Ultrasonic surgical tools, assembleable ultrasonic surgical tool assemblies, and surgical robot systems

Abstract

Disclosed are an ultrasonic surgical tool (100), an assembly-type ultrasonic surgical tool assembly, and surgical robot systems (300, 1300). The ultrasonic surgical tool (100) comprises a knife shank assembly (110) located at the distal end of the ultrasonic surgical tool (100) and including a knife shank (111); an ultrasonic transducer (120) coupled to the proximal end of the knife shank (111) and outputting vibrations to the knife shank (111); and an assembly assembly (130) connected to the knife shank assembly (110) and used for assembling or disassembling the ultrasonic surgical tool (100). The assembly-type ultrasonic surgical tool assembly comprises an auxiliary surgical tool (200), the assembly head (220) of the auxiliary surgical tool (200) can be detachably connected to the assembly assembly (130) of the ultrasonic surgical tool (100). The surgical robot system (300, 1300) comprises at least one robotic arm (311, 1311) and an assemblyable ultrasonic surgical tool assembly. The surgical robot system (300, 1300) can increase the output power of the ultrasonic surgical tool (100).

Description

[Technical Field]

[0001] <Cross-reference to Related Applications> The present disclosure claims priority based on the Chinese patent application with a filing date of September 26, 2023, application number 2023112518985, and the title of invention "Surgical Tool Set and Surgical Robot System", and the Chinese patent application with a filing date of October 27, 2023, application number 2023114069694, and the title of invention "Ultrasonic Surgical Tool, Assemblable Ultrasonic Surgical Tool Assembly and Surgical Robot System", the entire content of the above applications is incorporated into the present disclosure by reference in its entirety.

[0002] The present disclosure relates to the field of medical devices, and in particular to an ultrasonic surgical tool, an assemblable ultrasonic surgical tool assembly and a surgical robot system. [Background Art]

[0003] Endoscopic surgery has gradually developed in recent years and is a widely used surgical form. It has advantages such as small wound, and greatly reduces the patient's rehabilitation time, discomfort and side effects after healing. Performing endoscopic surgery, especially single-port endoscopic surgery, with a surgical robot can optimize the surgical form through computer remote control technology.

[0004] An ultrasonic scalpel is an energy surgical tool widely used in surgery. The ultrasonic transducer of the ultrasonic scalpel converts the received high-frequency AC voltage into high-frequency vibration, and transmits the high-frequency vibration to the scalpel tip of the ultrasonic scalpel. When the high-frequency vibrating scalpel tip contacts tissue, the cutting and coagulation of biological tissue are completed. [Summary of the Invention] [Problem to be Solved by the Invention]

[0005] Ultrasonic scalpels used in endoscopic surgery performed with a surgical robot system often have the problem of insufficient output power, which affects the efficiency of tissue cutting. [Means for solving the problem]

[0006] In some embodiments, the Disclosure provides an ultrasonic surgical tool comprising: a knife shank assembly located at the distal end of the ultrasonic surgical tool and including a knife shank; an ultrasonic transducer coupled to the proximal end of the knife shank and outputting vibrations to the knife shank; and an assembly connected to the knife shank assembly and used for assembling or disassembling the ultrasonic surgical tool.

[0007] In some embodiments, the Disclosure provides an assemblyable ultrasonic surgical tool assembly comprising an ultrasonic surgical tool according to any one of several embodiments of the Disclosure, and an auxiliary surgical tool detachably connected to the ultrasonic surgical tool and used to move the ultrasonic surgical tool, the auxiliary surgical tool comprising an arm body and an assembly head provided at the distal end of the arm body and detachably connected to the assembly assembly of the ultrasonic surgical tool.

[0008] In some embodiments, the Disclosure provides a surgical robot system comprising a surgical trolley including at least one robotic arm and an assemblyable ultrasonic surgical tool assembly according to any one of several embodiments of the Disclosure, wherein the auxiliary surgical tools of the assemblyable ultrasonic surgical tool assembly are mounted on the distal end of at least one robotic arm. [Brief explanation of the drawing]

[0009] To more clearly explain the technical solutions in the embodiments of this disclosure, the accompanying drawings required for describing the embodiments of this disclosure are briefly introduced below. The accompanying drawings in the following description show only some embodiments of this disclosure, and those skilled in the art can, without any creative effort, derive other embodiments from the content of the embodiments of this disclosure and these accompanying drawings.

[0010] [Figure 1A] This disclosure shows schematic cross-sectional views of partial structures of ultrasonic surgical tools according to several embodiments of this disclosure. [Figure 1B] This disclosure shows schematic diagrams of the structural substructures of some embodiments of ultrasonic surgical tools. [Figure 2] This disclosure shows schematic structural diagrams of partial structures of auxiliary surgical tools according to several embodiments of this disclosure. [Figure 3] Schematic diagrams of surgical robot systems according to some embodiments of this disclosure are shown. [Figure 4A] This diagram shows a schematic structural diagram of another substructure of an ultrasonic surgical tool according to some embodiments of the present disclosure. [Figure 4B] This disclosure shows schematic cross-sectional views of other substructures of ultrasonic surgical tools according to some embodiments of this disclosure. [Figure 5] This disclosure shows schematic diagrams of the structure of ultrasonic surgical tools according to several embodiments. [Figure 6] The amplitude distribution diagrams for ultrasonic surgical tools according to some embodiments of this disclosure are shown. [Figure 7A] This disclosure shows schematic diagrams of the structure of an assembly according to several embodiments. [Figure 7B] The following diagrams show schematic structural diagrams of assembly clamps in different states according to some embodiments of this disclosure. [Figure 8A] The following diagrams show schematic structural diagrams of further substructures of ultrasonic surgical tools according to some embodiments of this disclosure. [Figure 8B] This diagram shows a schematic structural view from a different angle of a further substructure of an ultrasonic surgical tool according to some embodiments of the present disclosure. [Figure 9A] This disclosure shows schematic diagrams illustrating the connection relationships between ultrasonic surgical tools and auxiliary surgical tools according to several embodiments of this disclosure. [Figure 9B] This disclosure shows schematic structural diagrams of partial structures of ultrasonic surgical tools and auxiliary surgical tools according to several embodiments of this disclosure. [Figure 10A] It shows a schematic structural diagram of an assemblable ultrasonic surgical tool assembly according to some embodiments of the present disclosure when the clamp is in an open state. [Figure 10B] It shows a schematic structural diagram of an assemblable ultrasonic surgical tool assembly according to some embodiments of the present disclosure when the clamp is in a closed state. [Figure 11A] It shows a schematic structural diagram of an auxiliary surgical tool according to some embodiments of the present disclosure. [Figure 11B] It shows a schematic structural diagram of the first continuum structure of an arm body according to some embodiments of the present disclosure. [Figure 12] It shows a schematic structural diagram of a driving device according to some embodiments of the present disclosure. [Figure 13] It shows a schematic diagram of a surgical robot system according to another plurality of embodiments of the present disclosure. [Mode for Carrying Out the Invention]

[0011] In order to more clearly clarify the technical problem to be solved by the present disclosure, the adopted technical solution, and the achieved technical effects, the technical solution of the embodiments of the present disclosure will be described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, not all embodiments.

[0012] In the description of the present disclosure, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, which is merely for the convenience of simplifying the description of the present disclosure, and does not indicate or imply that the described device or element must have a specific orientation, be constructed and operate in a specific orientation, so it should not be understood as a limitation on the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be understood as indicating or implying relative importance.

[0013] In the description of the present disclosure, unless otherwise explicitly specified and limited, the terms "mounting", "coupling", "connecting" and "joining" shall be construed broadly. For example, it may be a fixed connection, a detachable connection, a mechanical connection, or an electrical connection; it may be a direct connection, or an indirect connection through an intermediate medium, or a communication between the interior of two elements. A person skilled in the art can understand the specific meanings of the above terms in the present disclosure according to specific situations. In the present disclosure, an end closer to an operator (e.g., a physician) is defined as the proximal end, proximal portion, rear end or rear portion, and an end closer to a patient undergoing surgery is defined as the distal end, distal portion, front end or front portion. As can be understood by a person skilled in the art, embodiments of the present disclosure may be applied to medical devices or surgical robots, and may also be applied to other non-medical devices.

[0014] FIG. 1A is a schematic cross-sectional view of a partial structure of an ultrasonic surgical tool 100 according to some embodiments of the present disclosure. FIG. 1B is a schematic structural view of a partial structure of an ultrasonic surgical tool 100 according to some embodiments of the present disclosure. FIG. 2 is a schematic structural view of a partial structure of an auxiliary surgical tool 200 according to some embodiments of the present disclosure. FIG. 5 is a schematic structural view of an ultrasonic surgical tool 100 according to some embodiments of the present disclosure. In some embodiments, an assemblable ultrasonic surgical tool assembly can be constructed from the ultrasonic surgical tool 100 and the auxiliary surgical tool 200. In some embodiments, the assemblable ultrasonic surgical tool assembly composed of the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 can be applied to a surgical robot system. The auxiliary surgical tool 200 in the assemblable ultrasonic surgical tool assembly can be installed at the distal end of a robot arm of the surgical robot system (e.g., a positioning arm of the surgical robot system). The auxiliary surgical tool 200 can be moved under user control.

[0015] The surgical robot system may be a variety of suitable surgical robot systems, including a laparoscopic surgical robot system. Figure 3 shows a schematic diagram of a surgical robot system 300 according to some embodiments of the present disclosure. As shown in Figure 3, the surgical robot system 300 may comprise a surgical trolley 310 and a main control trolley 320. The surgical trolley 310 may comprise at least one robotic arm 311. The main control trolley 320 comprises at least one main control unit 321. As shown in Figure 3, at least one robotic arm 311 is movably mounted relative to the surgical trolley 310. In some embodiments, at least one robotic arm 311 may be a positioning arm of the surgical robot, and at least one surgical tool 312 (e.g., a clamp, curved scissors, endoscope, auxiliary surgical tool 200, etc.) may be mounted on the distal end of at least one robotic arm 311. At least one main control unit 321 is mounted on the main control trolley 320 and is used to receive user input to at least one main control unit 321. The main control trolley 320 may be connected to the surgical trolley 310 in a communicative manner. During surgery, the surgical trolley 310 is usually positioned on the patient's side, and the user issues control commands by operating at least one main control unit 321 of the main control trolley 320 to control at least one surgical tool 312 mounted on the surgical trolley 310 to perform surgical procedures on the patient.

[0016] As shown in Figure 1A or Figure 1B, the ultrasonic surgical tool 100 may comprise a knife shank assembly 110 and an ultrasonic transducer 120. The ultrasonic surgical tool 100 may further comprise an assembly (not shown in Figures 1A and 1B). As shown in Figure 1A or Figure 1B, the knife shank assembly 110 is located at the distal end of the ultrasonic surgical tool 100 and comprises a knife shank 111. The ultrasonic transducer 120 is coupled to the proximal end of the knife shank 111 and can output vibrations to the knife shank 111.

[0017] In some embodiments, the knife shank 111 is an amplification rod with reduced lateral dimension. In some embodiments, the knife shank 111 may comprise a proximal end segment 1111 and a distal end segment 1112. As shown in Figure 1A or Figure 1B, the proximal end segment 1111 is coupled to an ultrasonic transducer 120, and in the ultrasonic surgical tool 100, high-frequency vibrations are transmitted via the ultrasonic transducer 120 to the proximal end segment 1111 of the knife shank 111, and further transmitted to the distal end segment 1112 of the knife shank 111. During surgery, the distal end segment 1112 comes into contact with biological tissue and performs surgical operations such as cutting and coagulation on the biological tissue. As shown in Figure 1A or Figure 1B, the lateral dimension of the distal end segment 1112 may be smaller than that of the proximal end segment 1111. A knife shank with reduced lateral dimension allows for better amplification of the amplitude in the ultrasonic knife, contributing to improved efficiency of surgical operations. As those skilled in the art will understand, the shape of the knife shank 111 is not limited to the shape described above. In addition to a knife shank with an exponential curve, rounded corners, or inclined edges in the longitudinal section, it may also be a knife shank of an appropriate shape such as conical or stepped. In some embodiments, the axis of the horizontal section of the distal end segment 1112 of the knife shank 111 may be a curved arc to facilitate surgical manipulation with the knife shank 111. In some embodiments, the distal end segment 1112 of the knife shank 111 may be provided with at least one cutting edge structure. The cutting edge structure contributes to enhancing the mechanical cutting action on biological tissue by the cutting edge structure, improving the cutting speed of the surgical tool on biological tissue, and also has the advantage of lower processing and manufacturing costs. In some embodiments, the knife shank 111 may be a half-wavelength knife shank. As those skilled in the art will understand, the length of a half-wavelength knife shank is half the wavelength of the mechanical harmonic transmitted within the knife shank. In some embodiments, the knife shank 111 may be a 55kHz knife shank.

[0018] In some embodiments, as shown in Figure 1A, the ultrasonic transducer 120 may comprise a front cover plate 121, a rear cover plate 122, and an ultrasonic conversion segment 123. The front cover plate 121 is located at the distal end of the ultrasonic transducer 120, and the rear cover plate 122 is located at the proximal end of the ultrasonic transducer 120. The ultrasonic conversion segment 123 can be installed between the front cover plate 121 and the rear cover plate 122, and the ultrasonic conversion segment 123 may include a plurality of piezoelectric ceramic pieces (e.g., piezoelectric ceramic pieces 1231a, 1231b, etc. shown in Figure 1A) and a plurality of electrode pieces (e.g., electrode pieces 1232a, 1232b, 1232c, etc. shown in Figure 1A). As shown in Figure 1A, multiple electrode pieces may be placed between the front cover plate 121 and the ultrasonic conversion segment 123 (e.g., electrode piece 1232a), between multiple piezoelectric ceramic pieces (e.g., electrode piece 1232b), and between the ultrasonic conversion segment 123 and the rear cover plate 122 (e.g., electrode piece 1232c).

[0019] In some embodiments, the multiple electrode pieces may be copper electrode pieces. In some embodiments, the thickness of each of the multiple electrode pieces may be 0.2 mm. In some embodiments, the ultrasonic transducer 120 may further include multiple conductors, the distal ends of which are connected to multiple electrode pieces (for example, electrode pieces 1232a, 1232b, 1232c, etc., shown in Figure 1A). As shown in Figure 1A or Figure 1B, the multiple conductors are constrained by a conductor bundle 127 at the proximal end of the ultrasonic transducer 120. The proximal ends of the multiple conductors (or conductor bundle 127) may be connected to a power supply, which may be located within the surgical robot system 300. In some embodiments, the ultrasonic transducer 120 may further include an interface (not shown in the figure), the interface may be installed at the proximal ends of the multiple conductors, and the multiple conductors may be connected to a power supply via the interface, thereby improving the convenience of connecting the ultrasonic surgical tool 100 to a power supply, and consequently facilitating the movement and adjustment of the position of the ultrasonic surgical tool 100.

[0020] The power supply applies a high-frequency voltage to multiple electrode pieces via multiple conductors. Due to the inverse piezoelectric effect, the multiple piezoelectric ceramic pieces vibrate at a high frequency along their thickness direction. The high-frequency vibration is transmitted to the knife shank 111. When the high-frequency vibrating knife shank 111 comes into contact with biological tissue, it can cut or coagulate with the biological tissue. In some embodiments, the piezoelectric ceramic pieces may have an outer diameter of 12 mm, an inner diameter of 4 mm, and a thickness of 2.5 mm. Multiple piezoelectric ceramic pieces may be provided with a central through-hole for inserting multiple conductors. Multiple electrode pieces may be provided with a central through-hole for inserting multiple conductors.

[0021] In some embodiments, a higher output amplitude is achieved by employing a front cover plate 121 made of a low acoustic impedance material such as titanium alloy or aluminum alloy. The amplitude of the rear end face of the ultrasonic transducer 120 is reduced by employing a rear cover plate 122 made of a high acoustic impedance material such as stainless steel or tungsten alloy. In some embodiments, the ultrasonic transducer 120 may be a half-wavelength ultrasonic transducer. As will be understood by those skilled in the art, the length of a half-wavelength ultrasonic transducer is half the wavelength of the mechanical harmonic propagating within the ultrasonic transducer. In some embodiments, the ultrasonic transducer 120 may be a full-wavelength ultrasonic transducer. The length of a full-wavelength ultrasonic transducer is the wavelength of the mechanical harmonic propagating from the ultrasonic transducer. In some embodiments, the ultrasonic transducer 120 may be a 55 kHz ultrasonic transducer.

[0022] In some embodiments, the ultrasonic transducer 120 may further comprise a transducer housing 125 and a fastening structure 126. As shown in Figure 1A, the transducer housing 125 can be fitted onto a front cover plate 121, an ultrasonic conversion segment 123, and a rear cover plate 122. The transducer housing 125 may have projections (e.g., projections 1251 and 1252 shown in Figure 1A) located at its proximal end and in contact with the proximal end of the rear cover plate 122. In some embodiments, the inner circumferential surface of the transducer housing 125 may have a threaded structure, and the outer circumferential surface of the fastening structure 126 may have a threaded structure, with the outer circumferential surface of the fastening structure 126 being screw-connected to the inner circumferential surface of the transducer housing 125 (e.g., screw-connected at the connection point indicated by A in Figure 1A). As shown in Figure 1A, the proximal end of the fastening structure 126 may be in contact with the distal end of the front cover plate 121. Based on the fastening structure 126 and the protrusions 1251 and 1252 located at the proximal end of the transducer housing 125, multiple piezoelectric ceramic pieces (e.g., piezoelectric ceramic pieces 1231a, 1231b, etc. shown in Figure 1A) and multiple electrode pieces (e.g., electrode pieces 1232a, 1232b, 1232c, etc. shown in Figure 1A) included in the ultrasonic conversion segment 123 can be pressed.

[0023] In some embodiments, as shown in Figure 1A or Figure 1B, the ultrasonic transducer 120 may further include a terminal block 124. The terminal block 124 may be located at the proximal end of the ultrasonic transducer 120 and sealed and joined to the proximal end of the transducer housing 125. In some embodiments, the terminal block 124 and the transducer housing 125 can be sealed and joined by a method such as coating and bonding. This makes it possible to seal the internal holes of the plurality of piezoelectric ceramic pieces and the plurality of electrode pieces contained in the ultrasonic transducer 120, thereby preventing contamination of the plurality of piezoelectric ceramic pieces and the plurality of electrode pieces, and preventing interference with the electrical connection of the electrode pieces, and ultimately contributing to improving the safety of the ultrasonic surgical tool 100. The terminal block 124 may have a central through-hole for passing through and for clamping the plurality of wires. Since the terminal block 124 can clamp multiple wires, it helps to prevent the portions of the multiple wires connected to the ultrasonic transducer 120 from being pulled during the process of controlling the movement of the ultrasonic surgical tool 100, and in turn contributes to improving the stability of the ultrasonic surgical tool 100.

[0024] As shown in Figure 1A, the proximal end segment 1111 of the knife shank 111 has a blind hole 11110 located on the central axis of the proximal end segment 1111. The front cover plate 121 has a columnar structure 1211 located at the distal end of the front cover plate 121 and located on the central axis of the front cover plate 121. As shown in Figure 1A, at least a portion of the proximal end segment 1111 of the knife shank 111 extends into the fastening structure 126. In some embodiments, the inner circumferential surface of the blind hole 11110 of the proximal end segment 1111 of the knife shank 111 has a threaded structure, the outer circumferential surface of the columnar structure 1211 at the proximal end of the front cover plate 121 has a threaded structure, and the inner circumferential surface of the blind hole 11110 may be screw-connected to the outer circumferential surface of the columnar structure 1211 (for example, screw-connected at location B shown in Figure 1A).

[0025] In some embodiments, the knife shank 111 is detachably connected to the front cover plate 121. As those skilled in the art will understand, the detachable connection between the knife shank 111 and the front cover plate 121 is not limited to a screw connection, but may be any suitable connection method, such as an engaging connection by a mating connection structure, a magnetic adsorption connection, etc. In some embodiments, in the ultrasonic surgical tool 100, the clamp body 152 of the clamp (for example, as shown in Figures 4A and 4B) and the distal end segment 1112 of the knife shank can constitute a dual-electrode electrosurgical tool, and when the clamp body 152 and the distal end segment 1112 of the knife shank clamp biological tissue, a coagulation operation is performed on the biological tissue.

[0026] Figure 4A shows a schematic structural diagram of another substructure of the ultrasonic surgical tool 100 according to some embodiments of the present disclosure. Figure 4B shows a schematic cross-sectional diagram of another substructure of the ultrasonic surgical tool 100 according to some embodiments of the present disclosure. Figure 5 shows a schematic structural diagram of the ultrasonic surgical tool 100 according to some embodiments of the present disclosure.

[0027] In some embodiments, the knife shank 111 may further include a flange structure 1113. As shown in Figures 1A, 1B, or 4B, the flange structure 1113 may be installed between the proximal end segment 1111 and the distal end segment 1112 of the knife shank. In some embodiments, the proximal end segment 1111, the distal end segment 1112, and the flange structure 1113 of the knife shank 111 may be integrally molded.

[0028] In some embodiments, as shown in Figure 4A or Figure 4B, the knife shank assembly 110 may further include a knife shank housing 112. As shown in Figure 4B, the knife shank housing 112 may cover at least a portion of the proximal end segment 1111 and the distal end segment 1112 of the knife shank 111 and be fitted with a flange structure 1113. The distal end segment 1112 of the knife shank 111 extends from the knife shank housing 112 toward the distal end, and a cutting edge structure is formed from the distal end of the distal end segment 1112. During surgery, when the distal end of the distal end segment 1112 comes into contact with biological tissue, it cuts or coagulates with the biological tissue.

[0029] In some embodiments, as shown in Figure 4B, the knife shank housing 112 may include a proximal end segment 1121 and a distal end segment 1122. The proximal end segment 1121 covers at least a portion of the proximal end segment 1111 of the knife shank 111, and the distal end segment 1122 covers at least a portion of the distal end segment 1112 of the knife shank 111. In some embodiments, the proximal end segment 1121 and the distal end segment 1122 are detachably connected. In some embodiments, the connection point between the proximal end segment 1121 and the distal end segment 1122 (for example, the connection point indicated by Z in Figure 4A) engages with a flange structure 1113.

[0030] In some embodiments, as shown in Figure 4B, the proximal end segment 1121 of the knife shank housing may include a first stepped structure 11211 provided at the distal end of the proximal end segment 11211, which is used to abut against the proximal end of the flange structure 1113. On the surface 403 formed on the first stepped structure 11211, the proximal end segment 1121 of the knife shank housing may be connected to the flange structure 1113 by an appropriate method such as a screw connection, or it may simply abut against it. As shown in Figure 4B, the proximal end segment 1121 of the knife shank housing may further include a second stepped structure 11212 provided at the distal end of the proximal end segment 11211, which is used to abut against the proximal end of the distal end segment 1122 of the knife shank housing. On the surface 404 formed on the second stepped structure 11212, the proximal end segment 1121 of the knife shank housing may be connected to the inner surface of the proximal end of the distal end segment 1122 of the knife shank housing by an appropriate method such as screw connection.

[0031] In some embodiments, when attaching the knife shank housing 112, the proximal end segment 1121 of the knife shank housing is fitted onto the proximal end segment 1111 from the proximal end of the knife shank 111, thereby bringing the first stepped structure 11211 at the distal end of the proximal end segment 1121 of the knife shank housing into contact with the proximal end of the flange structure 1113. Furthermore, the proximal end segment 1121 of the knife shank housing and the flange structure 1113 may be connected at 403 locations by screw connections, abutment, or other methods. Furthermore, the distal end segment 1122 of the knife shank housing is fitted onto the distal end segment 1112 of the knife shank 111 from the distal end, and the distal end segment 1122 and the proximal end segment 1121 of the knife shank housing are connected at 404 locations by screw connections or other methods, so that the proximal end of the distal end segment 1122 of the knife shank housing abuts against the second stepped structure 11212 at the distal end of the proximal end segment 1121 of the knife shank housing. At this time, the proximal end of the distal end segment 1122 of the knife shank housing can abut against the distal end of the flange structure 1113 (for example, at point T shown in Figure 4B), and based on this, the connection point between the distal end segment 1122 and the proximal end segment 1121 of the knife shank housing is engaged with the flange structure 1113.

[0032] As shown in Figure 5, in the ultrasonic surgical tool 100, the knife shank assembly 110 may be located at the distal end of the ultrasonic transducer 120. In some embodiments, as shown in Figure 5, the diameter of the distal end of the knife shank housing 112 may be equal to the diameter of the proximal end of the transducer housing 125.

[0033] Figure 6 shows an amplitude distribution diagram in an ultrasonic surgical tool 100 according to several embodiments of the present disclosure. As those skilled in the art will understand, an amplitude node refers to a position where the amplitude of a wave is zero as it propagates through a medium. In the case of the ultrasonic surgical tool 100, an amplitude node refers to a position where the amplitude of a mechanical wave is zero as it propagates within the ultrasonic surgical tool 100. In Figure 6, the amplitude nodes correspond to the zero points on the amplitude distribution curve, for example, the first amplitude node a and the second amplitude node b shown in Figure 6. In some embodiments, as shown in Figure 6, the first amplitude node a of the ultrasonic surgical tool 100 may be located within the ultrasonic conversion segment 123 of the ultrasonic transducer 120. As those skilled in the art will understand, the larger the amplitude, the greater the energy loss due to attenuation. The ultrasonic conversion segment is the part of the ultrasonic surgical tool where the attenuation of mechanical vibrations is large. In the ultrasonic surgical tool 100, by positioning the first amplitude node a within the ultrasonic conversion segment 123, the energy loss of the ultrasonic conversion segment 123 is reduced, thereby improving the energy transmitted to the knife shank 111, and thus improving the energy at the distal end of the knife shank 111, contributing to increased efficiency of the surgical procedure. In some embodiments, the first amplitude node a of the ultrasonic surgical tool 100 may be located at the center point of the ultrasonic conversion segment 123 of the ultrasonic transducer 120, thereby maximizing the reduction of the amplitude and corresponding energy loss of the ultrasonic conversion segment 123 and contributing to maximizing the output power of the ultrasonic transducer 120.

[0034] As shown in Figure 6, in some embodiments, the ultrasonic surgical tool 100 further comprises a second amplitude node b. In some embodiments, the second amplitude node b of the ultrasonic surgical tool 100 is located on the flange structure 1113 of the knife shank 111. The flange structure 1113 is connected to the knife shank housing (not shown in Figure 6, but shown in Figure 4B), and by positioning the second amplitude node b of the ultrasonic surgical tool 100 on the flange structure 1113 of the knife shank 111, vibration of the flange structure 1113 can be avoided, thereby preventing vibration of the knife shank housing (not shown in Figure 6, but shown in Figure 4B), and consequently improving the stability of the surgical tool and enhancing surgical safety.

[0035] As shown in Figure 4A or Figure 5, the assembly 130 may be connected to the knife shank assembly 110, and the assembly 130 may be used for assembling or disassembling the ultrasonic surgical tool 100. Figure 7A shows a schematic structural diagram of the assembly 130 according to some embodiment of the present disclosure. Figure 7B shows a schematic structural diagram of the assembly 130 in another state according to some embodiment of the present disclosure. In some embodiments, the assembly 130 may be a clamp structure, and as shown in Figure 7A or Figure 7B, the assembly 130 may comprise an assembly fixed clamp 131 and an assembly movable clamp 132. The assembly fixed clamp 131 may be fixedly connected to the distal end segment 1122 of the knife shank housing by a method such as welding. The assembly movable clamp 132 may be rotatably connected to the distal end segment 1122 of the knife shank housing and cooperate with the assembly fixed clamp 131.

[0036] In some embodiments, as shown in Figure 7A or Figure 7B, the assembly fixed clamp 131 includes an upper fixed clamp head 1311 and a lower fixed clamp head 1312, and the assembly movable clamp 132 includes an upper movable clamp head 1321 and a lower movable clamp head 1322. The upper fixed clamp head 1311 cooperates with the upper movable clamp head 1321, and the lower fixed clamp head 1312 cooperates with the lower movable clamp head 1322. In some embodiments, the upper fixed clamp head 1311 and the upper movable clamp head 1321 are tilted in the closing direction, for example, the upper fixed clamp head 1311 and the upper movable clamp head 1321 move from the relative position shown in Figure 7A to the relative position shown in Figure 7B. At this time, the lower fixed clamp head 1312 and the lower movable clamp head 1322 are tilted in the opening direction, for example, the lower fixed clamp head 1312 and the lower movable clamp head 1322 move from the relative position shown in Figure 7A to the relative position shown in Figure 7B. As those skilled in the art will understand, Figure 7B shows one state that can be reached as the upper fixed clamp head 1311 and the upper movable clamp head 1321 tilt in the closing direction, and in some cases the upper fixed clamp head 1311 and the upper movable clamp head 1321 may be closed until they are in complete contact.

[0037] In some embodiments, the upper fixed clamp head 1311 and the upper movable clamp head 1321 are tilted in the opening direction, for example, the upper fixed clamp head 1311 and the upper movable clamp head 1321 move from the relative position shown in Figure 7B to the relative position shown in Figure 7A. At this time, the lower fixed clamp head 1312 and the lower movable clamp head 1322 are tilted in the closing direction, for example, the lower fixed clamp head 1312 and the lower movable clamp head 1322 move from the relative position shown in Figure 7B to the relative position shown in Figure 7A.

[0038] In some embodiments, the ultrasonic surgical tool 100 may further include an assembly torsion spring 140, as shown in Figures 4A, 4B, or 5. As shown in Figures 4A, 4B, or 5, at least a portion of the assembly torsion spring 140 may be fitted onto the knife shank housing 112. The distal end of the assembly torsion spring 140 is connected to the assembly movable clamp 132 of the assembly assembly 130 (for example, fixedly connected or abutted by a suitable method such as welding at point O shown in Figure 4B). The proximal end of the assembly torsion spring 140 is fixedly connected to the proximal end segment 1121 of the knife shank housing (for example, the proximal end of the assembly torsion spring 140 is fixed into a hole in the proximal end segment 1121 of the knife shank housing). The assembly torsion spring 140 may impart a moment to the upper movable clamp head 1321 such that the lower fixed clamp head 1312 and the lower movable clamp head 1322 tilt in the closing direction. As those skilled in the art will understand, the moment that the assembly torsion spring 140 imparts to the upper movable clamp head 1321 of the assembly assembly 130 causes, in its natural state, the upper fixed clamp head 1311 and the upper movable clamp head 1321 to open and the lower fixed clamp head 1312 and the lower movable clamp head 1322 to close.

[0039] In some embodiments, the lower fixed clamp head 1312 may have a recessed or perforated structure for assembly (for example, a through hole 13121 provided in the lower fixed clamp head 1312 shown in Figure 7A or Figure 7B). The lower movable clamp head 1322 may have a recessed or perforated structure for assembly (for example, a through hole 13221 provided in the lower movable clamp head 1322 shown in Figure 7A or Figure 7B). In some embodiments, the upper fixed clamp head 1311 may have a recessed or perforated structure for engaging with a clamp applicator tool (not shown) (for example, a through hole 13111 provided in the upper fixed clamp head 1311 shown in Figure 7A or Figure 7B). The upper movable clamp head 1321 may have a recessed or perforated structure for engaging with a clamp applicator tool (for example, a through hole 13211 provided in the upper movable clamp head 1321 shown in Figure 7A or Figure 7B).

[0040] Based on the recessed or perforated structure provided in the upper fixed clamp head 1311 and the upper movable clamp head 1321, the upper fixed clamp head 1311 and the upper movable clamp head 1321 are clamped by a clamp applier tool, thereby closing the upper fixed clamp head 1311 and the upper movable clamp head 1321 and opening the lower fixed clamp head 1312 and the lower movable clamp head 1322. With the lower fixed clamp head 1312 and the lower movable clamp head 1322 open, assembly work can be easily performed.

[0041] In some embodiments, the ultrasonic surgical tool 100 may further comprise a surgical clamp assembly 150, as shown in Figures 4A, 4B, or 5. The surgical clamp assembly 150 may be mounted on the distal end of the assembly 130, as shown in Figures 4A, 4B, or 5. The surgical clamp assembly 150 may comprise a clamp base 151 and a clamp body 152. The clamp base 151 may be connected to the distal end of the assembly 130. In some embodiments, the clamp base 151 may be fixedly connected to the distal end segment 1122 of the knife shank housing, for example, by welding the clamp base 151 to the distal end face 11221 (shown in Figures 7A and 7B) of the distal end segment 1122 of the knife shank housing. The clamp body 152 may be installed at the distal end of the clamp base 151, and the proximal end of the clamp body 152 may be pivotally attached to the clamp base 151 (for example, pivotally attached to the clamp base 151 with point Q shown in Figure 4A and point P shown in Figure 4B as pivot points). As will be understood by those skilled in the art, points Q and P are installed relative to each other on the clamp base 151. Being installed relative to each other means that they are installed symmetrically with respect to the longitudinal section necessary to obtain the cross-sectional view in Figure 4B as the plane of symmetry.

[0042] In some embodiments, the clamp base 151 may further include a first slide groove 1511 shown in Figure 4A and a second slide groove 1512 shown in Figure 4B. As shown in Figures 4A and 4B, the first slide groove 1511 is located on the first side of the clamp base 151, and the second slide groove 1512 is located on the second side of the clamp base 151, with the first slide groove 1511 and the second slide groove 1512 facing each other. The surgical clamp assembly 150 may further include at least one link (for example, a first link 153 shown in Figure 4A and / or a second link 154 shown in Figure 4B), the distal end of at least one link being pivotally connected to the proximal end of the clamp body 152. For example, the distal end of the first link 153 is pivotally attached to the proximal end of the clamp body 152 at point R shown in Figure 4A, and the distal end of the second link 154 is pivotally attached to the proximal end of the clamp body 152 at point S shown in Figure 4B.

[0043] Figure 8A shows a schematic structural diagram of a further substructure of the ultrasonic surgical tool 100 according to some embodiment of the present disclosure. Figure 8B shows a schematic structural diagram of a further substructure of the ultrasonic surgical tool 100 according to some embodiment of the present disclosure viewed from a different angle. As shown in Figure 4A, Figure 4B, or Figure 8B, the surgical clamp assembly 150 may further comprise a pin structure 155. The pin structure 155 may be pivoted to the proximal end of at least one link, for example, pivoted to a first link 153 at the position indicated by point C in Figure 4A, and / or pivoted to a second link 154 at the position indicated by point D in Figure 4B. Both ends of the pin structure 155 may be slidably connected to the first slide groove 1511 and the second slide groove 1512, respectively. For example, one end of the pin structure 155 may be slidably connected to the first slide groove 1511 at the position indicated by E in Figure 8B, and the other end of the pin structure 155 may be slidably connected to the second slide groove 1512 at a position corresponding to the position indicated by E in the second slide groove 1512.

[0044] In some embodiments, as shown in Figure 8B, at least one link may comprise a first link 153 and a second link 154. The first link 153 and the second link 154 are connected to an H-link (for example, connected to the H-link via a crossbar 1513 as shown in Figure 8B). As shown in Figure 8B, the knife shank 111 may extend through the clamp base 151 and the H-link (an H-link composed of the first link 153, the second link 154, and the crossbar 1513). As shown in Figure 8B, the axis of the pin structure 155 may be parallel to the crossbar 1513.

[0045] In some embodiments, the opening and closing of the clamp, which consists of the knife shank 111 and the clamp body 152, can be controlled by moving the pin structure 155. For example, when the pin structure 155 is pushed in the direction indicated by arrow 401 in Figure 4A, both ends of the pin structure 155 slide in the first slide groove 1511 and the second slide groove 1512 along the direction indicated by 401, and the driving of the pin structure 155 causes the first link 153 and the second link 154 to move upward. The clamp body 152 is pushed by the first link 153 and the second link 154 and rotates in the direction indicated by arrow 402 in Figure 4A, with the axis of rotation being the straight line where point Q in Figure 4A and point P in Figure 4B are located, and the clamp body 152 tends to move away from the knife shank 111, thereby releasing the clamp consisting of the knife shank 111 and the clamp body 152.

[0046] During surgery, by controlling the closure of the clamp body 152, the clamp, which consists of the knife shank 111 and the clamp body 152, can grasp living tissue. Based on this, the knife shank 111 can perform a tissue cutting operation on the living tissue at the same time as grasping the tissue, making it easier to perform the tissue cutting operation.

[0047] In some embodiments, the surgical clamp assembly 150 may further include a clamp torsion spring 156, as shown in Figure 8A. The clamp torsion spring 156 may be positioned between the clamp base 151 and the clamp body 152. The clamp torsion spring 156 is used to impart a moment to the clamp body 152 that causes it to tilt in the closing direction (for example, the clamp body 152 tends to move closer to the distal end segment 1112 of the knife shank). As will be understood by those skilled in the art, based on the clamp torsion spring 156, in its natural state the clamp body 152 maintains the closed position shown in Figure 8A, and the clamp body 152 is in close contact with the distal end segment 1112 of the knife shank. Based on the clamp torsion spring 156, when no surgical procedure is being performed, the clamp body 152 remains closed, and both ends of the pin structure 155 are positioned at the most proximal ends of the first slide groove 1511 and the second slide groove 1512 shown in Figure 8A, thereby facilitating the entry and exit of the ultrasonic surgical tool 100 into the patient's body.

[0048] In some embodiments, the surgical clamp assembly 150 may further include a clamp pad 157, as shown in Figure 4A or Figure 4B. The clamp pad 157 may be mounted on the clamp body 152. The clamp pad 157 may be connected to the clamp body 152 via a T-groove. In some embodiments, the clamp pad 157 is made of a soft material such as PTFE (polytetrafluoroethylene) or PEEK (polyetheretherketone) to prevent damage to the rapidly vibrating knife shank 111 when the clamp body 152 is fully closed (in close contact with the distal end segment 1112 of the knife shank 111).

[0049] Some embodiments of this disclosure further provide an assemblyable ultrasonic surgical tool assembly. Such assembly may comprise an ultrasonic surgical tool 100 and an auxiliary surgical tool 200 according to any one of several embodiments of this disclosure. Figure 9A shows a schematic diagram of the connection relationship between the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 according to some embodiment of this disclosure. Figure 9B shows a schematic diagram of the structural substructure of the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 according to some embodiment of this disclosure. As shown in Figures 9A and 9B, the auxiliary surgical tool 200 may be detachably connected to the ultrasonic surgical tool 100. Here, in Figure 9A, the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 are connected, and in Figure 9B, the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 are separated or awaiting connection. The auxiliary surgical tool 200 may be used to move the ultrasonic surgical tool 100. As shown in Figure 2, the auxiliary surgical tool 200 comprises an arm body 210 (Figure 2 shows only a small portion of the distal end of the arm body 210) and an assembly head 220, the assembly head 220 being located at the distal end of the arm body 210. As shown in Figure 9A or Figure 9B, the assembly head 220 may be detachably connected to the assembly assembly 130 of the ultrasonic surgical tool 100.

[0050] In some embodiments, as shown in Figure 2, the assembly head 220 of the auxiliary surgical tool 200 includes a connecting section 221. As shown in Figure 2, the connecting section 221 may include a connecting column 2211 extending toward the distal end of the arm body, as well as a first projection structure 2212 and a second projection structure 2213 located on both sides of the connecting column 2211. The first projection structure 2212 and the second projection structure 2213 are used to connect to the ultrasonic surgical tool 100.

[0051] In some embodiments, in the ultrasonic surgical tool 100, the lower fixed clamp head 1312 of the assembly assembly 130 may be provided with a recessed or perforated structure for assembly (for example, a through hole 13121 provided in the lower fixed clamp head 1312 shown in Figure 7A or Figure 7B), and the recessed or perforated structure can be used to accommodate at least a portion of the first projection structure 2212 of the auxiliary surgical tool 200. The lower movable clamp head 1322 of the assembly assembly 130 may be provided with a recessed or perforated structure for assembly (for example, a through hole 13221 provided in the lower movable clamp head 1322 shown in Figure 7A or Figure 7B), and the recessed or perforated structure can be used to accommodate the second projection structure 2213 of the auxiliary surgical tool 200. When the recessed or perforated structure of the lower fixed clamp head 1312 of the ultrasonic surgical tool 100 engages with the first projection structure 2212 of the auxiliary surgical tool 200, and the recessed or perforated structure of the lower movable clamp head 1322 engages with the second projection structure 2213, the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 can form a rigid connection, and based on this, it becomes easy to drive the movement of the ultrasonic surgical tool 100 by controlling the movement of the auxiliary surgical tool 200.

[0052] In some embodiments, the proximal end of the auxiliary surgical tool 200 is connected to a drive device that provides driving force for the movement of the auxiliary surgical tool 200 (e.g., movement within the patient's body). The drive device can drive the auxiliary surgical tool 200 to move within the patient's body, thereby enabling the auxiliary surgical tool 200 to move within the patient's body in conjunction with the ultrasonic surgical tool 100.

[0053] As those skilled in the art will understand, the structure for rigidly connecting the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 is not limited to the above-described structure (such as the connection portion 221 in the auxiliary surgical tool 200, and the concave or perforated structure provided in the lower fixed clamp head 1312 and lower movable clamp head 1322 that cooperate with the connection portion 221 in the ultrasonic surgical tool 100). The ultrasonic surgical tool 100 and the auxiliary surgical tool 200 can also be rigidly connected by any suitable structure, such as an engaging structure or magnetic adsorption structure, provided on the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 respectively and cooperating with each other.

[0054] In some embodiments, as shown in Figure 2, the mounting head 220 may further comprise a body 222, which may comprise a sliding space 222c, as well as third slide grooves 222a and fourth slide grooves 222b located on opposite sides of the sliding space 222c. As shown in Figure 2, the mounting head 220 may further comprise a slider 223, which is slidably connected to the third slide grooves 222a and fourth slide grooves 222b by at least one pin (e.g., two pins shown as 224 in Figure 2) or projection. The slider 223 may further comprise at least one groove structure (e.g., groove structure 2231 shown in Figure 2). At least one groove structure 2231 is provided on the upper part of the slider 223 and is located above the sliding space 222c, and at least one groove structure 2231 is used to connect to an ultrasonic surgical tool 100. As those skilled in the art will understand, when at least one pin 224 or projection slides within the third slide groove 222a and the fourth slide groove 222b, the slider 223 moves within the sliding space 222c. In some embodiments, the groove structure 2231 may be a U-shaped groove.

[0055] In some embodiments, as shown in Figure 2, the body 222 may include a first arm 2221 and a second arm 2222. The first arm 2221 and the second arm 2222 are positioned opposite each other on both sides of the sliding space 222c and may extend toward the distal end of the arm body 210. As shown in Figure 2, the first arm 2221 may include a third slide groove 222a, and the second arm 2222 may include a fourth slide groove 222b.

[0056] In some embodiments, as shown in Figure 4A or Figure 4B, the ultrasonic surgical tool 100 may include a surgical clamp assembly 150, which may include a clamp base 151, a clamp body 152, at least one link (e.g., a first link 153 and a second link 154), and a pin structure 155. At least one groove structure 2231 of the slider 223 may engage with the pin structure 155.

[0057] In some embodiments, when the groove structure 2231 of the slider 223 engages with the pin structure 155, the slider 223 moves into the sliding space 222c and drives the movement of the pin structure 155 (both ends of the pin structure 155 slide in the first slide groove 1511 and the second slide groove 1512), and the movement of the pin structure 155 drives the movement of the first link 153 and the second link 154, and further promotes the opening of the clamp body 152.

[0058] In some embodiments, the auxiliary surgical tool 200 may further include a drive wire (not shown in the figure). The drive wire may pass through the arm body 210 of the auxiliary surgical tool 200 (for example, through a central through-hole in the arm body 210). The distal end of the drive wire may be connected to a slider 223, and the drive wire may be used to slide the slider 223 along the third slide groove 222a and the fourth slide groove 222b. In some embodiments, the proximal end of the drive wire may pass through the arm body 210 and be connected to a slider drive device to provide driving force for the movement of the slider 223. The slider drive device can move the slider 223 into the sliding space 222c by pushing and pulling relative to the drive wire, and can also drive the opening and closing of the clamp body 152 in the ultrasonic surgical tool 100. In some embodiments, the drive wire is a nickel-titanium alloy wire.

[0059] In some embodiments, the assembled ultrasonic surgical tool assembly provided in this disclosure may further include a clamp applier tool (not shown). The clamp applier tool may include a first clamp body and a second clamp body. The distal end of the first clamp body is provided with a third convex structure, and the distal end of the second clamp body is provided with a fourth convex structure. The clamp applier tool grips the upper fixed clamp head 1311 and the upper movable clamp head 1321 of the assembly assembly 130, and closes the upper fixed clamp head 1311 and the upper movable clamp head 1321, thereby opening the lower fixed clamp head 1312 and the lower movable clamp head 1322 of the assembly assembly 130, and facilitating the assembly of the ultrasonic surgical tool 100 and the auxiliary surgical tool 200.

[0060] In some embodiments, the ultrasonic surgical tool 100 may include a recessed or perforated structure for accommodating a third projection structure in the upper fixed clamp head 1311 (for example, a through hole 13111 provided in the upper fixed clamp head 1311 shown in Figure 7A or Figure 7B), and the upper movable clamp head 1321 may include a recessed or perforated structure for accommodating a fourth projection structure (for example, a through hole 13211 provided in the upper movable clamp head 1321 shown in Figure 7A or Figure 7B). Based on the third and fourth projection structures in the clamp applier tool, and the recessed or perforated structures of the upper fixed clamp head 1311 and the upper movable clamp head 1321 in the ultrasonic surgical tool 100, the stability of the clamp applier tool in gripping the upper fixed clamp head 1311 and the upper movable clamp head 1321 of the assembly 130 can be improved.

[0061] As those skilled in the art will understand, the connecting structure that allows the clamp applier tool to grip the upper fixed clamp head 1311 and the upper movable clamp head 1321 of the ultrasonic surgical tool 100 is not limited to the above-described structure (including the third and fourth projection structures in the clamp applier tool, and the recessed or perforated structures in the upper fixed clamp head 1311 and the upper movable clamp head 1321), but may be any other suitable structure. For example, it may be a connecting structure provided on the upper fixed clamp head 1311 and the upper movable clamp head 1321 of the first clamp body and the second clamp body, respectively, and capable of locking together. In some embodiments, the ultrasonic surgical tool 100 can be directly gripped by the clamp applier tool by placing anti-slip material on the first clamp body and the second clamp body of the clamp applier tool, as well as on the upper fixed clamp head 1311 and the upper movable clamp head 1321.

[0062] In some embodiments, the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 can be assembled by the following process (including steps 1 to 6) before performing a surgical operation with the assembled ultrasonic surgical tool assembly.

[0063] In Step 1, the distal end of the ultrasonic surgical tool 100 is inserted into the patient's body.

[0064] In some embodiments, the ultrasonic surgical tool 100 may further include a traction rope (not shown) provided at the proximal end of the ultrasonic transducer 120, the distal end of which is connected to the proximal end of the ultrasonic transducer 120, and the proximal end of which is grasped by the user (e.g., a doctor or nurse). In step 1, the distal end of the ultrasonic surgical tool 100 can be inserted into the patient's body by the traction rope. In some embodiments, the wire bundle of the ultrasonic transducer 120, which consists of multiple wires, may have an insulating sheath. Based on this, in step 1, the wire bundle can be pulled and the distal end of the ultrasonic surgical tool 100 can be inserted into the patient's body via the wire bundle. In some embodiments, during the process of inserting the distal end of the ultrasonic surgical tool 100 into the patient's body, the clamp body 152 of the ultrasonic surgical tool 100 can maintain a closed / open state, thereby facilitating entry into the patient's body and avoiding contact with the patient's internal tissues.

[0065] In step 2, the distal end of the auxiliary surgical tool 200 is inserted into the patient's body.

[0066] In step 2, the distal end of the sheath tube can first be inserted into the patient's body, and then the distal end of the auxiliary surgical tool 200 can be inserted into the patient's body through the pathway provided by the sheath tube. As those skilled in the art will understand, the sheath tube can be used to provide a pathway for surgical tools to enter the patient's body. In some embodiments, the sheath tube allows multiple surgical tools to pass through the sheath tube and enter the patient's body. In some embodiments, the auxiliary surgical tool 200 is provided at the distal end of a robotic arm of a surgical robot system (e.g., robotic arm 311 of surgical robot system 300), and in step 2, the surgical robot system (e.g., a drive that drives the movement of the auxiliary surgical tool 200 in the surgical robot system) can control the distal end of the auxiliary surgical tool 200 to enter the patient's body through the sheath tube.

[0067] In step 3, insert the distal end of the clamping applicator tool into the patient's body.

[0068] In step 3, the clamping applicator tool can be inserted into the patient's body through a passage provided by the sheath tube. In some embodiments, a worker can hold the clamping applicator tool by hand and insert the distal end of the clamping applicator tool into the patient's body through the sheath tube. In some embodiments, the clamping applicator tool may be located at the distal end of a robotic arm of a surgical robotic system (e.g., robotic arm 311 of surgical robotic system 300), and in step 3, the distal end of the clamping applicator tool can be controlled by the surgical robotic system (e.g., a drive unit that drives the movement of the clamping applicator tool in the surgical robotic system) to insert into the patient's body through the sheath tube.

[0069] In step 4, the clip applier tool is made to grip the upper fixed clamp head 1311 and the upper movable clamp head 1321 of the assembly 130 of the ultrasonic surgical tool 100.

[0070] In some embodiments, in the natural state, the upper fixed clamp head 1311 and upper movable clamp head 1321 of the assembly 130 are open, and the lower fixed clamp head 1312 and lower movable clamp head 1322 are closed. Based on step 4, the upper fixed clamp head 1311 and upper movable clamp head 1321 are closed, thereby opening the lower fixed clamp head 1312 and lower movable clamp head 1322, making the ultrasonic surgical tool 100 easier to assemble with the auxiliary surgical tool 200. In some embodiments, the first clamp body and the second clamp body of the clamp applier tool are provided with a third projection structure and a fourth projection structure, respectively, and the upper fixed clamp head 1311 and the upper movable clamp head 1321 of the ultrasonic surgical tool 100 are provided with a concave structure or a perforated structure, respectively. In step 4, the third projection structure is engaged with the perforated structure 13111 of the upper fixed clamp head 1311, and the fourth projection structure is engaged with the perforated structure 13211 of the upper movable clamp head 1321, thereby establishing a stable connection between the clamp applier tool and the ultrasonic surgical tool 100, and consequently the clamp applier tool grips the upper fixed clamp head 1311 and the upper movable clamp head 1321 of the ultrasonic surgical tool 100.

[0071] In some embodiments, in step 4, a worker can hold a clamping applicator tool and have it grip the upper fixed clamping head 1311 and the upper movable clamping head 1321 of the assembly 130 of the ultrasonic surgical tool 100. In some embodiments, the clamping applicator tool may be mounted on the distal end of a robotic arm of a surgical robot system (e.g., robotic arm 311 of surgical robot system 300), and in step 4, the clamping applicator tool can be controlled via the surgical robot system (e.g., a drive device that drives the operation by the clamping applicator tool in the surgical robot system) to grip the upper fixed clamping head 1311 and the upper movable clamping head 1321 of the assembly 130 of the ultrasonic surgical tool 100.

[0072] In step 5, the positions of the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 within the patient's body are adjusted to a position convenient for assembly.

[0073] In step 5, the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 can be moved to the positions shown in Figure 9B. In some embodiments, the relevant personnel (e.g., doctors, nurses, etc.) can adjust the ultrasonic surgical tool 100 to an assembly-friendly position via a traction rope or bundle of wires. Since the clamp applicator tool and the ultrasonic surgical tool 100 have established a rigid connection via step 4, the ultrasonic surgical tool 100 can be adjusted to an assembly-friendly position via the clamp applicator tool. In some embodiments, the auxiliary surgical tool 200 can be controlled to move to a position close to the ultrasonic surgical tool 100 and to an assembly-friendly position with the ultrasonic surgical tool 100 by controlling the drive device that drives the movement of the auxiliary surgical tool 200.

[0074] In step 6, assemble the ultrasonic surgical tool 100 and the auxiliary surgical tool 200.

[0075] In the assembly process, the clamp body 152 of the ultrasonic surgical tool 100 is held in a closed state to facilitate entry into the patient's body and avoid contact with tissue inside the patient's body. At this time, both ends of the pin structure 155 are located at the nearest ends of the first slide groove 1511 and the second slide groove 1512, at the position of the pin structure 155 shown in Figure 9B. Based on this, when step 6 is performed, at least one pin or projection on the lower part of the slider 223 is positioned at the nearest ends of the third slide groove 222a and the fourth slide groove 222b, at the position of the pin 224 shown in Figure 9B, to facilitate connection between the slider 223 of the auxiliary surgical tool 200 and the pin structure 155 of the ultrasonic surgical tool 100. For example, the slider 223 can be moved to this position by pulling the drive wire.

[0076] Step 4 releases the lower fixed clamp head 1312 and the lower movable clamp head 1322. Step 5 allows the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 to move to the position shown in Figure 9B. Based on the position shown in Figure 9B, the auxiliary surgical tool 200 continues to move upward, or the ultrasonic surgical tool 100 continues to move downward until the groove structure 2231 of the slider 223 of the auxiliary surgical tool 200 engages with the pin structure 155 of the surgical clamp assembly 150 of the ultrasonic surgical tool 100, at which point it can be determined that the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 have reached a position where they can be assembled. In some embodiments, the auxiliary surgical tool 200 is controlled by controlling a drive device that drives the movement of the auxiliary surgical tool 200 until the groove structure 2231 of the slider 223 of the auxiliary surgical tool 200 engages with the pin structure 155 of the surgical clamp assembly 150 of the ultrasonic surgical tool 100.

[0077] After reaching an assembly-ready position, the clamp applicator tool releases the upper fixed clamp head 1311 and the upper movable clamp head 1321 of the assembly assembly 130 (this can be achieved by the relevant worker or a drive device that drives the operation of the clamp applicator tool). Based on the moment imparted to the upper movable clamp head 1321 by the assembly torsion spring 140, the upper fixed clamp head 1311 and the upper movable clamp head 1321 open, the lower fixed clamp head 1312 and the lower movable clamp head 1322 tilt in the closing direction, and clamp the connection portion 221 of the auxiliary surgical tool 200. In some embodiments, the perforated structure 13121 of the lower fixed clamp head 1312 of the ultrasonic surgical tool 100 engages with the first projection structure 2212 on the auxiliary surgical tool 200, and the perforated structure 13221 of the lower movable clamp head 1322 engages with the second projection structure 2213.

[0078] Based on the above process, the in-body assembly of the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 is completed, and the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 establish a rigid connection as shown in Figure 9A, thereby completing the preparation work for the assembled ultrasonic surgical tool assembly. As those skilled in the art will understand, the steps included in the preparation work for the assembled ultrasonic surgical tool assembly are not limited to the steps described above, nor is the order of the steps described above. For example, after adjusting the position of the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 within the patient's body to an assembled position, the distal end of the clamp applicator tool is inserted into the patient's body, and the clamp applicator tool is used to clamp the upper fixed clamp head 1311 and the upper movable clamp head 1321 of the assembly assembly 130 of the ultrasonic surgical tool 100.

[0079] In some embodiments, the auxiliary surgical tool 200 can be mounted on the distal end of the robotic arm 311 of the surgical carriage 310 of the surgical robot system 300. Based on this, after the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 form a rigid connection within the patient's body, the user can control the movement of the auxiliary surgical tool 200 by operating the main control unit 321 of the main control carriage 320, thereby enabling the movement of the ultrasonic surgical tool 100 within the human body. This is convenient for moving the knife shank assembly 110 and surgical clamp assembly 150 at the distal end of the ultrasonic surgical tool 100 to different locations within the patient's body and performing surgical operations on biological tissue at different locations. Furthermore, the user can control the opening and closing of the surgical clamp assembly 150 of the ultrasonic surgical tool 100 by operating the main control unit 321 of the main control carriage 320, thereby allowing biological tissue to be clamped by the clamp, which consists of the clamp body 152 and the distal end segment 1112 of the knife shank 111 of the ultrasonic surgical tool 100.

[0080] Figure 10A shows a schematic diagram of the clamp in the open position in an assemblyable ultrasonic surgical tool assembly according to some embodiment of the present disclosure. Figure 10B shows a schematic diagram of the clamp in the closed position in an assemblyable ultrasonic surgical tool assembly according to some embodiment of the present disclosure. In the natural state, as shown in Figure 10B, the clamp body 152 maintains a closed position and is in close contact with the distal end segment 1112 of the knife shank 111, with both ends of the pin structure 155 located at the proximal ends of the first slide groove 1511 and the second slide groove 1512. As the groove structure 2231 of the slider 223 engages with the pin structure 155 of the ultrasonic surgical tool 100, the pin 224 at the bottom of the slider 223 is located at the proximal ends of the third slide groove 222a and the fourth slide groove 222b, at the position of pin 224 shown in Figure 10B.

[0081] In some embodiments, under user control, a surgical robot system (e.g., the surgical robot system 300 shown in Figure 3) pushes and pulls the slider 223 by pushing and pulling the drive wire of the slider 223 connected to the auxiliary surgical tool 200, causing both ends of the pin 224 at the bottom of the slider 223 to slide forward in the third slide groove 222a and the fourth slide groove 222b (from the proximal end to the distal end of the third slide groove 222a and the fourth slide groove 222b) (for example, sliding from the location where the pin 224 is located in Figure 10B to the location where the pin 224 is located in Figure 10A), causing the slider 223 to slide distally in the sliding space (e.g., the sliding space 222c shown in Figure 2) (for example, sliding from the location where the slider 223 is located in Figure 10B to the location where the slider 223 is located in Figure 10A). The groove structure 2231 on the upper part of the slider 223 is connected to the pin structure 155 of the ultrasonic surgical tool 100. As the slider 223 moves forward, it causes the pin structure 155 to slide distally within the first slide groove 1511 and the second slide groove 1512 (from the proximal end to the distal end of the first slide groove 1511 and the second slide groove 1512), for example, from the position of the pin structure 155 shown in Figure 10B to the position of the pin structure shown in Figure 10A. As the pin structure 155 slides forward, it drives the clamp body 152 to open from the closed state shown in Figure 10B to the open state shown in Figure 10A via the first link 153 and the second link 154. Based on this, the user can control the opening and closing of the clamping clamp in the ultrasonic surgical tool 100 by operating the main control unit 321.

[0082] Figure 11A shows a schematic diagram of the structure of an auxiliary surgical tool 200 according to some embodiments of the present disclosure. In some embodiments, the arm body 210 may be a flexible arm, which increases the degrees of freedom of the auxiliary surgical tool 200, improves the flexibility of the auxiliary surgical tool 200 for performing surgical operations inside the body, and further improves the flexibility of movement of the ultrasonic surgical tool 100 to which the auxiliary surgical tool 200 is rigidly connected. As shown in Figure 11A, in some embodiments, the arm body 210 of the auxiliary surgical tool 200 may include a first continuum structure 211. Figure 11B shows a schematic diagram of the structure of the first continuum structure 211 of the arm body 210 according to some embodiments of the present disclosure. As shown in Figure 11B, the first continuum structure 211 may comprise a first base 2111, a plurality of first spacers (e.g., first spacers 2112-1, 2112-2, 2112-3 shown in Figure 11B), and a plurality of first structural bones (e.g., first structural bones 2113-1, 2113-2, etc. shown in Figure 11B). The plurality of first structural bones penetrate the plurality of first spacers and the first base 2111, and the proximal ends of the plurality of first structural bones are used to receive push or pull drives to move the first continuum structure 211. In some embodiments, as shown in Figure 11B, the first continuum structure 211 may further comprise a first fixing plate 2114. The distal ends of the plurality of first structural bones are fixedly connected to the first fixing plate 2114. In some embodiments, as shown in Figure 11A, the first fixing plate 2114 may be fixedly connected to the proximal end of the mounting head 220 of the auxiliary surgical tool 200.

[0083] As shown in Figure 11B, multiple first intervening plates can be spaced apart to enhance stability when multiple first structural bones are compressed or pulled. The first continuum structure 211 shown in Figure 11B includes three first intervening plates, and as those skilled in the art will understand, the number of first intervening plates included in the first continuum structure 211 is not limited to three, and the first continuum structure 211 may include any appropriate number of first intervening plates.

[0084] In some embodiments, the shapes of the first base 2111, the first spacing plate, and the first fixing plate 2114 may be preferred structures such as annular structures or plate-shaped structures, and the cross-sections may be various shapes such as circular, rectangular, or polygonal.

[0085] In some embodiments, the arm body 210 may further include a second continuum structure 212, as shown in Figure 11A. The structure of the second continuum structure 212 may be similar to the structure of the first continuum structure 211 shown in Figure 11B. As shown in Figure 11A, the second continuum structure includes a second base 2121, a plurality of second spacers (e.g., second spacers 2122 shown in Figure 11A), and a plurality of second structural bones (e.g., second structural bones 2123 shown in Figure 11A), the plurality of second structural bones 2123 passing through the plurality of second spacers 2122 and the second base 2121, and the proximal ends of the plurality of second structural bones 2123 are used to receive a push or pull drive to move the second continuum structure. As shown in Figure 11A, the first continuum structure 211 is located at the distal end of the second continuum structure, and the plurality of first structural bones 2113 pass through the plurality of second spacers 2122 and the second base 2121. In some embodiments, as shown in Figure 11A, the second continuum structure 212 may further include a second fixation plate 2124. The distal ends of a plurality of second structural bones 2123 are fixedly connected to the second fixation plate 2124.

[0086] The proximal ends of multiple first structural bones 2113 and multiple second structural bones 2123 may be connected to a drive device. Figure 12 shows a schematic diagram of the structure of a drive device 1000 according to some embodiments of the present disclosure. In some embodiments, the drive device 1000 may include a first drive mechanism 1010. As shown in Figure 12, the first drive mechanism 1010 is connected to the proximal end of an auxiliary surgical tool 200. In some embodiments, multiple first structural bones (first structural bones 2113 shown in Figure 11A, not shown in Figure 12) and / or multiple second structural bones (second structural bones 2123 shown in Figure 11A, not shown in Figure 12) are connected to the first drive mechanism 1010 by passing through multiple second spacers 2122 and second bases 2121. The first drive mechanism 1010 curves the first continuum structure 211 in different directions in space by pushing and pulling a plurality of first structural bones 2113, and curves the second continuum structure in different directions in space by pushing and pulling a plurality of second structural bones 2123. For example, the first drive mechanism 1010 may comprise a plurality of double-ended screw rod assemblies, each double-ended screw rod assembly comprising a double-ended screw rod and a pair of sliders screw-connected to the two thread segments of the double-ended screw rod. The double-ended screw rod is driven to rotate, thereby allowing the pair of sliders to move in opposite directions at the same speed. The pair of sliders is connected to a pair of symmetrically arranged first structural bones 2113 or second structural bones 2123, thereby allowing the first continuum structure 211 or the second continuum structure 212 to be curved by pushing and pulling the pair of symmetrically arranged first structural bones 2113 or second structural bones 2123. Furthermore, for example, the first drive mechanism 1010 may include a proximal continuum, and the first continuum structure 211 or the second continuum structure can be connected to the proximal continuum to form an interlocking paired continuum. The proximal continuum can be bent by a double-ended screw assembly, thereby bending the first continuum structure 211 or the second continuum structure 212.

[0087] In some embodiments, as shown in Figure 12, the drive unit may further comprise a second drive mechanism 1020, which is connected to the arm body of the auxiliary surgical tool 200 (e.g., the arm body 210 in Figure 11A) via the first drive mechanism 1010 and used to drive the arm body 210 to extend or retract, thereby enabling the extension or retraction of the auxiliary surgical tool 200 within the patient's body, and consequently driving the extension or retraction of the ultrasonic surgical tool 100 within the patient's body. Alternatively, if the auxiliary surgical tool 200 is not connected to the ultrasonic surgical tool 100, it enables the entry or exit of the auxiliary surgical tool 200 within the patient's body. In some embodiments, the second drive mechanism 1020 may be a linear drive mechanism and used to drive the arm body 210 to move linearly. In some embodiments, the second drive mechanism 1020 may comprise a base and a drive unit, the base being used to support the first drive mechanism 1010 and the drive unit being used to drive the base forward or backward. In some embodiments, the second drive mechanism 1020 may include a support 1021 having a slide groove, on which a lead screw 1022 is rotatably mounted. A slider 1023 serving as a base is fitted onto the lead screw 1022, and the slider 1023 is screw-engaged with the lead screw 1022 and slidably mounted within the slide groove of the support 1021. A motor 1024 serving as a second drive unit may be provided at one end of the support 1021, and the output shaft of the motor 1024 can be fixedly connected to the lead screw 1022 via a coupling 1025. In some embodiments, the slider 1023 may further include a sleeve 10231 for mounting a continuum frame. The sleeve 10231 may be attached to the slider 1023, or the sleeve 10231 may be integrally molded with the slider 1023. The motor 1024 drives the lead screw 1022, which in turn drives the slider 1023 and sleeve 10231 to move linearly along the slide groove, thereby enabling the feeding movement of the arm body 210 and the auxiliary surgical tool 200 provided on the arm body 210.As those skilled in the art will understand, the second drive mechanism 1020 is not limited to the above structure, and any drive mechanism capable of reallocating a surgical tool does not deviate from the scope of this disclosure.

[0088] As shown in Figure 11A, the multiple second spacing plates 2122 may be spaced apart to enhance the stability of the multiple second structural bones 2123 when they are pushed or pulled. Similar to the first continuum structure 211, the second continuum structure may include any appropriate number of second spacing plates 2122.

[0089] In some embodiments, the shapes of the second base 2121, the second spacing plate 2122, and the second fixing plate 2124 may be appropriate structures such as annular structures or plate-shaped structures, and the cross-sections may be various shapes such as circular, rectangular, or polygonal.

[0090] In some embodiments, the arm body 210 may further include a first straight segment 213 provided between the first continuum structure 211 and the second continuum structure. In some embodiments, as shown in Figure 11A, the second fixing plate 2124 of the second continuum structure may be fixedly connected to the proximal end of the first straight segment 213. In some embodiments, the arm body 210 may further include a second straight segment 214 connected to the proximal end of the second continuum structure. For example, in an endoscopic surgical robot system, during the process of performing a surgical operation using an auxiliary surgical tool 200, the auxiliary surgical tool 200 enters the body through an opening in the patient's body (e.g., an incision or natural opening), and the second straight segment 214 can penetrate the opening.

[0091] As those skilled in the art will understand, the structure for increasing the degrees of freedom of the arm body 210 is not limited to a continuous structure, but may be an appropriate structure such as a serpentine structure or a combination structure of rods and joints.

[0092] Some embodiments of the present disclosure further provide surgical robot systems. Figure 13 shows a schematic diagram of the structure of a surgical robot system 1300 according to some embodiments of the present disclosure. As shown in Figure 13, the surgical robot system 1300 may include a surgical trolley 1310. The surgical trolley 1310 may include at least one robotic arm 1311 and an assembled ultrasonic surgical tool assembly (e.g., an assembled ultrasonic surgical tool assembly consisting of an ultrasonic surgical tool 100 and an auxiliary surgical tool 200) according to some embodiment of the present disclosure. At least one robotic arm 1311 may be a positioning arm of the surgical robot shown in Figure 13. At least one robotic arm 1311 of the surgical trolley 1310 may be equipped with at least one surgical tool 1312 (e.g., a clamp, curved scissors, etc.). The auxiliary surgical tool (e.g., auxiliary surgical tool 200) of the assembled ultrasonic surgical tool assembly may be mounted on the distal end of at least one robotic arm 1311. In some embodiments, the posture of the auxiliary surgical tool 200 in the assembled ultrasonic surgical tool assembly can be adjusted by controlling the movement of at least one robotic arm 1311, and consequently, the posture of the ultrasonic surgical tool (not shown, e.g., ultrasonic surgical tool 100) in the assembled ultrasonic surgical tool assembly can be adjusted.

[0093] In some embodiments, the surgical robot system 1300 may further include a main control carriage 1320. The surgical carriage 1310 and the main control carriage 1320 can be connected by wired or wireless transmission. During surgery, the user controls the surgical tools (e.g., auxiliary surgical tools 200, clamps, curved scissors, etc.) and / or imaging tools (e.g., endoscopes) on the surgical carriage 1310 by operating the main control unit 1321 on the main control carriage 1320 to perform operations. The surgical carriage 1310 is usually located on the patient side and performs surgical operations on the patient in response to control commands from the main control carriage 1320. In some embodiments, the user can further control the opening and closing of the clamp body 152 of the ultrasonic surgical tool 100 in an assembled ultrasonic surgical tool assembly by operating the main control unit 1321.

[0094] In some embodiments, the assembled ultrasonic surgical tool assembly may further include a clamping applicator tool (not shown). The clamping applicator tool may be mounted on the distal end of at least one robotic arm 1311. In some embodiments, the posture of the clamping applicator tool in the assembled ultrasonic surgical tool assembly can be adjusted by controlling the movement of at least one robotic arm 1311.

[0095] In some embodiments, the surgical robot system 1300 may further include an instrument carriage 1330. The instrument carriage 1330 may include a power supply (not shown in the figure) which is connected to an ultrasonic surgical tool (e.g., ultrasonic surgical tool 100) in an assembled ultrasonic surgical tool assembly and supplies energy to the ultrasonic transducer of the ultrasonic surgical tool 100 (e.g., ultrasonic transducer 120 shown in Figure 3). In some embodiments, the power supply applies a high-frequency voltage to the ultrasonic conversion segment of the ultrasonic transducer, and by the reverse voltage effect, the ultrasonic conversion segment vibrates at a high frequency along the thickness direction, and the high-frequency vibration is transmitted to a blade head structure at the distal end of the ultrasonic surgical tool 100, thereby enabling the blade head structure of the ultrasonic surgical tool 100 to perform cutting or coagulation operations on biological tissue.

[0096] In some embodiments, the surgical trolley 1310 of the surgical robot system 1300 may further comprise at least one drive unit 1313. The at least one drive unit 1313 may be positioned between at least one surgical tool 1312 and at least one robotic arm 1311. As shown in Figure 13, the surgical trolley 1310 may comprise a single robotic arm 1311, and multiple drive units 1313 may be positioned on the robotic arm 1311. As will be understood by those skilled in the art, the surgical trolley may comprise multiple robotic arms. The at least one drive unit 1313 may comprise a slider drive unit for driving the sliding of a slider 223 of an auxiliary surgical tool 200 (thus enabling the opening and closing of the clamp body 152 of the ultrasonic surgical tool 100) and / or a continuum drive unit for driving the first continuum structure (first continuum structure 211 shown in Figure 11A) and the second continuum structure (second continuum structure 212 shown in Figure 11A) to move.

[0097] As those skilled in the art will understand, the surgical robot 1300 provided in this embodiment may be any suitable surgical robot, including a laparoscopic surgical robot.

[0098] In some embodiments, for the ultrasonic surgical tool 100, a high-frequency AC voltage is input to the ultrasonic transducer 120 by the inverse piezoelectric effect, causing the ultrasonic transducer 120 to output high-frequency vibrations, which are transmitted to the tip of the knife shank 111 via the knife shank 111. The high-frequency vibrating tip of the knife shank comes into contact with biological tissue, performing a mechanical cutting action on the biological tissue. At the same time, the biological tissue generates heat and coagulates due to the loss of internal energy under the action of the high-frequency vibrations. When the ultrasonic surgical tool 100 performs tissue cutting, the area of ​​tissue damage is small, no electric current passes through the human body during surgery, resulting in less smoke and less crusting, thus providing greater safety.

[0099] When performing laparoscopic surgery using a surgical robot, surgical tools typically need to enter the patient's body through a sheath tube. To allow ultrasonic surgical tools to enter the sheath tube, it is necessary to limit the dimensions of the ultrasonic surgical tool, especially the dimensions of the ultrasonic transducer, which has a large volume. Generally, ultrasonic transducers that can pass through a sheath tube need to have a diameter of 8 mm or less and a length of 40 mm or less. On the other hand, the upper limit of the output power of an ultrasonic transducer is positively correlated with the volume of the piezoelectric ceramic in the ultrasonic transducer (upper limit of output power = output power density of piezoelectric ceramic × volume of piezoelectric ceramic). Therefore, ultrasonic surgical tools used in surgical robots generally employ micro-type ultrasonic transducers, and because the volume of their piezoelectric ceramic is small, the output power is limited and the efficiency of tissue cutting is low. According to the assembleable ultrasonic surgical tool assembly provided in this disclosure, the ultrasonic surgical tool is pre-positioned in the patient's body before the sheath tube is installed, so the ultrasonic surgical tool does not need to occupy the passage provided in the sheath tube for the surgical tool to enter the patient's body. Based on this, ultrasonic transducers in ultrasonic surgical tools can employ large piezoelectric ceramics with large dimensions and volume (for example, employing piezoelectric ceramic pieces with an outer diameter of 12 mm and a thickness of 2.5 mm), which contributes to improving the output power of the ultrasonic transducer.

[0100] In some embodiments, the arm body of the auxiliary surgical tool in an assembled ultrasonic surgical tool assembly may include at least one continuum structure. This can increase the flexibility of the auxiliary surgical tool, thereby improving the flexibility of the ultrasonic surgical tool for performing surgical operations inside the body.

[0101] In some embodiments, the wiring board may be sealed and connected to the proximal end of the ultrasonic transducer housing. This prevents contamination of the piezoelectric ceramic pieces and electrode pieces in the ultrasonic transducer, thereby contributing to the repeated use of the ultrasonic transducer. On the other hand, it prevents interference with the electrical connections of the electrode pieces, thereby contributing to improved safety of the ultrasonic surgical tool 100. Furthermore, the wiring board can hold multiple conductors for transmitting energy to the multiple electrode pieces in the ultrasonic transducer, thereby preventing the portion of the multiple conductors connected to the ultrasonic transducer from being pulled during the process of controlling the movement of the ultrasonic surgical tool, and contributing to improved stability of the ultrasonic surgical tool.

[0102] In some embodiments, the knife shank of the ultrasonic surgical tool (e.g., the knife shank 111 of the ultrasonic surgical tool 100) is detachably connected (e.g., by a screw connection) to the ultrasonic transducer (e.g., the ultrasonic transducer 120 of the ultrasonic surgical tool 100). Based on this, the knife shank is disposable, and the ultrasonic transducer can be used multiple times. In some embodiments, in the ultrasonic surgical tool 100 shown in Figures 4A, 4B, or 5, the knife shank assembly 110, the assembly assembly 130 connected to the knife shank assembly 110, the assembly torsion spring 140 fitted onto the housing of the knife shank, and the surgical clamp assembly 150 provided at the distal end of the assembly assembly 130 are all disposable, and the disposable parts can be replaced by disconnecting the connection between the knife shank 111 and the ultrasonic transducer 120. Based on this, the operation of replacing consumables is made easier.

[0103] Furthermore, the above are merely exemplary embodiments of the Disclosure and the technical mechanisms used in such embodiments. Those skilled in the art will be able to make various obvious modifications, readjustments, and substitutions without departing from the scope of protection of the Disclosure, as the Disclosure is not limited to the specific embodiments described herein. Thus, although the Disclosure has been described in relatively detail through the above embodiments, the Disclosure is not limited to these embodiments and may include many other equivalent embodiments without departing from the concept of the Disclosure, but the scope of the Disclosure is determined by the attached claims.

Claims

1. It is an ultrasonic surgical tool, Located at the distal end of the aforementioned ultrasonic surgical tool, the knife shank assembly includes a knife shank, An ultrasonic transducer coupled to the proximal end of the knife shank and outputting vibrations to the knife shank, The assembly comprises an assembly connected to the knife shank assembly and used for assembling or disassembling the ultrasonic surgical tool. An ultrasonic surgical tool characterized by the following features.

2. The aforementioned knife shank is, The proximal end segment coupled to the ultrasonic transducer, A distal end segment whose lateral dimension is smaller than the lateral dimension of the proximal end segment, The system comprises a flange structure provided between the proximal end segment and the distal end segment, The knife shank assembly is The knife shank housing further comprises covering at least a portion of the proximal and distal end segments of the knife shank and fitting with the flange structure, The distal end segment of the knife shank extends from the knife shank housing toward the distal end, and the cutting edge structure is formed from the distal end of the distal end segment. The ultrasonic surgical tool according to feature 1.

3. The knife shank housing is A knife shank housing distal end segment covering at least a portion of the distal end segment of the knife shank, The knife shank housing comprises a proximal end segment that covers at least a portion of the proximal end segment of the knife shank, The proximal end segment and the distal end segment of the knife shank housing are detachably connected. The connection point between the distal end segment of the knife shank housing and the proximal end segment of the knife shank housing engages with the flange structure. The ultrasonic surgical tool according to feature 2.

4. The aforementioned assembly is The knife shank housing distal end segment and the assembly fixing clamp that is fixedly connected, The assembly comprises an assembly movable clamp that is rotatably connected to the distal end segment of the knife shank housing and cooperates with the assembly fixing clamp, The ultrasonic surgical tool according to feature 3.

5. The assembly fixing clamp comprises an upper fixing clamp head and a lower fixing clamp head. The assembly movable clamp comprises an upper movable clamp head and a lower movable clamp head, The upper fixed clamp head cooperates with the upper movable clamp head, and the lower fixed clamp head cooperates with the lower movable clamp head. The ultrasonic surgical tool according to feature 4.

6. It also features an assembly torsion spring, At least a portion of the assembly torsion spring is fitted onto the knife shank housing, the distal end of the assembly torsion spring is fixedly connected to or in contact with the upper movable clamp head of the assembly movable clamp of the assembly assembly, and the proximal end of the assembly torsion spring is fixedly connected to the proximal end segment of the knife shank housing. The assembled torsion spring applies a moment to the upper movable clamp head in a direction away from the upper fixed clamp head, such that the lower fixed clamp head and the lower movable clamp head tilt in the closing direction. The ultrasonic surgical tool according to feature 5.

7. The lower fixed clamp head is provided with a recessed or perforated structure for assembly, and the lower movable clamp head is provided with a recessed or perforated structure for assembly. and / or, The upper fixed clamp head is provided with a recessed or perforated structure for engaging with a clamping applicator tool, and the upper movable clamp head is provided with a recessed or perforated structure for engaging with a clamping applicator tool. The ultrasonic surgical tool according to feature 5 or 6.

8. The assembly further comprises a surgical clamp assembly installed at the distal end of the assembly, The surgical clamp assembly is A clamp base connected to the distal end of the assembly, The clamp comprises a clamp body installed at the distal end of the clamp base, The proximal end of the clamp body is pivotally attached to the clamp base. An ultrasonic surgical tool according to any one of claims 1 to 7.

9. The aforementioned clamp base is A first slide groove is provided on the first side of the clamp base, The clamp base is provided with a second slide groove, which is installed on the second side and is positioned opposite to the first slide groove, The surgical clamp assembly is The distal end of the link is pivotally connected to the proximal end of the clamp body, The system further comprises a pin structure pivotally attached to the proximal end of at least one link, the pin structure having both ends slidably connected to the first slide groove and the second slide groove, respectively. The ultrasonic surgical tool according to feature 8.

10. The surgical clamp assembly is The system further includes a clamp torsion spring, which is installed between the clamp base and the clamp body and used to apply a moment to the clamp body so that the clamp body tilts in the closing direction. The ultrasonic surgical tool according to feature 8 or 9.

11. The ultrasonic transducer is, A front cover plate located at the distal end of the ultrasonic transducer, A rear cover plate located at the proximal end of the ultrasonic transducer, The system includes an ultrasonic conversion segment installed between the front cover plate and the rear cover plate, The ultrasonic conversion segment is Multiple piezoelectric ceramic pieces, The system comprises a plurality of electrode pieces installed between the front cover plate and the ultrasonic conversion segment, between the plurality of piezoelectric ceramic pieces, and between the ultrasonic conversion segment and the rear cover plate. The first amplitude node of the ultrasonic surgical tool is located within the ultrasonic conversion segment, and / or the second amplitude node of the ultrasonic surgical tool is located within the flange structure. An ultrasonic surgical tool according to any one of claims 1 to 10.

12. The ultrasonic transducer is, A transducer housing is fitted onto the front cover plate, the ultrasonic conversion segment, and the rear cover plate, and includes a projection located at the proximal end that abuts against the proximal end of the rear cover plate, The fastening structure further comprises a screw connection between its outer circumferential surface and the inner circumferential surface of the distal end of the transducer housing, and its proximal end in contact with the distal end of the front cover plate. The proximal end segment of the knife shank has a blind hole located on the central axis of the proximal end segment, the front cover plate has a columnar structure located at the distal end of the front cover plate and on the central axis of the front cover plate, at least a portion of the proximal end segment of the knife shank extends into the fastening structure, and the inner circumferential surface of the blind hole is screw-connected to the outer circumferential surface of the columnar structure. The ultrasonic surgical tool according to feature 11.

13. An ultrasonic surgical tool according to any one of claims 1 to 12, The system comprises an auxiliary surgical tool that is detachably connected to the ultrasonic surgical tool and used to move the ultrasonic surgical tool, The aforementioned auxiliary surgical tool is The arm body and The arm comprises an assembly head provided at the distal end of the arm body and detachably connected to the assembly assembly of the ultrasonic surgical tool, An assembly of ultrasonic surgical tools characterized by its ability to be assembled.

14. The assembly head of the aforementioned auxiliary surgical tool is A connecting portion extending toward the distal end of the arm body, The connecting column comprises a first projection structure and a second projection structure installed on both sides thereof, The first projection structure and the second projection structure are used to connect to the ultrasonic surgical tool. The assemblyable ultrasonic surgical tool assembly according to feature 13.

15. The aforementioned assembly head is A body including a sliding space and a third slide groove and a fourth slide groove located on opposing sides within the sliding space, A slider is slidably connected to the third slide groove and the fourth slide groove by at least one pin or projection, The slider is provided on the upper part of the slider and located above the sliding space, and includes at least one groove structure used for connecting to the ultrasonic surgical tool. The assembled ultrasonic surgical tool assembly according to feature 13 or 14.

16. The main body comprises a first arm and a second arm, The first arm and the second arm are installed opposite each other on both sides of the sliding space and extend toward the distal end of the arm body. The first arm is provided with the third slide groove, and the second arm is provided with the fourth slide groove. The assemblyable ultrasonic surgical tool assembly according to feature 15.

17. The auxiliary surgical tool further comprises a drive wire that passes through the arm body of the auxiliary surgical tool, has its distal end connected to the slider, and is used to slide the slider along the third slide groove and the fourth slide groove. The assembled ultrasonic surgical tool assembly according to claim 15 or 16.

18. The arm body comprises a first continuous structure and a second continuous structure, The first continuous structure comprises a first base, a plurality of first interlocking plates, and a plurality of first structural bones, the plurality of first structural bones penetrating the plurality of first interlocking plates and the first base, and the proximal ends of the plurality of first structural bones receiving a push or pull drive to move the first continuous structure. The second continuous structure comprises a second base, a plurality of second interdisperses, and a plurality of second structural bones, the plurality of second structural bones penetrating the plurality of second interdisperses and the second base, and the proximal ends of the plurality of second structural bones receiving a push or pull drive to move the second continuous structure. The first continuum structure is located at the distal end of the second continuum structure, and the plurality of first structural bones penetrate the plurality of second interdiscs and the second base. The assembled ultrasonic surgical tool assembly according to any one of claims 13 to 17.

19. The clamp applicator tool further comprises a first clamp body and a second clamp body, wherein a third convex structure is provided at the distal end of the first clamp body and a fourth convex structure is provided at the distal end of the second clamp body. The assembled ultrasonic surgical tool assembly according to any one of claims 13 to 18.

20. A surgical trolley including at least one robotic arm, A set of assembleable ultrasonic surgical tool assemblies according to any one of claims 13 to 19, comprising: The auxiliary surgical tool of the assembled ultrasonic surgical tool assembly is mounted on the distal end of the at least one robotic arm. A surgical robot system characterized by the following features.

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