalpel of FIG. 9, FIG. 14 is a left side view of the medical ultrasonic scalpel of FIG. 9, and FIG. 15 is a right side view of the medical ultrasonic scalpel of FIG. 9.

[0052] 9 to 15, the vibration source 60 can generate longitudinal vibration. The complex vibration pattern generating unit 400 further includes a second complex vibration pattern generating unit 420 provided in the handle 100 or the shank 200. The second complex vibration pattern generating unit 420 is configured to convert the longitudinal vibration component of the vibration source 60 into bending vibration, and thereby, by configuring the structure of the medical ultrasonic scalpel 10, a complex vibration (superposition of longitudinal vibration and bending vibration) of the cutting portion 310 of the blade 300 can be realized.

[0053] The second complex vibration pattern generating portion 420 may also be of various configurations, the second complex vibration pattern generating portion 420 being formed by at least one lateral cutout 421 in the shank 200 .

[0054] It can be understood that the lateral notch 421 may be formed by removing a portion of material from a side of the shank 200 and may be represented as a recess in the shank 200. Also, there may be one or more lateral notches 421, and the lateral notches 421 may be such that the shank 200 is of asymmetrical construction. For example, if there are multiple lateral notches, the multiple lateral notches 421 are spaced apart along the central longitudinal axis L2 of the shank 200. The side may be understood as a lateral surface located between the first end and the second end of the shank 200.

[0055] In some embodiments, the shank 200 is a flat sheet-like structure and the transverse cutout 421 may be a notch in an edge of the shank 200.

[0056] 9, the second complex vibration pattern generating portion 420 is provided on the shank 200. In other embodiments, the second complex vibration pattern generating portion 420 may be provided on the handle 100. For example, the second complex vibration pattern generating portion 420 is formed by at least one lateral cutout in the handle 100.

[0057] In some embodiments, in addition to including a lateral cutout, the second complex vibration pattern generating portion 420 may be formed by a lateral protrusion of at least one of the handle 100 or the shank 200. The lateral protrusion may be formed by adding material to the side of the shank 200 and may be represented as a protruding portion on the shank 200. There may also be one or more lateral protrusions, and the lateral protrusions may be such that the shank 200 is of asymmetric construction. For example, if there are multiple lateral protrusions, the multiple lateral protrusions may be spaced apart along the central longitudinal axis L2 of the shank 200. The side may be understood as a lateral surface located between the first end and the second end of the shank 200.

[0058] In addition, a lateral protrusion may be provided on the handle 100. For example, the second complex vibration pattern generating unit 420 is formed by at least one lateral protrusion of the handle 100.

[0059] When the vibration source 60 generates the longitudinal vibration, a part of the longitudinal vibration component of the longitudinal vibration acts on the second complex vibration pattern generating unit 420. Because the handle 100 or the shank 200 has an asymmetric eccentric structure due to the second complex vibration pattern generating unit 420, the structural forces on both sides of the handle longitudinal central axis L1 or the shank longitudinal central axis L2 become unbalanced, so that the medical ultrasonic scalpel 10 generates bending vibration to drive the cutting part 310 to realize bending vibration. In addition, because there is still a part of the longitudinal vibration component that is not converted into bending vibration, the cutting part 310 can still generate longitudinal vibration under the action of the vibration source 60. That is, the cutting part 310 of the blade 300 can realize a complex vibration of longitudinal vibration and bending vibration.

[0060] Any of the above various structures of the second complex vibration pattern generating unit 420 can convert the longitudinal vibration component into bending vibration so that the cutting portion 310 realizes a complex vibration of longitudinal vibration and bending vibration.

[0061] FIG. 16 is a schematic structural diagram of a medical ultrasonic scalpel according to yet another embodiment of the present application, FIG. 17 is a front view of the medical ultrasonic scalpel of FIG. 16, FIG. 18 is a rear view of the medical ultrasonic scalpel of FIG. 16, FIG. 19 is a top view of the medical ultrasonic scalpel of FIG. 16, FIG. 20 is a bottom view of the medical ultrasonic scalpel of FIG. 16, FIG. 21 is a left side view of the medical ultrasonic scalpel of FIG. 16, and FIG. 22 is a right side view of the medical ultrasonic scalpel of FIG. 16.

[0062] 16 to 22, this embodiment is based on the embodiment shown in FIG. 2 in conjunction with the embodiment shown in FIG. 9. In this embodiment, the vibration source 60 can generate longitudinal vibration. The complex vibration pattern generating unit 400 includes a first complex vibration pattern generating unit 410 provided in the handle 100 and a second complex vibration pattern generating unit 420 provided in the handle 100 or the shank 200. The first complex vibration pattern generating unit 410 is configured to convert the longitudinal vibration component of the vibration source 60 into torsional vibration, and the second complex vibration pattern generating unit 420 is configured to convert the longitudinal vibration component of the vibration source 60 into bending vibration, thereby configuring the structure of the medical ultrasonic scalpel 10 to realize the complex vibration (superposition of longitudinal vibration, torsional vibration, and bending vibration) of the cutting portion 310 of the blade 300.

[0063] The configurations and functions of the first complex vibration pattern generating unit 410 and the second complex vibration pattern generating unit 420 are the same as or similar to those of the above-mentioned respective embodiments, and therefore will not be described in detail, and specific reference may be made to the above-mentioned embodiments.

[0064] When the vibration source 60 generates the longitudinal vibration, the longitudinal vibration may substantially include three parts of longitudinal vibration components. A part of the longitudinal vibration component acts on the first complex vibration pattern generating unit 410. Since the first complex vibration pattern generating unit 410 is at a first predetermined included angle with respect to the handle longitudinal central axis L1, a part of the longitudinal vibration component is converted into a torsional vibration that rotates along the circumferential direction of the handle 100 to drive the cutting portion 310 to realize a torsional vibration.

[0065] The second portion of the longitudinal vibration component acts on the second complex vibration pattern generating unit 420. Because the handle 100 or the shank 200 has an asymmetric eccentric structure due to the second complex vibration pattern generating unit 420, the structural forces on both sides of the handle longitudinal central axis L1 or the shank longitudinal central axis L2 become unbalanced, so that the medical ultrasonic scalpel 10 generates bending vibration to drive the cutting portion 310 to realize bending vibration.

[0066] Since the third part of the longitudinal vibration component is not converted into torsional or bending vibration, the cutting portion 310 can still generate longitudinal vibration under the action of the vibration source 60 .

[0067] In short, the complex vibration pattern generator 400 enables the cutting portion 310 of the blade 300 to achieve a complex vibration that includes longitudinal, bending, and torsional vibrations.

[0068] In some embodiments, the lateral dimension of the handle 100 is greater than the lateral dimension of the shank 200, i.e., the cross-sectional area of ​​the handle 100 is greater than the cross-sectional area of ​​the shank 200, and the second end of the handle 100 is connected to the first end of the shank 200 via a conical transition section 500. The conical transition section 500 can provide a smooth transition between the handle 100 and the shank 200 to increase the strength of the medical ultrasonic scalpel 10.

[0069] The complex vibration pattern generating section 400 further includes a third complex vibration pattern generating section disposed within the conical transition section 500. The third complex vibration pattern generating section is configured to convert the longitudinal vibration component of the vibration source 60 into a torsional vibration.

[0070] The third complex vibration pattern generating portion may be of various configurations, for example, the third complex vibration pattern generating portion may be a groove provided on the conical transition section 500.

[0071] For example, the third complex vibration pattern generating unit includes at least one inclined groove provided on the outer periphery of the handle 100 at a second predetermined included angle with respect to the handle longitudinal central axis L1. The inclined groove may be at a second predetermined included angle with respect to the handle longitudinal central axis L1. That is, the extension direction of the inclined groove is not parallel to the handle longitudinal central axis L1. The inclined groove of the third complex vibration pattern generating unit differs from the inclined groove shown in FIG. 2 in that it is provided on a conical surface and the distance between the inclined groove and the conical transition section 500 gradually decreases in the taper direction of the conical surface, whereas the inclined groove shown in FIG. 2 is provided on a cylindrical surface and the distance between the inclined groove and the handle longitudinal central axis L1 is constant. The second predetermined included angle may be greater than 0° and less than 180°, and may be the same as or different from the first predetermined included angle.

[0072] In another example, the third complex vibration pattern generating unit may include at least one helical groove provided on the outer periphery of the handle 100 at a second predetermined included angle with respect to the handle longitudinal central axis L1. The helical groove may extend in the direction of a conical helix, and the first predetermined included angle may be the helix angle of the conical helix.

[0073] Of course, the third complex vibration pattern generating unit may include both at least one oblique groove and at least one helical groove, and may enable the cutting unit 310 to realize a complex vibration of longitudinal vibration and torsional vibration. That is, the at least one oblique groove and the at least one helical groove each include two or more oblique grooves and two or more helical grooves evenly distributed along the circumference of the conical transition section 500.

[0074] In addition to being a groove provided on the conical transition section 500, the third complex vibration pattern generating portion may be provided as a protrusion on the conical transition section 500.

[0075] For example, the third complex vibration pattern generating unit is at least one strip-shaped protrusion provided on the outer periphery of the handle 100 at a second predetermined included angle with respect to the handle longitudinal central axis L1. The strip-shaped protrusion may be at a second predetermined included angle with respect to the handle longitudinal central axis L1. That is, the extension direction of the strip-shaped protrusion is not parallel to the handle longitudinal central axis L1. Furthermore, the distance between the strip-shaped protrusion and the center line of the conical transition section 500 gradually decreases in the taper direction of the conical surface. The arrangement of the strip-shaped protrusion can refer to the arrangement of the inclined groove and will not be described in more detail.

[0076] In another example, the third complex vibration pattern generating unit may include at least one helical protrusion provided on the outer periphery of the handle 100 at a second predetermined included angle with respect to the handle longitudinal central axis L1. The helical protrusion may extend in the direction of a conical helix, and the second predetermined angle may be the helical angle of the conical helix. The arrangement of the helical protrusion may refer to the arrangement of the helical groove and will not be described in more detail.

[0077] Of course, the third complex vibration pattern generating unit may include both at least one strip-like protrusion and at least one helical protrusion, and may also enable the cutting unit 310 to realize a complex vibration of longitudinal vibration and torsional vibration. When the vibration source 60 generates a longitudinal vibration, a part of the longitudinal vibration component of the longitudinal vibration acts on the third complex vibration pattern generating unit. Since the third complex vibration pattern generating unit is at a second predetermined included angle with respect to the handle longitudinal central axis L1, a part of the longitudinal vibration component is converted into a torsional vibration that rotates along the circumferential direction of the conical transition section to drive the cutting unit 310 to realize a torsional vibration. Furthermore, since there is still a part of the longitudinal vibration component that is not converted into a torsional vibration, the cutting unit 310 can still generate a longitudinal vibration under the action of the vibration source 60. That is, the cutting unit 310 of the blade 300 can realize a complex vibration of longitudinal vibration and torsional vibration.

[0078] It can be understood that the structure and function of the third complex vibration pattern generating unit are similar to those of the first complex vibration pattern generating unit 410, and specific reference can be made to the first complex vibration pattern generating unit 410. The complex vibration pattern generating unit 400 may include at least one of the first complex vibration pattern generating unit 410, the second complex vibration pattern generating unit 420, and the third complex vibration pattern generating unit, which may be selected according to a desired vibration mode.

[0079] In some embodiments, the vibration source 60 includes an ultrasonic transducer, which may be connected to a first end of the handle 100 and can generate longitudinal and / or torsional vibrations.

[0080] In the above various embodiments, only examples in which the ultrasonic transducer generates longitudinal vibrations are described, and it can be understood that the complex vibration of the cutting portion 310 is realized mainly by changing the structure of the medical ultrasonic scalpel 10. In other embodiments, the ultrasonic transducer may enable torsional motion, and the torsional motion may be converted into a complex vibration including torsional vibration by changes in the structure of the medical ultrasonic scalpel 10.

[0081] FIG. 23 is a schematic structural diagram of a medical ultrasonic scalpel according to yet another embodiment of the present application, FIG. 24 is a front view of the medical ultrasonic scalpel of FIG. 23, FIG. 25 is a rear view of the medical ultrasonic scalpel of FIG. 23, FIG. 26 is a top view of the medical ultrasonic scalpel of FIG. 23, FIG. 27 is a bottom view of the medical ultrasonic scalpel of FIG. 23, FIG. 28 is a left side view of the medical ultrasonic scalpel of FIG. 23, and FIG. 29 is a right side view of the medical ultrasonic scalpel of FIG. 23.

[0082] 22 to 29, in this embodiment, the ultrasonic transducer may generate longitudinal vibration and torsional vibration, and at least a part of the handle 100 and the shank 200 constitutes a complex vibration pattern generating unit. In this embodiment, no special modification is made to the structure of the medical ultrasonic scalpel 10, and the longitudinal vibration and torsional rotation of the cutting portion 310, i.e., the complex vibration, is realized by various vibrations generated by the ultrasonic transducer.

[0083] Of course, in some other embodiments, the ultrasonic transducer may generate torsional vibration and longitudinal vibration simultaneously, and the structure of the medical ultrasonic scalpel 10 may be modified. The complex vibration pattern generating unit 400 may include a second complex vibration pattern generating unit 420 to realize a complex vibration including longitudinal vibration, torsional vibration, and bending vibration.

[0084] Depending on the requirements, the vibration mode of the ultrasonic transducer and the structure of the complex vibration pattern generating unit 400 can be combined, and it can be understood that the ultrasonic transducer generates at least one of torsional vibration and longitudinal vibration, and the complex vibration pattern generating unit 400 can include at least one of a first complex vibration pattern generating unit 410, a second complex vibration pattern generating unit 420, and a third complex vibration pattern generating unit to realize complex vibration of the cutting portion 310.

[0085] FIG. 30 is a diagram showing the deformation of the medical ultrasonic scalpel according to an embodiment of the present application during longitudinal vibration. With reference to FIG. 23 and FIG. 30, the dotted line shows the state of the medical ultrasonic scalpel 10 before vibration is generated, and the solid line shows the state of the medical ultrasonic scalpel 10 increasing in length while longitudinal vibration is generated. Since the change in width of the medical ultrasonic scalpel 10 is not significant during longitudinal vibration, the entire outline is not shown in FIG. 30, and only the part with increased length is shown. The longitudinal vibration of the medical ultrasonic scalpel 10 makes it possible to realize bone cutting treatment.

[0086] FIG. 31 is a diagram showing the deformation of the medical ultrasonic scalpel according to an embodiment of the present application during bending vibration. With reference to FIG. 9 and FIG. 31, the dotted line shows the state of the medical ultrasonic scalpel 10 before vibration is generated, and the solid line shows the state of the medical ultrasonic scalpel 10 generating longitudinal vibration. The second complex vibration pattern generating unit 420 can change the longitudinal vibration into bending vibration so that the medical ultrasonic scalpel 10 is bent and its length increases, that is, the cutting part 310 generates a complex vibration including longitudinal vibration and bending vibration. The medical ultrasonic scalpel 10 can realize bone cutting and grinding treatment.

[0087] Continuing to refer to Figure 1, one embodiment of the present application also provides a medical ultrasonic scalpel system including a vibration source 60 and a medical ultrasonic scalpel 10. The vibration source 60 is connected to a first end of a handle 100 of the medical ultrasonic scalpel 10, and the vibration source 60 is configured to generate vibrations.

[0088] The structure and function of the vibration source 60 and the medical ultrasonic scalpel 10 are the same as those of the various embodiments described above, and will not be described in more detail here, but specific reference may be made to the various embodiments described above.

[0089] The medical ultrasonic scalpel system provided in this embodiment enables the medical ultrasonic scalpel to generate various vibrations to suit various types of surgery, thereby improving the application range of the medical ultrasonic scalpel in surgery.

[0090] An embodiment of the present application also provides a robotic-assisted ultrasonic scalpel system, including a robotic-assisted surgical device and a medical ultrasonic scalpel system. The robotic-assisted surgical device is connected to the medical ultrasonic scalpel of the medical ultrasonic scalpel system to control the movement of the medical ultrasonic scalpel.

[0091] The structure and function of the medical ultrasonic scalpel system are the same as those of the various embodiments described above, and will not be described in more detail herein, and specific reference may be made to the various embodiments described above. The robot-assisted surgery device may include a robot capable of moving with multiple degrees of freedom, and precise control of surgery can be achieved by manipulating the medical ultrasonic scalpel with the robot.

[0092] It is to be understood that in this specification, the orientations or positional relationships or dimensions indicated by terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", and "circumferential" are orientations or positional relationships or dimensions indicated with reference to the drawings, and that these terms are used merely for ease of description and do not indicate or imply that the referred device or element has to have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be construed as limiting the scope of protection of the present application.

[0093] In addition, terms such as "first," "second," and "third" are merely for descriptive purposes and should not be construed as indicating or implying relative importance or the number of technical features depicted. Thus, features defined as "first," "second," and "third" may explicitly or implicitly include one or more features. In the description of this application, the term "plurality" means two or more, unless otherwise specifically limited.

[0094] In this application, unless otherwise expressly stated or limited, terms such as "attach," "connect," "connected," and "fixed" should be broadly interpreted, for example, as either a fixed or removable connection or integration, and may be a mechanical connection, or an electrical connection, or communication, may be a direct connection or an indirect connection through an intermediate medium, or may be an internal communication between two elements or an interaction between two elements. For those skilled in the art, the specific meaning of the above terms in this application may be interpreted according to the specific situation.

[0095] In this application, unless expressly stated or limited otherwise, a first feature being "above" or "below" a second feature may include cases where the first feature is in direct contact with the second feature, and may also include cases where the first and second features are not in direct contact, but are in contact through another feature between them. Furthermore, a first feature being "over," "above," or "on" a second feature may include cases where the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher level than the second feature. Furthermore, a first feature being "below," "below," or "below" a second feature may include cases where the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower level than the second feature.

[0096] This description provides many different embodiments or examples that can be used to implement the present application. It should be understood that these various embodiments or examples are purely illustrative and are in no way intended to limit the scope of protection of the present application. Based on the disclosure of the description of this application, a person skilled in the art may think of various modifications or replacements. Any modifications or replacements shall fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be subject to the scope of protection of the claims. [Explanation of symbols]

[0097] 10...medical ultrasonic scalpel, 100...handle, 200...shank, 300...blade, 310...cutting portion, 400...complex vibration pattern generating portion, 410...first complex vibration pattern generating portion, 411...inclined groove, 420...second complex vibration pattern generating portion, 421...lateral notch, 500...conical transition section, 60...vibration source.

Claims

1. a handle having a central handle longitudinal axis, a first end of the handle configured to be connected to a vibration source for receiving vibrations generated by the vibration source; a shank having a shank central longitudinal axis, a first end of the shank being connected to a second end of the handle opposite the first end of the handle; a blade having a central longitudinal axis, a first end of the blade connected to a second end of the shank opposite the first end of the shank, the second end of the blade being provided with a cutting portion for cutting tissue to be cut; a complex vibration pattern generator provided on at least one of the handle and the shank, the complex vibration pattern generator configured to convert the vibrations received from the vibration source into a complex vibration of the cutting portion of the blade, the complex vibration being a vibration comprising: 1) a longitudinal vibration parallel to at least one of the handle longitudinal axis, the shank longitudinal axis, and the blade longitudinal axis; 2) torsional vibration with at least one of the handle longitudinal central axis, the shank longitudinal central axis, and the blade longitudinal central axis as a torsional central axis; 3) bending vibrations offset laterally from at least one of the handle longitudinal central axis, the shank longitudinal central axis, and the blade longitudinal central axis; A composite vibration pattern generating unit including at least two vibrations of A medical ultrasonic scalpel comprising:

2. the handle longitudinal axis and the shank longitudinal axis are coincident with one another and the blade longitudinal axis is offset a predetermined distance from or at a predetermined angle relative to the handle longitudinal axis and the shank longitudinal axis; or the handle longitudinal axis and the blade longitudinal axis are coincident with one another and the shank longitudinal axis is offset a predetermined distance from the handle longitudinal axis and the blade longitudinal axis or at a predetermined angle relative to the handle longitudinal axis and the blade longitudinal axis; or The medical ultrasonic scalpel according to claim 1 , wherein the handle longitudinal center axis, the shank longitudinal center axis, and the blade longitudinal center axis are coincident with one another.

3. 3. The medical ultrasonic scalpel according to claim 1, wherein the complex vibration pattern generating unit includes a first complex vibration pattern generating unit provided in the handle, and the first complex vibration pattern generating unit is configured to convert a longitudinal vibration component of the vibration source into the torsional vibration.

4. The first complex vibration pattern generating unit is at least one inclined groove and / or at least one spiral groove provided on the outer periphery of the handle at a first predetermined included angle with respect to the handle longitudinal central axis, or 4. The medical ultrasonic scalpel according to claim 3, wherein the first complex vibration pattern generating unit is at least one strip-shaped protrusion and / or helical protrusion provided on the outer periphery of the handle at the first predetermined included angle with respect to the handle longitudinal center axis.

5. 5. The medical ultrasonic scalpel of claim 4, wherein the at least one oblique groove and / or the at least one spiral groove comprises two or more oblique grooves and / or two or more spiral grooves evenly distributed along the circumference of the handle.

6. The medical ultrasonic scalpel according to any one of claims 1 to 5, wherein the complex vibration pattern generating unit further comprises a second complex vibration pattern generating unit provided in the handle or the shank, and the second complex vibration pattern generating unit is configured to convert a longitudinal vibration component of the vibration source into the bending vibration.

7. the second complex vibration pattern generating portion is formed by at least one lateral cutout in the handle or the shank; or The medical ultrasonic scalpel of claim 6 , wherein the second complex vibration pattern generating portion is formed by at least one lateral protrusion of the handle or the shank.

8. The medical ultrasonic scalpel according to any one of claims 1 to 7, wherein the vibration source comprises an ultrasonic transducer capable of generating longitudinal and / or torsional vibrations.

9. The medical ultrasonic scalpel of any one of claims 3 to 8, wherein a lateral dimension of the handle is greater than a lateral dimension of the shank, and the second end of the handle is connected to the first end of the shank via a conical transition section.

10. 10. The medical ultrasonic scalpel of claim 9, wherein the complex vibration pattern generating unit further comprises a third complex vibration pattern generating unit provided within the conical transition section, the third complex vibration pattern generating unit being configured to convert a longitudinal vibration component of the vibration source into the torsional vibration.

11. the third complex vibration pattern generating portion is at least one inclined groove and / or at least one helical groove disposed on the outer periphery of the conical transition section at a second predetermined included angle with respect to the handle longitudinal central axis; or 11. The medical ultrasonic scalpel according to claim 10, wherein the third complex vibration pattern generating portion is at least one strip-shaped protrusion and / or at least one helical protrusion provided on the outer periphery of the conical transition section at the second predetermined included angle with respect to the handle longitudinal central axis.

12. A medical ultrasonic scalpel system comprising the vibration source according to any one of claims 1 to 11 and a medical ultrasonic scalpel, The vibration source is connected to a first end of a handle of the medical ultrasonic scalpel and configured to generate vibrations.

13. A robotic assisted ultrasonic scalpel system comprising a robotic assisted surgical device and the medical ultrasonic scalpel system according to claim 12, A robot-assisted ultrasonic scalpel system, wherein the robot-assisted surgical device is connected to a medical ultrasonic scalpel of a medical ultrasonic scalpel system to control the movement of the medical ultrasonic scalpel.

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