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

Abstract

The present application relates to the technical field of medical devices, and provides a medical ultrasonic scalpel, a medical ultrasonic scalpel system, and a robot-assisted ultrasonic scalpel system. The medical ultrasonic scalpel comprises a liquid flow sleeve (100) and a cutter bar (200), the liquid flow sleeve (100) comprises a sleeve body (101) and a first protruding part (102), the sleeve body (101) is provided with a mounting cavity (111) running through two opposite ends of the sleeve body (101), and the first protruding part (102) is located on the inner side wall of the sleeve body (101). The cutter bar (200) passes through the mounting cavity (111), the cutter bar (200) is pivotally connected to the liquid flow sleeve (100), the cutter bar (200) and the liquid flow sleeve (100) are movable in an extension direction X, and the outer side wall of the cutter bar (200) is provided with a second protruding part (202). When the liquid flow sleeve (100) rotates in a first rotation direction, the first protruding part (102) and the second protruding part (202) are staggered, so that the liquid flow sleeve (100) can move along the extension direction X. When the liquid flow sleeve (100) rotates in a second rotation direction, the first protruding part (102) abuts against the second protruding part (202), so as to drive the cutter bar (200) to rotate in the second rotation direction, the first rotation direction being opposite to the second rotation direction. The medical ultrasonic scalpel implements the function of a wrench by means of the liquid flow sleeve, and reduces tools used in a process of installing the medical ultrasonic scalpel.

Description

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

[0001] Cross-references

[0002] This application refers to Chinese Patent Application No. 202311094101.5 filed on August 28, 2023, entitled “Medical Ultrasonic Scalpel, Medical Ultrasonic Scalpel System and Robot-Assisted Ultrasonic Scalpel System”, which is incorporated into this application in its entirety by reference. Technical Field

[0003] The present application relates to the technical field of medical devices, and in particular to a medical ultrasonic scalpel, a medical ultrasonic scalpel system, and a robot-assisted ultrasonic scalpel system. Background Art

[0004] With the development of ultrasound technology and its integration with modern medicine, medical ultrasonic scalpels have gradually been used in surgical operations. For example, medical ultrasonic scalpels can be used to cut, drill or grind bone tissue, thereby achieving the purpose of bone tissue processing.

[0005] During surgery, medical ultrasonic scalpels rub against tissue, generating heat. In some surgeries, this frictional heat can damage tissue, leading to postoperative complications and adverse effects. Therefore, surgical procedures using medical ultrasonic scalpels are often equipped with a fluid flow system that cools the frictional hotspots on the blade shaft through a fluid flow cannula.

[0006] In the related art, the fluid sleeve and the cutter rod are both installed on the cutter handle by a wrench, which has a complex structure and is inconvenient to install and operate.

[0007] Summary of the Invention

[0008] The present application aims to solve at least one of the technical problems existing in the background technology. To this end, one purpose of the present application is to provide a medical ultrasonic scalpel, a medical ultrasonic scalpel system and a robot-assisted ultrasonic scalpel system to improve the problem of inconvenient installation and operation in the related technology.

[0009] An embodiment of the first aspect of the present application provides a medical ultrasonic scalpel, which includes: a liquid flow cannula, including a cannula body and a first protrusion, the cannula body having a mounting cavity extending through opposite ends of the cannula body, and the first protrusion being located on the inner side wall of the cannula body; a knife rod, the extension direction of the knife rod is the same as the extension direction X of the liquid flow cannula, the knife rod passes through the mounting cavity, the knife rod is pivotally connected to the liquid flow cannula, and the knife rod and the liquid flow cannula are movable in the extension direction X, and the outer side wall of the knife rod has a second protrusion; wherein the first protrusion cooperates with the second protrusion so that when the liquid flow cannula rotates along the first rotation direction, the first protrusion and the second protrusion are staggered so that the liquid flow cannula can move along the extension direction X, and when the liquid flow cannula rotates along the second rotation direction, the first protrusion and the second protrusion are counteracted to drive the knife rod to rotate along the second rotation direction, and the first rotation direction is opposite to the second rotation direction.

[0010] In some embodiments, the sleeve body has at least one first mounting hole that passes through the side wall of the sleeve body; the first protrusion includes a first portion and a second portion that are connected to each other, the first portion is located in the first mounting hole and is connected to the sleeve body, and the second portion is located in the mounting cavity, and the second portion and the second protrusion are configured to be used for, when the liquid flow sleeve rotates along the first rotation direction, the second protrusion pushes the second portion to move into the first mounting hole, and when the liquid flow sleeve rotates along the second rotation direction, the second portion and the second protrusion are abutted.

[0011] In some embodiments, the second part includes a first surface and a second surface, and both the first surface and the second surface are parallel to the extension direction X; wherein the first surface is configured to move the second part into the first mounting hole when a thrust force applied to the first surface toward the second surface is greater than a first preset thrust value, and the second surface is configured to move the liquid flow sleeve when a thrust force applied to the second surface toward the first surface is greater than a second preset thrust value.

[0012] In some embodiments, the second protrusion includes a third surface and a fourth surface, both of which are parallel to the extension direction X; when the liquid flow sleeve rotates along the first rotation direction, the third surface is configured to apply a thrust toward the second surface to the first surface; when the liquid flow sleeve rotates along the second rotation direction, the fourth surface is configured to apply a thrust toward the first surface to the second surface.

[0013] In some embodiments, the rotation center axis of the liquid flow sleeve is located in the plane where the second surface is located, and the rotation center axis of the liquid flow sleeve is staggered with the plane where the first surface is located.

[0014] In some embodiments, the sleeve body has two first mounting holes, which are symmetrically distributed along the circumferential direction of the side wall of the sleeve body, and the liquid flow sleeve includes two first protrusions corresponding to the two first mounting holes.

[0015] In some embodiments, the liquid flow sleeve further comprises: a protrusion connected to the outer side wall of the sleeve body, and the protrusion is spaced apart from the first mounting hole.

[0016] In some embodiments, the sleeve body has a first mounting portion, and the knife rod has a second mounting portion connected to the first mounting portion.

[0017] In some embodiments, the first mounting portion includes a first thread located on a side wall of the sleeve body, and the second mounting portion includes a second thread located on a side wall of the shank, and the second thread is threadably connected to the first thread.

[0018] In some embodiments, the sleeve body has at least one second mounting hole that passes through the side wall of the sleeve body, and the first mounting portion includes an elastic sheet and a limiting protrusion that are connected to each other, the elastic sheet is located in the second mounting hole, and the limiting protrusion is located in the mounting cavity; the second mounting portion includes a boss located on the outer wall of the knife rod, and the boss is against the limiting protrusion.

[0019] In some embodiments, one end of the knife rod has a third mounting portion, and one end of the sleeve body has a fourth mounting portion, and the medical ultrasonic knife includes: a knife handle; wherein the knife handle has a fifth mounting portion interconnected with the third mounting portion, and a sixth mounting portion interconnected with the fourth mounting portion, and the fifth mounting portion and the sixth mounting portion are both located at one end of the knife handle facing the knife rod.

[0020] In some embodiments, the third mounting portion includes a third thread located on the side wall of the shank, and the fifth mounting portion includes a fourth thread located on the side wall of the shank, and the fourth thread is threadably connected to the third thread.

[0021] In some embodiments, the fourth mounting portion includes a fifth thread located on the side wall of the sleeve body, and the sixth mounting portion includes a sixth thread located on the side wall of the handle, and the sixth thread is threadably connected to the fifth thread.

[0022] In some embodiments, the inner side wall of the sleeve body has a circle of first mounting grooves, the fourth mounting portion includes an elastic ring, the outer ring of the elastic ring is fixedly connected to the first mounting groove, and the distance between the inner ring and the outer ring of the elastic ring is greater than the depth of the first mounting groove; the outer side wall of the end of the shank facing the shank has a circle of second mounting grooves, and the second mounting groove is used to accommodate the elastic ring.

[0023] According to an embodiment of the second aspect of the present application, a medical ultrasonic scalpel system is provided, which includes a vibration source and the medical ultrasonic scalpel of any one of the above embodiments; the vibration source is connected to the medical ultrasonic scalpel, and the vibration source is used to generate vibration.

[0024] According to an embodiment of the third aspect of the present application, a robot-assisted ultrasonic scalpel system is provided, which includes a robot-assisted surgical device and the medical ultrasonic scalpel system in the above embodiment; the robot-assisted surgical device is connected to the medical ultrasonic scalpel in the medical ultrasonic scalpel system to control the movement of the medical ultrasonic scalpel.

[0025] The medical ultrasonic scalpel provided in the embodiment of the present application can connect and disassemble the scalpel rod to the scalpel handle through the liquid flow cannula, and can also connect and disassemble the liquid flow cannula to the scalpel handle. During the installation of the medical ultrasonic scalpel, no wrench is required. The liquid flow cannula performs the function of the wrench, reducing the number of tools required during the installation of the medical ultrasonic scalpel. At the same time, the structure of the liquid flow cannula is complex, making installation more convenient. Since the repeated use of the wrench is not required, the installation and disassembly process is faster and the work efficiency is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the multiple drawings represent the same or similar components or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments disclosed in this application and should not be construed as limiting the scope of this application.

[0027] FIG1 shows a schematic structural diagram of a medical ultrasonic scalpel provided in an embodiment of the present application;

[0028] FIG2 shows a cross-sectional schematic diagram of the Chinese medical ultrasonic scalpel in FIG1 ;

[0029] FIG3 shows a schematic structural diagram of a liquid flow sleeve provided in an embodiment of the present application;

[0030] FIG4 shows a schematic cross-sectional view of the liquid flow sleeve in FIG3 ;

[0031] FIG5 shows another perspective of the cross-sectional schematic diagram of the liquid flow sleeve in FIG4 ;

[0032] FIG6 shows a front view of the liquid flow sleeve in FIG3;

[0033] FIG7 shows a top view of the liquid flow sleeve in FIG3 ;

[0034] FIG8 shows another cross-sectional schematic diagram of the liquid flow sleeve in FIG3 ;

[0035] FIG9 shows a schematic structural diagram of the knife bar in FIG1 ;

[0036] FIG10 shows a schematic structural diagram of a medical ultrasonic scalpel provided in an embodiment of the present application;

[0037] FIG11 shows a cross-sectional schematic diagram of the Chinese medical ultrasonic scalpel in FIG10 ;

[0038] FIG12 is a schematic structural diagram of a medical ultrasonic scalpel provided in an embodiment of the present application in another state;

[0039] FIG13 shows a cross-sectional schematic diagram of the Chinese medical ultrasonic scalpel in FIG12 ;

[0040] FIG14 shows a schematic structural diagram of a medical ultrasonic scalpel provided in an embodiment of the present application in another state;

[0041] FIG15 shows a cross-sectional schematic diagram of the Chinese medical ultrasonic scalpel in FIG14 ;

[0042] FIG16 shows another cross-sectional schematic diagram of a medical ultrasonic scalpel provided in an embodiment of the present application;

[0043] FIG17 is a schematic cross-sectional view of the Chinese medical ultrasonic scalpel in FIG16 in another state;

[0044] FIG18 is a cross-sectional schematic diagram of the Chinese medical ultrasonic scalpel in FIG16 in another state;

[0045] FIG19 shows a cross-sectional schematic diagram of another liquid flow sleeve provided in an embodiment of the present application;

[0046] FIG20 shows a schematic structural diagram of another knife handle provided in an embodiment of the present application;

[0047] FIG21 shows a schematic structural diagram of another medical ultrasonic scalpel;

[0048] FIG22 shows a schematic cross-sectional view of the medical ultrasonic scalpel in FIG21 ;

[0049] FIG23 shows a schematic structural diagram of a medical ultrasonic scalpel in another state;

[0050] FIG24 shows a schematic cross-sectional view of the medical ultrasonic scalpel in FIG23 ;

[0051] FIG25 shows a cross-sectional schematic diagram of another liquid flow cannula provided in an embodiment of the present application;

[0052] FIG26 shows a schematic structural diagram of another knife bar provided in an embodiment of the present application;

[0053] FIG27 shows a schematic structural diagram of another medical ultrasonic scalpel provided in an embodiment of the present application;

[0054] FIG28 shows a schematic structural diagram of another medical ultrasonic scalpel;

[0055] FIG29 shows a schematic cross-sectional view of the medical ultrasonic scalpel in FIG28 ;

[0056] FIG30 shows a schematic structural diagram of a medical ultrasonic scalpel in another state;

[0057] FIG31 shows a schematic cross-sectional view of the medical ultrasonic scalpel in FIG30 .

[0058] Explanation of the accompanying drawings: 100, liquid flow sleeve; 101, sleeve body; 111, mounting cavity; 112, first mounting hole; 113, fourth mounting portion; 114, first mounting groove; 115, elastic ring; 116, first mounting portion; 117, second mounting hole; 118, elastic sheet; 119, limiting protrusion; 102, first protrusion; 121, first part; 122, second part; 1221, first surface; 1222, second surface; 103, protrusion; 200, arbor; 201, third mounting portion; 202, second protrusion; 221, third surface; 222, fourth surface; 203, second mounting portion; 204, boss; 205, cutter head; 300, shank; 301, fifth mounting portion; 302, sixth mounting portion; 303, second mounting groove. DETAILED DESCRIPTION

[0059] Hereinafter, only certain exemplary embodiments are briefly described. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the spirit or scope of the present application. Therefore, the drawings and description are to be regarded as illustrative in nature and not restrictive.

[0060] Currently, market trends suggest that ultrasonic scalpels are increasingly being used in surgical procedures. Due to the properties of ultrasound, when a scalpel contacts hard bone tissue, the bone is less likely to deform, allowing for cutting or fragmentation at the point of contact. However, when the scalpel contacts soft tissue, the elasticity of the soft tissue causes it to deflect or deform, and the scalpel vibrates slightly, offsetting the energy applied to the blade shaft and preventing cutting or fragmentation. Therefore, ultrasonic scalpels offer a significant advantage in bone cutting, particularly for surgical procedures near the interface between bone and soft tissue. During surgery, ultrasonic scalpels rub against tissue, generating heat. In most cases, this frictional heat damages tissue, leading to postoperative complications and adverse effects. Therefore, surgical procedures using ultrasonic scalpels are typically accompanied by a fluidic system that cools the frictional hotspots on the blade shaft via a fluidic cannula.

[0061] In the prior art, a medical ultrasonic scalpel includes a handle, a shank, and a fluid cannula. The shank is connected to the handle, and the fluid cannula is sleeved on the shank and connected to the handle. During installation, a wrench is first used to connect the shank to the handle, and then the fluid cannula to the handle. Using a wrench not only increases the number of tools required for installation, but also complicates the installation process.

[0062] In order to improve the convenience of installing a medical ultrasonic scalpel, an embodiment of the present application provides a medical ultrasonic scalpel, which can realize the connection between the liquid flow cannula and the scalpel handle through the liquid flow cannula, and can also realize the connection between the scalpel rod and the liquid flow cannula at the same time. No wrench is required for installation, making the process of installing a medical ultrasonic scalpel more convenient.

[0063] The present application provides an ultrasonic medical scalpel. FIG1 shows a schematic structural diagram of the ultrasonic medical scalpel provided in the present application. FIG2 shows a cross-sectional schematic diagram of the ultrasonic medical scalpel shown in FIG1. ​​Referring to FIG1 and FIG2, the ultrasonic medical scalpel includes a fluid flow cannula 100 and a scalpel shaft 200. The scalpel shaft 200 extends in the same direction X as the fluid flow cannula 100.

[0064] FIG3 shows a schematic structural diagram of a liquid flow sleeve provided in an embodiment of the present application. FIG4 shows a schematic cross-sectional diagram of the liquid flow sleeve in FIG3. FIG5 shows another perspective of the schematic cross-sectional diagram of the liquid flow sleeve in FIG4. FIG6 shows a front view of the liquid flow sleeve in FIG3. FIG7 shows a top view of the liquid flow sleeve in FIG3. FIG8 shows another schematic cross-sectional diagram of the liquid flow sleeve in FIG3. In combination with FIG3 to FIG8, the liquid flow sleeve 100 includes a sleeve body 101 and a first protrusion 102. The sleeve body 101 has an installation cavity 111 that passes through the opposite ends of the sleeve body 101. The first protrusion 102 is located on the inner side wall of the sleeve body 101.

[0065] 1 and 2 , the knife bar 200 extends through the mounting cavity 111 and is pivotally connected to the fluid flow cannula 100. Both the knife bar 200 and the fluid flow cannula 100 are movable in the extension direction X of the fluid flow cannula 100. FIG9 illustrates a schematic structural diagram of the knife bar shown in FIG1 . Referring to FIG9 , the outer wall of the knife bar 200 has a second protrusion 202 corresponding to the first protrusion 102.

[0066] The first protrusion 102 cooperates with the second protrusion 202 so that when the fluid flow sleeve 100 rotates along the first rotation direction A, the first protrusion 102 and the second protrusion 202 are staggered, so that the fluid flow sleeve 100 can move along the extension direction X. When the fluid flow sleeve 100 rotates along the second rotation direction B, the first protrusion 102 and the second protrusion 202 abut against each other, thereby driving the knife rod 200 to rotate along the second rotation direction B. The first rotation direction A is opposite to the second rotation direction B.

[0067] When using the medical ultrasonic scalpel provided in the embodiment of the present application, after the liquid flow cannula 100 is placed on the knife rod 200, the liquid flow cannula 100 is rotated. Assuming that the rotation direction is the first rotation direction A at this time, the second protrusion 202 is offset from the first protrusion 102. At this time, the liquid flow cannula 100 can move along the extension direction X, and the liquid flow cannula 100 can be connected to the knife handle. When disassembling the liquid flow cannula 100 and the knife rod 200, the liquid flow cannula 100 and the knife handle are first disassembled, and then the liquid flow cannula 100 is rotated. Assuming that the rotation direction is the second rotation direction B at this time, the first rotation direction A and the second rotation direction B are opposite directions. For example, the first rotation direction A can be counterclockwise and the second rotation direction B can be clockwise. At this time, the second protrusion 202 is against the first protrusion 102, and the second protrusion 202 generates a thrust on the first protrusion 102, which will push the knife rod 200 to rotate, thereby disassembling the knife rod 200 from the knife handle.

[0068] The medical ultrasonic scalpel provided in the embodiment of the present application can connect and disconnect the scalpel rod 200 from the scalpel handle, and can also connect and disconnect the liquid flow cannula 100 from the scalpel handle. During the installation of the medical ultrasonic scalpel, no wrench is required. The liquid flow cannula 100 performs the function of the wrench, reducing the number of tools required during the installation of the medical ultrasonic scalpel. At the same time, the liquid flow cannula 100 has a simple structure and is more convenient to install. Since the repeated use of the wrench is not required, the installation and removal process is faster and the work efficiency is higher.

[0069] 1 to 6 , the sleeve body 101 has at least one first mounting hole 112 extending through a side wall of the sleeve body 101 . The first protrusion 102 includes a first portion 121 and a second portion 122 connected to each other. The first portion 121 is located within the first mounting hole 112 and is connected to the sleeve body 101 . The second portion 122 is located within the mounting cavity 111 . The second portion 122 and the second protrusion 202 are configured such that when the liquid flow sleeve 100 rotates along the first rotation direction A, the second protrusion 202 pushes the second portion 122 to move into the first mounting hole 112 . When the liquid flow sleeve 100 rotates along the second rotation direction B, the second portion 122 abuts against the second protrusion 202 .

[0070] In the embodiment of the present application, after the fluid flow sleeve 100 is sleeved on the knife rod 200, the fluid flow sleeve 100 is rotated along the first rotation direction A, the second protrusion 202 abuts against the second portion 122, and the second protrusion 202 generates a thrust on the second portion 122. When the thrust is less than or equal to a certain thrust value (for example, a first preset thrust value), the fluid flow sleeve 100 drives the knife rod 200 to rotate, and the knife rod 200 rotates, so that the knife rod 200 is threadedly connected to the knife handle. When the liquid flow sleeve 100 continues to rotate after the knife rod 200 is threadedly connected to the knife handle, the knife rod 200 will not rotate with the liquid flow sleeve 100 because it is already connected to the knife handle, so the force between the second protrusion 202 and the second part 122 increases. When the thrust of the second protrusion 202 on the second part 122 is greater than a certain thrust value, the second part 122 moves into the first mounting hole 112, so that the second protrusion can no longer contact the first protrusion 102, and no thrust is applied to the knife rod 200. The knife rod 200 will not rotate, while the liquid flow sleeve 100 can continue to rotate and be connected to the knife handle. When disassembling the fluid flow sleeve 100 and the knife bar 200, first separate the fluid flow sleeve 100 from the knife handle, then rotate the fluid flow sleeve 100. Assuming the rotation direction is the second rotation direction B, the first rotation direction A and the second rotation direction B are opposite directions. For example, the first rotation direction A can be counterclockwise and the second rotation direction B can be clockwise. When the second protrusion 202 abuts against the second portion 122 of the first protrusion 102, the second protrusion generates a thrust on the second portion 122, which pushes the knife bar 200 to rotate, thereby disassembling the knife bar 200 from the knife handle.

[0071] 8 , the second portion 122 includes a first surface 1221 and a second surface 1222, and both the first surface 1221 and the second surface 1222 are parallel to the extension direction X of the fluid flow cannula 100. The first surface 1221 is configured to move the second portion 122 into the first mounting hole 112 when a thrust greater than a first preset thrust value is applied to the first surface 1221 toward the second surface 1222. The second surface 1222 is configured to move the fluid flow cannula 100 when a thrust greater than a second preset thrust value is applied to the second surface 1222 toward the first surface 1221.

[0072] In an embodiment of the present application, the sleeve body 101 is a tubular structure. For example, the shape of the sleeve body 101 can be a cylindrical tube. For example, the sleeve body 101 can be a cylindrical tube with the same diameter at all parts, or the sleeve body 101 can be formed by combining cylindrical tubes of different diameters.

[0073] In the embodiment of the present application, the cutter rod 200 passes through the mounting cavity 111 of the sleeve body 101 so that the liquid flow sleeve 100 is sleeved on the cutter rod 200 .

[0074] In the embodiment of the present application, the first mounting hole 112 passes through the side wall of the sleeve body 101 and communicates with the mounting cavity 111. The shape of the first mounting hole 112 can be set as required, for example, the shape of the first mounting hole 112 can be rectangular.

[0075] In the embodiment of the application, one side of the first protrusion 102 is connected to the first mounting hole 112, that is, connected to the sleeve body 101, and the other side of the first protrusion 102 is free, so that the first protrusion 102 can rotate around the side connected to the sleeve body 101.

[0076] In an embodiment of the present application, the first protrusion 102 and the sleeve body 101 can be formed by integral molding, or after forming the first mounting hole 112 on the sleeve body 101, the first protrusion 102 and the sleeve body 101 are connected together, for example, the first protrusion 102 and the sleeve body 101 are welded together.

[0077] In the embodiment of the present application, the shape of the first protrusion 102 can be determined according to the shape of the first mounting hole 112. For example, the first portion 121 of the first protrusion 102 can be a rectangular parallelepiped, and the second portion 122 is a protrusion from the first portion 121 and is located in the mounting cavity 111. For example, the second portion 122 can be a prism, the height direction of the prism is parallel to the extension direction X of the liquid flow cannula 100, one side surface of the prism is connected to the first portion 121, and two side surfaces of the prism are respectively a first surface 1221 and a second surface 1222.

[0078] In the embodiment of the present application, the first portion 121 and the second portion 122 are integrated and together form the first protrusion 102. In the drawings of the present application, in order to clearly show the first portion 121 and the second portion 122, a dotted line is added between the first portion 121 and the second portion 122 to distinguish them.

[0079] According to some embodiments of the present application, the rotation center axis of the fluid flow sleeve 100 is located in the plane where the second surface 1222 is located, and the rotation center axis of the fluid flow sleeve 100 is staggered with the plane where the first surface 1221 is located.

[0080] In the embodiment of the present application, the plane where the second surface 1222 lies passes through the center of the liquid flow cannula 100, while the plane where the first surface 1221 lies does not pass through the center of the liquid flow cannula 100. Thus, a thrust F1 is applied to the first surface 1221 in the mounting cavity 111 toward the second surface 1222. This thrust F1 is perpendicular to the first surface 1221 and can be decomposed into a first component F11 and a second component F12. The extension of the first component F11 passes through the center of the liquid flow cannula 100, meaning that the first component F11 is parallel to the diameter of the liquid flow cannula 100 at that location, and the second component F12 is perpendicular to the first component F11. Since the first component F11 points to the first mounting hole 112, it is equivalent to giving the second part 122 a force toward the first mounting hole 112. When the first component F11 reaches a certain set force, it will push the second part 122 to move toward the first mounting hole 112. After the second part 122 moves into the first mounting hole 112, it cannot contact the second part 122, that is, it cannot apply thrust to the first surface 1221.

[0081] In an embodiment of the present application, a thrust F2 is applied to the second surface 1222 in the mounting cavity 111 toward the first surface 1221. The thrust F2 is perpendicular to the second surface 1222. Since the plane where the second surface 1222 is located passes through the center of the liquid flow sleeve 100, that is, the thrust F2 has no component pointing to the outside of the liquid flow sleeve 100, the second portion 122 will not move toward the first mounting hole 112 under the action of the thrust F2. When the thrust F2 is greater than the second preset thrust value, the second portion 122 will be pushed to move in the direction of the thrust F2, thereby driving the liquid flow sleeve 100 to move.

[0082] It should be noted that, since the liquid flow sleeve 100 in the present application is a cylindrical tube, the liquid flow sleeve 100 can rotate under the action of the thrust F2.

[0083] When using the liquid flow sleeve 100 provided in the embodiment of the present application, a second protrusion 202 matching the first protrusion 102 is provided on the knife rod 200. After the liquid flow sleeve 100 is sleeved on the knife rod 200, the liquid flow sleeve 100 is rotated. Assuming that the rotation direction is the first rotation direction A at this time, the second protrusion 202 is against the first surface 1221 of the first protrusion 102, and the second protrusion 202 generates a thrust on the first surface 1221 toward the second surface 1222. When the thrust is less than or equal to the first preset thrust value, the liquid flow sleeve 100 will drive the knife rod 200 to rotate, and the knife rod 200 rotates, so that the knife rod 200 is threadedly connected to the knife handle. When the liquid flow sleeve 100 continues to rotate after the knife rod 200 is threadedly connected to the knife handle, at this time, since the knife rod 200 is already connected to the knife handle, the knife rod 200 will not rotate with the liquid flow sleeve 100, so that the force between the second protrusion 202 and the first surface 1221 increases. When the thrust of the second protrusion 202 on the first surface 1221 is greater than the first preset thrust value, the second part 122 moves into the first mounting hole 112, so that the second protrusion 202 can no longer contact the first protrusion 102, and no thrust is applied to the knife rod 200. The knife rod 200 will not rotate, while the liquid flow sleeve 100 can continue to rotate and be connected to the knife handle. When disassembling the fluid flow sleeve 100 and the knife bar 200, first separate the fluid flow sleeve 100 from the knife handle, then rotate the fluid flow sleeve 100. Assuming the rotation direction is the second rotation direction B, the first rotation direction A and the second rotation direction B are opposite directions. For example, the first rotation direction A can be counterclockwise and the second rotation direction B can be clockwise. When the second protrusion 202 abuts against the second surface 1222 of the first protrusion 102, the second protrusion 202 generates a thrust force on the second surface 1222 toward the first surface 1221, which pushes the knife bar 200 to rotate, thereby disassembling the knife bar 200 from the knife handle.

[0084] The medical ultrasonic scalpel provided in the embodiment of the present application can also realize the connection and disassembly of the scalpel rod 200 and the scalpel handle through the liquid flow cannula 100, and can also realize the connection and disassembly of the liquid flow cannula 100 and the scalpel handle. During the installation of the medical ultrasonic scalpel, there is no need to use a wrench. The function of the wrench is realized through the liquid flow cannula 100, and the work efficiency is higher.

[0085] In the embodiment of the present application, the sleeve body 101 has two first mounting holes 112 , which are symmetrically distributed along the circumferential direction of the side wall of the sleeve body 101 , and the liquid flow sleeve 100 includes two first protrusions 102 corresponding to the two first mounting holes 112 .

[0086] In the embodiment of the present application, two first mounting holes 112 and two first protrusions 102 are provided. Even if one of them is damaged, the function of the liquid flow sleeve 100 can be retained. At the same time, when the liquid flow sleeve 100 is rotated, only half a turn at most is required to make the second protrusion counteract the first protrusion 102, which is more labor-saving.

[0087] 3 , 4 , 6 to 8 , the fluid flow sleeve 100 further includes a protrusion 103 . The protrusion 103 is connected to the outer side wall of the sleeve body 101 . The protrusion 103 is spaced apart from the first mounting hole 112 .

[0088] In the embodiment of the present application, the liquid flow sleeve 100 can be rotated more conveniently by grasping the protrusion 103 .

[0089] For example, the liquid flow sleeve 100 may include two protrusions 103 , and the two first mounting holes 112 and the two protrusions 103 may be evenly spaced apart along the circumferential direction of the liquid flow sleeve 100 .

[0090] In some embodiments of the present application, the material of the liquid flow sleeve 100 can be hard metal or plastic.

[0091] In other embodiments of the present application, the material of the portion of the liquid flow cannula 100 connected to the knife rod can be hard metal or plastic, and the end of the liquid flow cannula 100 away from the fourth mounting portion 113 can be soft silicone or other materials, so that the portion of the liquid flow cannula 100 that is easily in contact with bone tissue has better elasticity, thereby reducing damage to the bone tissue.

[0092] According to some embodiments of the present application, referring to FIG9 , the second protrusion 202 includes a third surface 221 and a fourth surface 222. Both the third surface 221 and the fourth surface 222 are parallel to the extension direction X of the liquid flow cannula 100. The third surface 221 is configured to apply a thrust to the first surface 1221 toward the second surface 1222, and the fourth surface 222 is configured to apply a thrust to the second surface 1222 toward the first surface 1221. The second protrusion 202 matches the shape of the first protrusion 102, so that when the knife bar 200 rotates in two different directions, the second protrusion 202 has a portion that can contact the first protrusion 102.

[0093] In an embodiment of the present application, the knife rod 200 has a knife head 205 , which extends out of the knife rod 200 for cutting bone tissue.

[0094] In the embodiment of the present application, the knife rod 200 is pivotally connected to the fluid sleeve 100 , so that the knife rod 200 and the fluid sleeve 100 can rotate relative to each other, and the central axis of rotation is the same as the extension direction X of the fluid sleeve 100 .

[0095] In the embodiment of the present application, the second protrusion 202 may be integrally formed with the main body of the knife rod 200 , or the second protrusion 202 may be welded to the main body of the knife rod 200 .

[0096] In an embodiment of the present application, the second protrusion 202 can be a prism, the height direction of the prism is parallel to the extension direction X of the liquid flow sleeve 100, one of the side surfaces of the prism is connected to the main body of the knife rod 200, and two of the side surfaces of the prism are the third surface 221 and the fourth surface 222 respectively.

[0097] In the embodiment of the present application, when the fluid flow sleeve 100 is rotated along the first rotation direction A, the third surface 221 will abut against the first surface 1221 , and when the fluid flow sleeve 100 is rotated along the second rotation direction B, the fourth surface 222 will abut against the second surface 1222 .

[0098] In the embodiment of the present application, the number of the second protrusions 202 is greater than or equal to 1 and less than or equal to 4.

[0099] For example, the outer wall of the knife bar 200 may have four second protrusions 202, which are symmetrically distributed along the circumference of the knife bar 200. There are two second protrusions 202 between each two adjacent first protrusions 102. Thus, when rotating the flow sleeve 100, only a quarter turn is required at most for the second protrusions to abut against the first protrusions 102, saving effort.

[0100] In an embodiment of the present application, when installing the medical ultrasonic knife and the knife handle, the first protrusion 102 can be matched with the second protrusion 202 to install and disassemble the medical ultrasonic knife and the knife handle without using a wrench, making its installation more convenient and using fewer tools during the installation process.

[0101] According to some embodiments of the present application, one end of the shank 200 has a third mounting portion 201 , and one end of the sleeve body 101 has a fourth mounting portion 113 .

[0102] Figure 10 shows a schematic diagram of the structure of a medical ultrasonic scalpel provided in an embodiment of the present application. Figure 11 shows a schematic cross-sectional view of the medical ultrasonic scalpel shown in Figure 10. Figure 12 shows a schematic diagram of the structure of a medical ultrasonic scalpel provided in an embodiment of the present application in another state. Figure 13 shows a schematic cross-sectional view of the medical ultrasonic scalpel shown in Figure 12. Figure 14 shows a schematic diagram of the structure of a medical ultrasonic scalpel provided in an embodiment of the present application in another state. Figure 15 shows a schematic cross-sectional view of the medical ultrasonic scalpel shown in Figure 14. Figure 16 shows another schematic cross-sectional view of a medical ultrasonic scalpel provided in an embodiment of the present application. Figure 17 shows a schematic cross-sectional view of the medical ultrasonic scalpel shown in Figure 16 in another state. Figure 18 shows a schematic cross-sectional view of the medical ultrasonic scalpel shown in Figure 16 in another state. Referring to Figures 10 to 18 , the medical ultrasonic scalpel further includes a handle 300 having a fifth mounting portion 301 interconnected with the third mounting portion 201 and a sixth mounting portion 302 interconnected with the fourth mounting portion 113. The fifth mounting portion 301 and the sixth mounting portion 302 are both located at the end of the handle 300 facing the shank 200.

[0103] In an embodiment of the present application, the third mounting portion 201 is used to connect with the fifth mounting portion 301 of the knife handle 300 , so that the knife rod 200 is connected to the knife handle 300 .

[0104] In the embodiment of the present application, along the extension direction X of the fluid flow sleeve 100 , the first mounting holes 112 and the fourth mounting portions 113 are arranged at intervals.

[0105] In the embodiment of the present application, the fourth mounting portion 113 is used to connect with the sixth mounting portion 302 of the tool handle 300 , so that the fluid flow cannula 100 is connected to the tool handle 300 .

[0106] According to some embodiments of the present application, the third mounting portion 201 includes a third thread located on the side wall of the shank 200 , and the fifth mounting portion 301 includes a fourth thread located on the side wall of the shank 300 , and the fourth thread is threadably connected to the third thread.

[0107] In the embodiment of the present application, the third mounting portion 201 is threadedly connected to the fifth mounting portion 301 to achieve the connection between the arbor 200 and the handle 300. For example, the third mounting portion 201 may be an external thread, and correspondingly, the fifth mounting portion 301 may be an internal thread.

[0108] The installation and disassembly of the medical ultrasonic scalpel will be introduced below with reference to Figures 10 to 18.

[0109] In the initial state, the first protrusion 102 and the second protrusion 202 may be in contact or out of contact.

[0110] Step S10: Install the tool handle 300 and the tool rod 200.

[0111] In one implementation of the present application, the arbor 200 can be directly rotated so that the third mounting portion 201 and the fifth mounting portion 301 are threadedly connected to realize the connection between the arbor 200 and the shank 300, as shown in Figures 10 and 11.

[0112] In another implementation of the present application, the fluid flow sleeve 100 can be rotated in the first rotation direction A, as shown in FIG16 , so that the first protrusion 102 contacts the second protrusion 202 and the third surface 221 abuts the first surface 1221. At this point, the shank 200 is not connected to the handle 300 and does not hinder the rotation of the shank 200. Driven by the fluid flow sleeve 100, the shank 200 rotates in the first rotation direction A, so that the third mounting portion 201 is threadedly connected to the fifth mounting portion 301, thereby achieving the connection between the shank 200 and the handle 300, as shown in FIG10 and FIG11 . During this process, the fourth mounting portion 113 and the sixth mounting portion 302 gradually approach each other.

[0113] Step S20: Install the tool handle 300 and the fluid flow sleeve 100 .

[0114] The fluid cannula 100 continues to rotate in the first rotation direction A. Due to the connection between the blade rod 200 and the blade handle 300, the blade rod 200 cannot rotate, causing the force between the first protrusion 102 and the second protrusion 202 to increase. When the force between the first protrusion 102 and the second protrusion 202 exceeds the first predetermined thrust value, the second portion 122 moves into the first mounting hole 112, and the first protrusion 102 and the second protrusion 202 do not contact each other, thus no longer obstructing the rotation of the fluid cannula 100, as shown in FIG17 . The blade rod 200 and the fluid cannula 100 then move relative to each other in the direction of extension of the fluid cannula 100, causing the fourth mounting portion 113 to overlap with the sixth mounting portion 302, and the blade handle 300 and the fluid cannula 100 to gradually connect, as shown in FIG12 and FIG13 , until the blade handle 300 and the fluid cannula 100 are fully connected, as shown in FIG14 and FIG15 .

[0115] 16 , in FIG17 , one first protrusion 102 at least passes over two second protrusions 202 during the rotation process.

[0116] Step S30: disassembling the tool handle 300 and the fluid flow cannula 100 .

[0117] The liquid flow cannula 100 is rotated along the second rotation direction B, so that the knife handle 300 and the liquid flow cannula 100 gradually move away from each other, and the medical ultrasonic knife slowly transforms from the state of Figures 14 and 15 to the state of Figures 12 and 13, until the knife handle 300 and the liquid flow cannula 100 are completely separated and become the state of Figures 10 and 11.

[0118] Step S40: disassembling the tool handle 300 and the tool rod 200.

[0119] The liquid flow sleeve 100 continues to rotate along the second rotation direction B, so that the first protrusion 102 contacts the second protrusion 202, and the fourth surface 222 abuts against the second surface 1222. As shown in Figure 18, when the thrust applied by the fourth surface 222 to the second surface 1222 is greater than the second preset thrust value, the liquid flow sleeve 100 drives the knife rod 200 to rotate, so that the knife handle 300 and the knife rod 200 are separated.

[0120] In an embodiment of the present application, a program-recognizable chip can be built into the end of the fluid cannula 100 facing the tool handle 300. When the fluid cannula 100 is connected to the tool handle 300, information such as the model of the fluid cannula 100 and the tool rod 200 can be identified.

[0121] In the above-mentioned installation and disassembly process, the handle 300 and the fluid flow sleeve 100 are described as being connected via threads.

[0122] For example, referring to Figures 4 and 5 , the fourth mounting portion 113 is a fifth thread on the side wall of the cannula body 101. Referring to Figures 10 , 11 , 13 , 14 , 16 , and 17 , when the fourth mounting portion 113 is a fifth thread on the side wall of the cannula body 101, the sixth mounting portion 302 is a sixth thread on the side wall of the tool handle 300 that is threadably connected to the fifth thread. Threaded connection between the tool handle 300 and the fluid flow cannula 100 is more convenient, simplifying installation and removal.

[0123] Illustratively, the fifth thread may be an internal thread, and the sixth thread may be an external thread.

[0124] In the embodiment of the present application, the fifth mounting portion 301 and the sixth mounting portion 302 are both located at one end of the knife handle 300 facing the medical ultrasonic knife, so as to facilitate the connection between the knife handle 300 and the knife rod 200 and the liquid flow cannula 100 .

[0125] In other implementations, the handle 300 and the fluid cannula 100 may be connected in other ways.

[0126] Figure 19 shows a cross-sectional schematic diagram of another liquid flow cannula provided in an embodiment of the present application. Referring to Figure 19 , the inner sidewall of the cannula body 101 has a circle of first mounting grooves 114. The fourth mounting portion 113 (not shown in Figure 19 ) includes an elastic ring 115 , the outer ring of which is fixedly connected to the first mounting groove 114 . The spacing between the inner and outer rings of the elastic ring 115 is greater than the depth of the first mounting groove 114 .

[0127] FIG20 is a schematic diagram of the structure of another knife handle provided in an embodiment of the present application. FIG21 is a schematic diagram of the structure of another medical ultrasonic knife. FIG22 is a schematic cross-sectional view of the medical ultrasonic knife in FIG21. FIG23 is a schematic diagram of the structure of a medical ultrasonic knife in another state. FIG24 is a schematic cross-sectional view of the medical ultrasonic knife in FIG23. When the fourth mounting portion 113 includes an elastic ring 115, the outer side wall of the knife handle 300 facing the end of the medical ultrasonic knife has a circle of second mounting grooves 303, and the second mounting grooves 303 are configured to accommodate the elastic ring 115.

[0128] In the embodiment of the present application, in the above-described structure, before installation, a portion of the elastic ring 115 is located within the first mounting groove 114. Since the distance between the inner and outer rings of the elastic ring 115 is greater than the depth of the first mounting groove 114, another portion of the elastic ring 115 protrudes outside the first mounting groove 114. After the handle 300 is connected to the shank 200, the liquid flow cannula 100 is pushed toward one side of the handle 300 along the extension direction X of the liquid flow cannula 100, causing another portion of the elastic ring 115 to enter the second mounting groove 303. In other words, the elastic ring 115 is wrapped by the first and second mounting grooves 114, 303, and the elastic ring 115 blocks movement between the handle 300 and the liquid flow cannula 100, thereby connecting the handle 300 and the liquid flow cannula 100.

[0129] In the embodiment of the present application, since the elastic ring 115 is elastic and deformable, when disassembling the knife handle 300 and the knife rod 200, the liquid flow sleeve 100 is pushed along the extension direction X of the liquid flow sleeve 100 toward the side away from the knife handle 300. When the force used to push the liquid flow sleeve 100 is large enough, the elastic ring 115 is deformed and the elastic ring 115 is disengaged from the second mounting groove 303, thereby achieving the disassembly of the knife handle 300 and the liquid flow sleeve 100.

[0130] It should be noted that during surgery using the medical ultrasonic scalpel, the force applied to the liquid flow cannula 100 is very small, which will not cause the scalpel handle 300 to separate from the liquid flow cannula 100 .

[0131] In the embodiment of the present application, the elastic ring 115 may be a rubber ring, a silicone ring, or a spring ring.

[0132] 4 and 5 , the sleeve body 101 further has a first mounting portion 116 . Along the extension direction X of the liquid flow sleeve 100 , the first mounting hole 112 is located between the fourth mounting portion 113 and the first mounting portion 116 .

[0133] 2 , when the sleeve body 101 has the first mounting portion 116 , the end of the shank 200 close to the first mounting portion 116 has a second mounting portion 203 connected to the first mounting portion 116 .

[0134] In the embodiment of the present application, the fluid flow sleeve 100 is connected to the knife rod 200 via the first mounting portion 116 and the second mounting portion 203 , which can improve the stability of the fluid flow sleeve 100 .

[0135] In some embodiments of the present application, referring to Figures 4 and 5 , the first mounting portion 116 is a first thread on the side wall of the cannula body 101. Referring to Figure 2 , when the first mounting portion 116 is the first thread on the side wall of the cannula body 101, the second mounting portion 203 is a second thread on the side wall of the shank 200 that is threadably connected to the first thread.

[0136] In the embodiment of the present application, when installing and removing the medical ultrasonic scalpel, the liquid flow cannula 100 and the scalpel rod 200 can be installed and removed by rotating the liquid flow cannula 100. Connecting the liquid flow cannula 100 and the scalpel rod 200 by threading is more convenient and the installation and removal process is simpler.

[0137] For example, the first thread may be an internal thread, and the second thread may be an external thread.

[0138] In other embodiments of the present application, FIG25 shows a cross-sectional schematic diagram of another liquid flow cannula provided in an embodiment of the present application. Referring to FIG25 , the cannula body 101 has at least one second mounting hole 117 extending through the sidewall of the cannula body 101. The first mounting portion 116 includes an interconnected elastic piece 118 and a limiting protrusion 119. The elastic piece 118 is located within the second mounting hole 117, and the limiting protrusion 119 is located within the mounting cavity 111.

[0139] Figure 26 shows a schematic diagram of the structure of another knife rod provided in an embodiment of the present application. Figure 27 shows a schematic diagram of the structure of another medical ultrasonic knife provided in an embodiment of the present application. Figure 28 shows a schematic diagram of the structure of another medical ultrasonic knife. Figure 29 shows a cross-sectional schematic diagram of the medical ultrasonic knife in Figure 28. Figure 30 shows a schematic diagram of the structure of a medical ultrasonic knife in another state. Figure 31 shows a cross-sectional schematic diagram of the medical ultrasonic knife in Figure 30. In conjunction with Figures 26 to 31, when the first mounting portion 116 includes an elastic sheet 118, the second mounting portion 203 includes a boss 204 located on the outer wall of the knife rod, and the boss 204 abuts against the limiting protrusion 119.

[0140] In the embodiment of the present application, through the above structure, when installing the medical ultrasonic scalpel, the boss 204 is abutted against the limiting protrusion 119, limiting the movement between the liquid flow cannula 100 and the knife rod 200. At the same time, the elastic sheet 118 also blocks the movement of the boss 204, thereby connecting the liquid flow cannula 100 and the knife rod 200. When disassembling the medical ultrasonic scalpel, the liquid flow cannula 100 or the knife rod 200 is pushed to separate the boss 204 from the limiting protrusion 119, thereby achieving the disassembly of the liquid flow cannula 100 and the knife rod 200.

[0141] An embodiment of the present application provides a medical ultrasonic scalpel system, which includes a vibration source and the medical ultrasonic scalpel in the above embodiment. The vibration source is connected to the medical ultrasonic scalpel, and the vibration source is used to generate vibration.

[0142] The medical ultrasonic scalpel system provided in the embodiment of the present application is more convenient to install.

[0143] The present invention provides a robot-assisted ultrasonic scalpel system, which includes a robot-assisted surgical device and the medical ultrasonic scalpel system of the above embodiment. The robot-assisted surgical device is connected to the medical ultrasonic scalpel in the medical ultrasonic scalpel system to control the movement of the medical ultrasonic scalpel.

[0144] The robot-assisted ultrasonic bone power system provided in the embodiments of the present application improves the convenience of orthopedic surgery.

[0145] It should be understood that in this specification, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships or dimensions based on the orientations or positional relationships or dimensions shown in the accompanying drawings, and these terms are used only for the convenience of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of this application.

[0146] Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Thus, a feature specified as "first," "second," or "third" may explicitly or implicitly include one or more of the features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0147] In this application, unless otherwise expressly specified or limited, terms such as "installed," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0148] In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0149] This specification provides many different embodiments or examples that can be used to implement the present application. It should be understood that these different embodiments or examples are purely exemplary and are not intended to limit the scope of protection of the present application in any way. Those skilled in the art can conceive of various changes or replacements based on the disclosure of the specification of the present application, all of which should be encompassed within the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection defined by the appended claims.

Claims

1. A medical ultrasonic scalpel, characterized in that: The medical ultrasonic scalpel comprises: A liquid flow sleeve (100) comprises a sleeve body (101) and a first protruding portion (102), wherein the sleeve body (101) has a mounting cavity (111) penetrating two opposite ends of the sleeve body (101), and the first protruding portion (102) is located on the inner side wall of the sleeve body (101); a knife rod (200), wherein the extension direction of the knife rod (200) is the same as the extension direction X of the liquid flow sleeve (100), the knife rod (200) passes through the installation cavity (111), the knife rod (200) is pivotally connected to the liquid flow sleeve (100), and the knife rod (200) and the liquid flow sleeve (100) are movable in the extension direction X, and the outer side wall of the knife rod (200) has a second protrusion (202); The first protrusion (102) and the second protrusion (202) cooperate so that when the liquid flow sleeve (100) rotates along the first rotation direction, the first protrusion (102) and the second protrusion (202) are staggered, so that the liquid flow sleeve (100) can move along the extension direction X; when the liquid flow sleeve (100) rotates along the second rotation direction, the first protrusion (102) and the second protrusion (202) abut against each other, so as to drive the knife rod (200) to rotate along the second rotation direction; the first rotation direction is opposite to the second rotation direction.

2. The medical ultrasonic scalpel according to claim 1, characterized in that: The sleeve body (101) has at least one first mounting hole (112) penetrating through a side wall of the sleeve body (101); The first protrusion (102) comprises a first part (121) and a second part (122) which are connected to each other, the first part (121) is located in the first mounting hole (112) and is connected to the sleeve body (101), the second part (122) is located in the mounting cavity (111), the second part (122) and the second protrusion (202) are configured such that when the liquid flow sleeve (100) rotates along the first rotation direction, the second protrusion (202) pushes the second part (122) to move into the first mounting hole (112), and when the liquid flow sleeve (100) rotates along the second rotation direction, the second part (122) abuts against the second protrusion (202).

3. The medical ultrasonic scalpel according to claim 2, characterized in that: The second portion (122) includes a first surface (1221) and a second surface (1222), and the first surface (1221) and the second surface (1222) are both parallel to the extension direction X; The first surface (1221) is configured to, when a thrust force greater than a first preset thrust value is applied to the first surface (1221) toward the second surface (1222), move the second portion (122) to the first mounting portion. In the hole (112), the second surface (1222) is configured to move the liquid flow sleeve (100) when a thrust force greater than a second preset thrust value is applied to the second surface (1222) toward the first surface (1221).

4. The medical ultrasonic scalpel according to claim 3, characterized in that: The second protruding portion (202) comprises a third surface (221) and a fourth surface (222), and the third surface (221) and the fourth surface (222) are both parallel to the extension direction X; When the liquid flow sleeve (100) rotates along the first rotation direction, the third surface (221) is configured to apply a thrust to the first surface (1221) toward the second surface (1222); When the liquid flow sleeve (100) rotates along the second rotation direction, the fourth surface (222) is configured to apply a thrust to the second surface (1222) toward the first surface (1221).

5. The medical ultrasonic scalpel according to claim 3, characterized in that: The rotation center axis of the liquid flow sleeve (100) is located in the plane where the second surface (1222) is located, and the rotation center axis of the liquid flow sleeve (100) is staggered with the plane where the first surface (1221) is located.

6. The medical ultrasonic scalpel according to any one of claims 2 to 5, characterized in that: The sleeve body (101) has two first mounting holes (112), and the two first mounting holes (112) are symmetrically distributed along the circumferential direction of the side wall of the sleeve body (101). The liquid flow sleeve (100) includes two first protrusions (102) corresponding to the two first mounting holes (112) one by one.

7. The medical ultrasonic scalpel according to any one of claims 2 to 5, characterized in that: The liquid flow sleeve (100) further comprises: The protrusion (103) is connected to the outer side wall of the sleeve body (101), and the protrusion (103) and the first mounting hole (112) are arranged at intervals.

8. The medical ultrasonic scalpel according to any one of claims 1 to 5, characterized in that: The sleeve body (101) has a first mounting portion (116), and the knife rod (200) has a second mounting portion (203) connected to the first mounting portion (116).

9. The medical ultrasonic scalpel according to claim 8, characterized in that: The first mounting portion (116) includes a first thread located on the side wall of the sleeve body (101), and the second mounting portion (203) includes a second thread located on the side wall of the knife rod (200), and the second thread is threadably connected to the first thread.

10. The medical ultrasonic scalpel according to claim 8, characterized in that: The sleeve body (101) has at least one second mounting hole (117) penetrating the side wall of the sleeve body (101); the first mounting portion (116) comprises an elastic sheet (118) and a limiting protrusion (119) connected to each other; the elastic sheet (118) is located in the second mounting hole (117); and the limiting protrusion (119) is located in the mounting cavity (111); The second mounting portion (203) comprises a boss (204) located on the outer wall surface of the knife rod (200), and the boss (204) abuts against the limiting protrusion (119).

11. The medical ultrasonic scalpel according to any one of claims 1 to 5, characterized in that: One end of the knife rod (200) has a third mounting portion (201), one end of the sleeve body (101) has a fourth mounting portion (113), and the medical ultrasonic knife comprises: Handle (300); The knife handle (300) comprises a fifth mounting portion (301) interconnected with the third mounting portion (201), and a sixth mounting portion (302) interconnected with the fourth mounting portion (113), and the fifth mounting portion (301) and the sixth mounting portion (302) are both located at one end of the knife handle (300) facing the knife rod (200).

12. The medical ultrasonic scalpel according to claim 11, characterized in that: The third mounting portion (201) comprises a third thread located on the side wall of the shank (200), and the fifth mounting portion (301) comprises a fourth thread located on the side wall of the shank (300), wherein the fourth thread is threadably connected to the third thread.

13. The medical ultrasonic scalpel according to claim 11, characterized in that: The fourth mounting portion (113) includes a fifth thread located on the side wall of the sleeve body (101), and the sixth mounting portion (302) includes a sixth thread located on the side wall of the tool handle (300), and the sixth thread is threadably connected to the fifth thread.

14. The medical ultrasonic scalpel according to claim 11, characterized in that: The inner side wall of the sleeve body (101) has a circle of first mounting grooves (114), the fourth mounting portion (113) comprises an elastic ring (115), the outer ring of the elastic ring (115) is fixedly connected to the first mounting groove (114), and the distance between the inner ring and the outer ring of the elastic ring (115) is greater than the depth of the first mounting groove (114); The outer side wall of one end of the knife handle (300) facing the knife rod (200) has a circle of second installation grooves (303), and the second installation grooves (303) are used to accommodate the elastic ring (115).

15. A medical ultrasonic knife system, characterized in that: The medical ultrasonic scalpel system comprises a vibration source and the medical ultrasonic scalpel as claimed in any one of claims 1 to 14; The vibration source is connected to the medical ultrasonic knife, and the vibration source is used to generate vibration.

16. A robot-assisted ultrasonic knife system, characterized in that: The robot-assisted ultrasonic scalpel system comprises a robot-assisted surgical device and the medical ultrasonic scalpel system as claimed in claim 15; The robot-assisted surgery device is connected to the medical ultrasonic knife in the medical ultrasonic knife system to control the movement of the medical ultrasonic knife.

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