Ultrasonic scalpel bit, medical ultrasonic scalpel, and robot-assisted ultrasonic scalpel system

Abstract

Provided are an ultrasonic scalpel bit, a medical ultrasonic scalpel, and a robot-assisted ultrasonic scalpel system. The ultrasonic scalpel bit comprises a scalpel body (10) and a drilling part (20), wherein the scalpel body (10) is provided with a first end (101) and a second end (102) which are arranged in a first direction and are opposite to each other, and the drilling part (20) is connected to the second end (102) of the scalpel body (10). The scalpel body (10) is provided with a first cooling channel (11) extending in the first direction (X), and the first cooling channel (11) penetrates through the first end (101) of the scalpel body (10). The scalpel body (10) is provided with a first debris-discharging hole (12), and the first debris-discharging hole (12) penetrates through the side wall of the scalpel body (10) in a second direction (Y). The first debris-discharging hole (12) is located between the first end (101) and the second end (102), and the first debris-discharging hole (12) is in communication with the first cooling channel (11). The size of the first debris-discharging hole (12) in the first direction (X) is greater than the size of the first debris-discharging hole (12) in a third direction (Z). The first direction (X) intersects with the second direction (Y), the third direction (Z) is perpendicular to the first direction (X), and the third direction (Z) is perpendicular to the second direction (Y). The ultrasonic scalpel bit can reduce the possibility of the first cooling channel (11) being blocked, improving the cooling effect on the drilling part (20).

Description

Ultrasonic scalpel heads, medical ultrasonic scalpels, and robot-assisted ultrasonic scalpel systems

[0001] Cross-references

[0002] This application refers to Chinese Patent Application No. 202311734335.1 filed on December 15, 2023, entitled “Ultrasonic Scalpel Head, Medical Ultrasonic Scalpel and Robot-Assisted Ultrasonic Scalpel System”, and Chinese Patent Application No. 202323439416.7 filed on December 15, 2023, entitled “Ultrasonic Scalpel Head, Medical Ultrasonic Scalpel and Robot-Assisted Ultrasonic Scalpel System”, both of which are incorporated herein by reference in their entirety. Technical Field

[0003] The present application relates to the technical field of medical devices, and in particular to an ultrasonic scalpel head, a medical ultrasonic scalpel, 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 are gradually used in surgical operations, for example, using medical ultrasonic scalpels to drill bone tissue.

[0005] During surgery, the drilling section at the front end of the blade generates significant heat, hindering the progress of the procedure and necessitating cooling of the drilling section. In related technology, a cooling channel is arranged in a medical ultrasonic scalpel. The cooling channel extends through the drilling section of the blade, through which coolant is delivered to cool the drilling section.

[0006] However, during the drilling process, the broken bone tissue easily blocks the cooling channel, and the coolant cannot be effectively delivered to the drilling part, affecting the cooling of the drilling part.

[0007] Summary of the Invention

[0008] The present application aims to solve at least one of the technical problems in the background art. To this end, one object of the present application is to provide an ultrasonic scalpel head, a medical ultrasonic scalpel, and a robot-assisted ultrasonic scalpel system to improve the cooling effect on the drilling part.

[0009] An embodiment of the first aspect of the present application provides an ultrasonic scalpel head, which includes: a blade body extending along a first direction X, the blade body having a first cooling channel extending along the first direction X, and the first cooling channel passing through the first end of the blade body; a drilling portion connected to the second end of the blade body, the first end and the second end being opposite ends of the blade body arranged along the first direction X; wherein the blade body has a first chip removal hole, the first chip removal hole passing through the side wall of the blade body along the second direction Y, the first chip removal hole is located between the first end and the second end, and the first chip removal hole is connected to the first cooling channel, the size of the first chip removal hole along the first direction X is greater than the size of the first chip removal hole along the third direction Z, the first direction X intersects with the second direction Y, the third direction Z is perpendicular to the first direction X, and the third direction Z is perpendicular to the second direction Y.

[0010] In some embodiments, the orthographic projection of the blade body on the first plane is located within the orthographic projection of the drilling portion on the first plane and does not overlap, and the first plane is perpendicular to the first direction X.

[0011] In some embodiments, the orthographic projection of the blade body on the first plane and the orthographic projection of the drilling portion on the first plane are both circular and their centers coincide with each other.

[0012] In some embodiments, the blade body further has a first bevel groove, which is located at an end of the first chip removal hole close to the first end, and the first bevel groove is connected to the first chip removal hole. The opening of the first bevel groove passes through the side wall of the blade body, and the angle α between the bottom surface of the first bevel groove and the first direction X is greater than 0 degrees and less than 90 degrees, and the first bevel groove is inclined toward the first end.

[0013] In some embodiments, the blade body has two first oblique grooves, and the two first oblique grooves are arranged at intervals along the second direction Y.

[0014] In some embodiments, an angle α between the bottom surface of the first inclined groove and the first direction X is greater than 5 degrees and less than 60 degrees.

[0015] In some embodiments, the blade body further has a second bevel, which is located at one end of the first chip removal hole close to the second end, and the second bevel is connected to the first chip removal hole. The opening of the second bevel passes through the side wall of the blade body, and the angle β between the bottom surface of the second bevel and the first direction X is greater than 0 degrees and less than 90 degrees, and the second bevel is inclined toward the second end.

[0016] In some embodiments, the blade body has two second oblique grooves, and the two second oblique grooves are arranged at intervals along the second direction Y.

[0017] In some embodiments, an angle β between the bottom surface of the second inclined groove and the first direction X is greater than or equal to 5 degrees and less than or equal to 60 degrees.

[0018] In some embodiments, the drilling portion has a second chip removal hole, and the second chip removal hole passes through the end surface of the drilling portion and the bottom surface of the second inclined groove along the first direction X.

[0019] In some embodiments, the drilling portion has a chip removal channel, one end of the chip removal channel passes through the end surface of the drilling portion, and the other end of the chip removal channel passes through the side wall of the blade body.

[0020] In some embodiments, the drilling portion has two chip removal channels, and the two chip removal channels are arranged along the third direction Z at intervals.

[0021] In some embodiments, the cross section of the first chip removal hole is rectangular, and the cross section is perpendicular to the second direction Y.

[0022] In some embodiments, the drilling portion is a tooth-shaped drilling portion.

[0023] In some embodiments, the free end of the drilling portion is tapered.

[0024] According to an embodiment of the second aspect of the present application, a medical ultrasonic scalpel is provided, which includes a vibration source and an ultrasonic scalpel head according to any one of the above embodiments; the vibration source is connected to the ultrasonic scalpel head, and the vibration source is used to generate vibration.

[0025] 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 of the above-mentioned embodiment; the robot-assisted surgical device is connected to the ultrasonic scalpel head in the medical ultrasonic scalpel to control the movement of the ultrasonic scalpel head.

[0026] The ultrasonic scalpel head provided in the embodiment of the present application can deliver coolant to the ultrasonic scalpel head through the first cooling channel. The coolant is delivered to the first chip removal hole and flows out from the opening of the first chip removal hole. The coolant flows to the drilling portion, cooling the drilling portion. At the same time, due to the mobility and impact force of the coolant, the coolant can flow out from the gap between the outer wall of the ultrasonic scalpel head and the bone tissue. The flowing coolant will carry broken bone tissue debris, thereby discharging the bone tissue debris. Since the first chip removal hole runs through the side wall of the blade, both ends of the first chip removal hole are open, and the first chip removal hole is a long strip hole with a large size, the first chip removal hole is not easily blocked by bone tissue debris. When the coolant in the first chip removal hole is discharged, the bone tissue debris in the first chip removal hole can be taken out, reducing the possibility of the first chip removal hole being blocked by bone tissue debris. That is, using the ultrasonic scalpel head provided in the embodiment of the present application can reduce the possibility of the first cooling channel being blocked, so that the coolant can move to the drilling portion, cool the drilling portion, and improve the cooling effect on the drilling portion. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] 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.

[0028] FIG1 shows a schematic structural diagram of an ultrasonic scalpel head provided in an embodiment of the present application;

[0029] FIG2 shows a cross-sectional view of an ultrasonic scalpel head provided in an embodiment of the present application;

[0030] FIG3 shows a partial enlarged view of the blade body and the drilling portion in FIG2 ;

[0031] FIG4 shows another cross-sectional view of an ultrasonic scalpel head provided in an embodiment of the present application;

[0032] FIG5 shows a schematic structural diagram of another ultrasonic scalpel head provided in an embodiment of the present application;

[0033] FIG6 shows a cross-sectional view of another ultrasonic scalpel head provided in an embodiment of the present application;

[0034] FIG7 shows a partial view of an ultrasonic scalpel head provided by an embodiment of the present application during operation;

[0035] FIG8 shows a schematic structural diagram of another ultrasonic scalpel head provided in an embodiment of the present application;

[0036] FIG9 shows a cross-sectional view of another ultrasonic scalpel head provided in an embodiment of the present application.

[0037] Explanation of the accompanying reference numerals: 10, blade body; 11, first cooling channel; 12, first chip removal hole; 13, first inclined groove; 14, second inclined groove; 101, first end; 102, second end; 20, drilling portion; 21, second chip removal hole; 22, chip removal channel; 30, tool rod; 31, mounting portion; 32, second cooling channel. DETAILED DESCRIPTION

[0038] 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.

[0039] An ultrasonic scalpel head is provided in an embodiment of the present application. Figure 1 shows a schematic structural diagram of an ultrasonic scalpel head provided in an embodiment of the present application. Referring to Figure 1 , the ultrasonic scalpel head includes a blade body 10 and a drilling portion 20. The blade body 10 extends along a first direction X and has a first end 101 and a second end 102 that are opposite to each other and arranged along the first direction X. The drilling portion 20 is connected to the second end 102 of the blade body 10.

[0040] Figure 2 shows a cross-sectional view of an ultrasonic scalpel head provided in an embodiment of the present application. Figure 3 shows a partial enlarged view of the blade body and the drilling portion in Figure 2. Figure 4 shows another cross-sectional view of an ultrasonic scalpel head provided in an embodiment of the present application. The cross section in the cross-sectional view shown in Figure 2 is parallel to the first direction X and the second direction Y, and the cross section in the cross-sectional view shown in Figure 4 is perpendicular to the second direction Y. In conjunction with Figures 1 to 3, the blade body 10 has a first cooling channel 11 extending along the first direction X, and the first cooling channel 11 passes through the first end 101 of the blade body 10. The blade body 10 has a first chip removal hole 12, and the first chip removal hole 12 passes through the side wall of the blade body 10 along the second direction Y. The first chip removal hole 12 is located between the first end 101 and the second end 102, and the first chip removal hole 12 is connected to the first cooling channel 11, and the first direction X intersects with the second direction Y.

[0041] A dimension L1 of the first chip removal hole 12 along the first direction X is greater than a dimension L2 of the first chip removal hole 12 along the third direction Z. The third direction Z is perpendicular to the first direction X, and the third direction Z is perpendicular to the second direction Y.

[0042] In the embodiment of the present application, the main body shape of the blade body 10 can be a cylinder, a cuboid or other shapes.

[0043] In an embodiment of the present application, the first cooling channel 11 can be used to transport coolant, which is transported to the first chip removal hole 12 through the first cooling channel 11 and moves to the drilling portion 20. For example, the coolant can be physiological saline.

[0044] In the embodiment of the present application, the speed of the coolant is relatively fast and has a certain impact force. When the coolant is discharged from the drill hole, it will bring out some bone tissue debris. The coolant can flush the drill hole of the bone tissue.

[0045] In the embodiment of the present application, when the main body shape of the blade body 10 is a cylinder or a cuboid, the first cooling channel 11 may pass through the central axis of the blade body 10 .

[0046] Referring to Figures 1 and 2, the ultrasonic scalpel head also includes a shank 30, which extends along the first direction X. One end of the shank 30 is connected to the first end 101 of the blade body 10, and the other end of the shank 30 has a mounting portion 31. The mounting portion 31 can be used to connect to other devices, for example, it can be connected to a vibration source through the mounting portion 31.

[0047] For example, the mounting portion 31 may be an external thread on the outer wall of the knife rod 30 , and the knife rod 30 may be threadedly connected to other devices.

[0048] In an embodiment of the present application, referring to FIG. 2 , the shank 30 has a second cooling channel 32 , which extends along the first direction X and is connected to the first cooling channel 11 , so that the coolant can be delivered to the first cooling channel 11 through the second cooling channel 32 .

[0049] In an embodiment of the present application, the blade body 10 and the drilling portion 20 can be formed by integral molding; or the blade body 10 and the drilling portion 20 can be manufactured separately, and then the drilling portion 20 is connected to the second end 102 of the blade body 10.

[0050] In an embodiment of the present application, the blade body 10 and the blade rod 30 can be formed by integral molding; or the blade body 10 and the blade rod 30 can be manufactured separately, and then the blade rod 30 is connected to the first end 101 of the blade body 10.

[0051] In the embodiment of the present application, the shape of the first chip removal hole 12 can be set as required, and the dimension L1 of the first chip removal hole 12 along the first direction X is greater than the dimension L2 of the first chip removal hole 12 along the third direction Z. It can be characterized as that the first chip removal hole 12 is an elongated hole whose length direction extends along the first direction X. In this way, the size of the first chip removal hole 12 can be set as required, so that the length of the first chip removal hole 12 (the dimension L1 along the first direction X) is larger, thereby increasing the size of the first chip removal hole 12 and making it less likely to be blocked; at the same time, the width of the first chip removal hole 12 (the dimension L2 along the third direction Z) is not too large, thereby avoiding the blade 10 being too large due to the excessive width of the first chip removal hole 12, thereby preventing small-sized drilling work from being performed.

[0052] In the embodiment of the present application, the cross-section of the first chip removal hole 12 can be rectangular, with the length of the rectangle parallel to the first direction X; or the cross-section of the first chip removal hole 12 can be elliptical, with the major axis of the ellipse parallel to the first direction X; or the cross-section of the first chip removal hole 12 can be racetrack-shaped, wherein the cross-section is perpendicular to the second direction Y.

[0053] In some embodiments of the present application, the first direction X is perpendicular to the second direction Y, so that the first chip removal hole 12 is easier to manufacture.

[0054] When the ultrasonic scalpel head provided in the embodiment of the present application is used, a coolant is delivered to the ultrasonic scalpel head through the first cooling channel 11. The coolant is delivered to the first chip removal hole 12 and flows out from the opening of the first chip removal hole 12. The coolant flows to the drilling portion 20, cooling the drilling portion 20. At the same time, due to the mobility and impact force of the coolant, the coolant can flow out from the gap between the outer wall of the ultrasonic scalpel head and the bone tissue. The outflowing coolant will carry broken bone tissue debris, thereby discharging the bone tissue debris. Since the first chip removal hole 12 passes through the side wall of the blade body 10, both ends of the first chip removal hole 12 are open, and the first chip removal hole 12 is a long strip hole with a large size, the first chip removal hole 12 is not easily blocked by bone tissue debris, and when the coolant in the first chip removal hole 12 is discharged, the bone tissue debris in the first chip removal hole 12 can be taken out, reducing the possibility of the first chip removal hole 12 being blocked by bone tissue debris. That is, the use of the ultrasonic scalpel head provided in the embodiment of the present application can reduce the possibility of the first cooling channel being blocked, so that the coolant can move to the drilling portion 20 to cool the drilling portion 20 and improve the cooling effect on the drilling portion 20.

[0055] According to some embodiments of the present application, the cross-section of the first chip removal hole 12 is rectangular, and the cross-section is perpendicular to the second direction Y. In other words, the first chip removal hole 12 is a square hole, which is easy to manufacture. In Figure 4, the first chip removal hole 12 is not shown as a rectangle because the two ends of the first chip removal hole 12 along the first direction X have other structures (see below).

[0056] In some embodiments of the present application, referring to FIG2 , a ratio L1 / L3 of a dimension L1 of the first chip removal hole 12 along the first direction X to a dimension L3 of the blade body 10 along the first direction X is greater than or equal to 1 / 3 and less than or equal to 2 / 3. If the proportion of the first chip removal hole 12 along the first direction X is too large, the strength of the blade body 10 will be affected. If the proportion of the first chip removal hole 12 along the first direction X is too small, the opening of the first chip removal hole 12 is small and easily blocked by bone tissue debris. Therefore, setting L1 / L3 to be greater than or equal to 1 / 3 and less than or equal to 2 / 3 can reduce the possibility of the opening of the first chip removal hole 12 being blocked by bone tissue debris while ensuring the strength of the blade body 10.

[0057] According to some embodiments of the present application, the end surface of the free end of the drilling portion 20 is a drilling surface. The drilling surface can be a rough surface to increase the friction between the drilling portion 20 and the bone tissue, making the contact between the drilling portion 20 and the bone tissue more stable and non-slip, thereby improving drilling efficiency. For example, the drilling surface can be a frosted surface or a filed surface.

[0058] According to some embodiments of the present application, the drilling portion 20 may be a tooth-shaped drilling portion, which may increase friction between the drilling portion 20 and bone tissue. For example, the tooth grooves in the tooth-shaped drilling portion may be semicircular in shape.

[0059] According to some embodiments of the present application, FIG5 illustrates a schematic structural diagram of another ultrasonic scalpel head provided in an embodiment of the present application. FIG6 illustrates a cross-sectional view of another ultrasonic scalpel head provided in an embodiment of the present application. Referring to FIG5 and FIG6 , the free end of the drilling portion 20 may be tapered, which may improve drilling efficiency.

[0060] According to some embodiments of the present application, the orthographic projection of the blade body 10 on the first plane is located within the orthographic projection of the drilling portion 20 on the first plane and does not overlap, and the first plane is perpendicular to the first direction X.

[0061] In the embodiment of the present application, the orthographic projection of the blade 10 on the first plane represents the projection of the blade 10 on the first plane when the projection lines are parallel to each other and perpendicular to the first plane.

[0062] In an embodiment of the present application, the orthographic projection of the blade body 10 on the first plane is located within the orthographic projection of the drilling portion 20 on the first plane and does not overlap, which can be characterized as the cross-section of the blade body 10 being smaller than the cross-section of the drilling portion 20, and the cross-section being perpendicular to the first direction X.

[0063] In the embodiment of the present application, because the cross-section of the blade body 10 is smaller than the cross-section of the drilling portion 20, and the size of the cross-section of the drill hole is consistent with the size of the cross-section of the drill hole 20, when the ultrasonic scalpel head provided in the embodiment of the present application is used to drill bone tissue, when the drilling depth exceeds the height of the drilling portion 20 along the first direction X, the blade body 10 will not interfere with the bone tissue, and the drilling portion 20 can continue drilling until the required drilling depth is reached. At the same time, the blade body 10 connects the vibration source and the drilling portion 20. The small size of the blade body 10 facilitates the adjustment of the vibration of the drilling portion 20 through the blade body 10. Because the size of the drill hole matches the size of the drilling portion 20, when the drill hole reaches a certain depth and the blade body 10 enters the drill hole, a certain gap is formed between the outer wall of the blade body 10 and the bone tissue in the drill hole, facilitating the flow of coolant through the gap.

[0064] In the embodiment of the present application, the shape of the orthographic projection of the blade 10 on the first plane is not limited and may include at least one of a circle, an ellipse, a rectangle, and a rounded rectangle.

[0065] In the embodiment of the present application, the shape of the orthographic projection of the drilling portion 20 on the first plane is not limited and may include at least one of a circle, an ellipse, a rectangle, and a rounded rectangle.

[0066] According to some embodiments of the present application, the orthographic projection of the blade body 10 on the first plane and the orthographic projection of the drilling portion 20 on the first plane are both circular and their centers coincide with each other.

[0067] In the embodiment of the present application, the orthographic projection of the blade body 10 on the first plane is a circle, indicating that the main portion of the blade body 10 can be a cylinder for ease of manufacture. The orthographic projection of the drilling portion 20 on the first plane is a circle, indicating that the main portion of the drilling portion 20 can be a cylinder for ease of manufacture.

[0068] In an embodiment of the present application, the centers of the orthographic projection of the blade body 10 on the first plane and the orthographic projection of the drilling portion 20 on the first plane coincide with each other, indicating that the blade body 10 and the drilling portion 20 are coaxially arranged. On the one hand, this facilitates the manufacture and connection of the blade body 10 and the drilling portion 20, and on the other hand, it can reduce the resistance when using the ultrasonic scalpel head.

[0069] In an embodiment of the present application, the orthographic projection of the blade body 10 on the first plane is located within the orthographic projection of the drilling portion 20 on the first plane and does not overlap, and the orthographic projection of the blade body 10 on the first plane and the orthographic projection of the drilling portion 20 on the first plane are both circular and their centers coincide, which can be characterized as the diameter D1 of the blade body 10 being smaller than the diameter D2 of the drilling portion 20.

[0070] According to some embodiments of the present application, in combination with Figures 1 to 3, 5 and 6, the blade body 10 further has a first bevel 13, the first bevel 13 is located at the end of the first chip removal hole 12 close to the first end 101, the side wall of the first bevel 13 is connected to the end of the first chip removal hole 12 close to the first end 101, the opening of the first bevel 13 passes through the side wall of the blade body 10, the angle α between the bottom surface of the first bevel 13 and the first direction X is greater than 0 degrees (°) and less than 90 degrees, and the first bevel 13 is inclined toward the first end 101.

[0071] In the embodiment of the present application, the first inclined groove 13 may be a circular groove, a square groove, an elliptical groove, or grooves of other shapes.

[0072] In an embodiment of the present application, the bottom surface of the first chute 13 intersects with the first direction X, and the first chute 13 is inclined toward the first end 101. In the direction from the second end 102 to the first end 101, the bottom surface of the first chute 13 is increasingly away from the central axis of the blade body 10, forming a trend of spreading outward. Figure 7 shows a partial view of an ultrasonic scalpel head provided by an embodiment of the present application when it is working. Referring to Figure 7, the dotted line with an arrow indicates the direction of movement of the coolant. When the coolant carries bone tissue debris from the opening of the first chip removal hole 12 to the first chute 13, the coolant will diffuse outward along the bottom surface of the first chute 13, thereby discharging the coolant and the bone tissue debris 100 carried in the coolant, that is, the first chute 13 guides the movement of the bone tissue debris 100, so that the bone tissue debris is discharged more smoothly.

[0073] According to some embodiments of the present application, referring to FIG. 2 , FIG. 3 and FIG. 6 , the blade body 10 has two first oblique grooves 13 , and the two first oblique grooves 13 are arranged at intervals along the second direction Y.

[0074] In an embodiment of the present application, the first chip removal hole 12 passes through the opposite side walls of the blade body 10 along the second direction Y, and two first inclined grooves 13 are provided, so that the openings at both ends of the first chip removal hole 12 in the second direction Y are arranged with first inclined grooves 13, so that the bone tissue fragments at the openings at both ends of the first chip removal hole 12 can be discharged more smoothly.

[0075] According to some embodiments of the present application, an angle α between the bottom surface of the first inclined groove 13 and the first direction X is greater than 5 degrees and less than 60 degrees.

[0076] In the embodiments of the present application, the first bevel 13 is generally formed by cutting. If the angle α between the bottom surface of the first bevel 13 and the first direction X is too small, the dimension of the first bevel 13 along the first direction X will be too large, which will cut away a large portion of the blade 10, affecting the strength of the blade 10 and making it difficult to manufacture. If the angle α between the bottom surface of the first bevel 13 and the first direction X is too large, the bottom surface of the first bevel 13 will approach perpendicular to the first direction, potentially blocking the movement of bone tissue debris. In the embodiments of the present application, the angle α between the bottom surface of the first bevel 13 and the first direction X is set to be greater than 5 degrees and less than 60 degrees, so that the first bevel 13 can effectively guide the movement of bone tissue debris without blocking the movement of bone tissue debris, while also ensuring the strength of the blade 10 and making it easy to manufacture.

[0077] For example, the included angle α between the bottom surface of the first inclined groove 13 and the first direction X may be equal to 30°.

[0078] According to some embodiments of the present application, in combination with Figures 1 to 3, 5 and 6, the blade body 10 further has a second bevel 14, which is located near the second end 102 of the first chip removal hole 12, and the side wall of the second bevel 14 is connected to one end of the first chip removal hole 12 near the second end 102. The opening of the second bevel 14 passes through the side wall of the blade body 10, and the angle β between the bottom surface of the second bevel 14 and the first direction X is greater than 0 degrees and less than 90 degrees, and the second bevel 14 is inclined toward the second end 102.

[0079] In the embodiment of the present application, the second inclined groove 14 may be a circular groove, a square groove, an elliptical groove, or grooves of other shapes.

[0080] In an embodiment of the present application, the bottom surface of the second inclined groove 14 intersects with the first direction X, and the second inclined groove 14 is inclined toward the second end 102, that is, the bottom surface of the second inclined groove 14 is an inclined surface relative to the central axis of the blade 10. In this way, when the coolant moves along the first direction X to the second inclined groove 14, the instantaneous velocity of the coolant will have an angle with the bottom surface of the second inclined groove 14. Since the coolant has a certain impact force, the coolant will move in the opposite direction after being blocked by the bottom surface of the second inclined groove 14 to form a rebound. According to the principle of reflection, the instantaneous velocity of the rebounded coolant will also have an angle with the bottom surface of the second inclined groove 14, so that the coolant moving in the opposite direction will not move directly along the original direction, reducing the possibility of the coolant rebounding toward the blade 10 and also reducing the possibility of the coolant splashing toward the operator.

[0081] According to some embodiments of the present application, referring to FIG. 2 , FIG. 3 and FIG. 6 , the blade body 10 has two second oblique grooves 14 , and the two second oblique grooves 14 are arranged along the second direction Y at intervals.

[0082] In an embodiment of the present application, the first chip removal hole 12 passes through the opposite side walls of the blade body 10 along the second direction Y, and two second inclined grooves 14 are provided, so that the openings at both ends of the first chip removal hole 12 in the second direction Y are arranged with second inclined grooves 14, and the possibility of coolant splashing toward the operator can be reduced at both end openings of the first chip removal hole 12.

[0083] According to some embodiments of the present application, an angle β between the bottom surface of the second inclined groove 14 and the first direction X is greater than or equal to 5 degrees and less than or equal to 60 degrees.

[0084] In the embodiments of the present application, the second bevel 14 is generally formed by cutting. If the angle β between the bottom surface of the second bevel 14 and the first direction X is too small, the dimension of the second bevel 14 along the first direction X will be too large, which will remove a large portion of the blade 10, affecting the strength of the blade 10 and making it difficult to manufacture. If the angle β between the bottom surface of the second bevel 14 and the first direction X is too large, the coolant rebounded by the bottom surface of the second bevel 14 will tend to move toward the blade 10, failing to effectively reduce the risk of coolant splashing toward the operator. In the embodiments of the present application, the angle β between the bottom surface of the second bevel 14 and the first direction X is set to be greater than 5 degrees and less than 60 degrees, which can reduce the possibility of coolant splashing toward the operator, while also ensuring the strength of the blade 10 and making it easier to manufacture.

[0085] For example, the included angle β between the bottom surface of the second inclined groove 14 and the first direction X may be equal to 30°.

[0086] According to some embodiments of the present application, FIG8 shows a schematic structural diagram of another ultrasonic scalpel head provided in an embodiment of the present application. FIG9 shows a cross-sectional view of another ultrasonic scalpel head provided in an embodiment of the present application. Referring to FIG1 to FIG3 and FIG7 to FIG8, the drilling portion 20 has a second chip removal hole 21, which extends along the first direction X through the end surface of the drilling portion 20 and the bottom surface of the second chute 14.

[0087] During surgery, some bone tissue debris may accumulate on the end face of the drilling portion 20, affecting drilling. In the embodiment of the present application, a second chip removal hole 21 extends through the bottom surface of the second chute 14 along the first direction X, allowing the second chip removal hole 21 to communicate with the first chip removal hole 12. During surgery, the drilling portion 20 vibrates, and due to the movement of the coolant, bone tissue debris accumulated on the end face of the drilling portion 20 will enter the second chip removal hole 21 with the coolant, and then move from the second chip removal hole 21 to the first chip removal hole 12, and finally be discharged from the first chip removal hole 12, thereby improving chip removal efficiency.

[0088] In the embodiment of the present application, when there are two second inclined grooves 14 , two second chip removal holes 21 may be provided, and the two second chip removal holes 21 correspond one to one to the two second inclined grooves 14 .

[0089] According to some embodiments of the present application, the drilling portion 20 has a chip removal channel 22 , one end of the chip removal channel 22 passes through the end surface of the drilling portion 20 , and the other end of the chip removal channel 22 passes through the side wall of the blade body 10 .

[0090] In the embodiment of the present application, since the end face of the drilling portion 20 and the side wall of the blade 10 do not extend along the first direction X, the chip removal channel 22 can be an arc-shaped channel, so that the two ends of the chip removal channel 22 can respectively penetrate the end face of the drilling portion 20 and the side wall of the blade 10. At the same time, the curvature of the chip removal channel 22 is relatively small, reducing the possibility of the chip removal channel 22 being blocked by bone tissue debris. The chip removal channel 22 functions similarly to the second chip removal hole 21. During surgery, bone tissue debris accumulated at the end face of the drilling portion 20 will enter the chip removal channel 22 along with the coolant and be discharged from the chip removal channel 22, thereby improving chip removal efficiency.

[0091] According to some embodiments of the present application, referring to FIG. 8 and FIG. 9 , the drilling portion 20 has two chip removal channels 22 , and the two chip removal channels 22 are arranged along the third direction Z at intervals.

[0092] In the embodiment of the present application, since the two chip removal channels 22 are arranged at intervals along the third direction Z, the two second chip removal holes 21 are arranged at intervals along the second direction Y, and the first direction X, the second direction Y and the third direction Z are perpendicular to each other, the two chip removal channels 22 and the two second chip removal holes 21 can be distributed circumferentially along the end face of the drilling portion 20, and the distribution is uniform, so that the bone tissue fragments accumulated at the end face of the drilling portion 20 can be discharged more evenly.

[0093] An embodiment of the present application also provides a medical ultrasonic scalpel, which includes a vibration source and an ultrasonic scalpel head according to any one of the above embodiments; the vibration source is connected to the ultrasonic scalpel head, and the vibration source is used to generate vibration.

[0094] In the medical ultrasonic scalpel provided in the embodiment of the present application, the possibility of the first cooling channel being blocked is reduced, which can improve the cooling effect on the drilling part.

[0095] An embodiment of the present application also provides a robot-assisted ultrasonic scalpel system, which includes a robot-assisted surgical device and the medical ultrasonic scalpel in the above embodiment; the robot-assisted surgical device is connected to the ultrasonic scalpel head in the medical ultrasonic scalpel to control the movement of the ultrasonic scalpel head.

[0096] In the robot-assisted ultrasonic scalpel system provided in the embodiment of the present application, the possibility of the first cooling channel being blocked is reduced, which can improve the cooling effect on the drilling part.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] 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.

[0101] 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. An ultrasonic scalpel head, comprising: A blade body (10) extends along a first direction X, the blade body (10) having a first cooling channel (11) extending along the first direction X, the first cooling channel (11) passing through a first end (101) of the blade body (10); a drilling portion (20) connected to the second end (102) of the blade body (10), wherein the first end (101) and the second end (102) are two opposite ends of the blade body (10) arranged along the first direction X; The blade body (10) has a first chip removal hole (12), the first chip removal hole (12) penetrates the side wall of the blade body (10) along the second direction Y, the first chip removal hole (12) is located between the first end (101) and the second end (102), and the first chip removal hole (12) is connected to the first cooling channel (11), the size of the first chip removal hole (12) along the first direction X is greater than the size of the first chip removal hole (12) along the third direction Z, the first direction X intersects with the second direction Y, the third direction Z is perpendicular to the first direction X, and the third direction Z is perpendicular to the second direction Y.

2. The ultrasonic scalpel head according to claim 1, wherein: The orthographic projection of the blade body (10) on the first plane is located within the orthographic projection of the drilling portion (20) on the first plane and does not overlap, and the first plane is perpendicular to the first direction X.

3. The ultrasonic scalpel head according to claim 2, wherein: The orthographic projection of the blade body (10) on the first plane and the orthographic projection of the drilling portion (20) on the first plane are both circular and their centers coincide.

4. The ultrasonic scalpel head according to any one of claims 1 to 3, wherein: The blade body (10) further comprises a first inclined groove (13), the first inclined groove (13) being located at one end of the first chip removal hole (12) close to the first end (101), and the first inclined groove (13) being connected to the first chip removal hole (12), the opening of the first inclined groove (13) passing through the side wall of the blade body (10), the angle α between the bottom surface of the first inclined groove (13) and the first direction X being greater than 0 degrees and less than 90 degrees, and the first inclined groove (13) being inclined toward the first end (101).

5. The ultrasonic scalpel head according to claim 4, wherein: The blade body (10) has two first oblique grooves (13), and the two first oblique grooves (13) are arranged at intervals along the second direction Y.

6. The ultrasonic scalpel head according to claim 4 or 5, wherein: The included angle α between the bottom surface of the first inclined groove (13) and the first direction X is greater than 5 degrees and less than 60 degrees.

7. The ultrasonic scalpel head according to any one of claims 1 to 6, wherein: The blade body (10) further comprises a second inclined groove (14), the second inclined groove (14) being located at one end of the first chip removal hole (12) close to the second end (102), and the second inclined groove (14) being connected to the first chip removal hole (12), the opening of the second inclined groove (14) passing through the side wall of the blade body (10), the angle β between the bottom surface of the second inclined groove (14) and the first direction X being greater than 0 degrees and less than 90 degrees, and the second inclined groove (14) being inclined toward the second end (102).

8. The ultrasonic scalpel head according to claim 7, wherein: The blade body (10) has two second inclined grooves (14), and the two second inclined grooves (14) are arranged at intervals along the second direction Y.

9. The ultrasonic scalpel head according to claim 7 or 8, wherein: The included angle β between the bottom surface of the second inclined groove (14) and the first direction X is greater than or equal to 5 degrees and less than or equal to 60 degrees.

10. The ultrasonic scalpel head according to any one of claims 7 to 9, wherein: The drilling portion (20) has a second chip removal hole (21), and the second chip removal hole (21) passes through the end surface of the drilling portion (20) and the bottom surface of the second inclined groove (14) along the first direction X.

11. The ultrasonic scalpel head according to any one of claims 1 to 10, wherein: The drilling portion (20) has a chip removal channel (22), one end of the chip removal channel (22) passes through the end surface of the drilling portion (20), and the other end of the chip removal channel (22) passes through the side wall of the blade body (10).

12. The ultrasonic scalpel head according to claim 11, wherein: The drilling portion (20) has two chip removal channels (22), and the two chip removal channels (22) are arranged at intervals along the third direction Z.

13. The ultrasonic scalpel head according to any one of claims 1 to 12, wherein: The cross section of the first chip removal hole (12) is rectangular, and the cross section is perpendicular to the second direction Y.

14. The ultrasonic scalpel head according to any one of claims 1 to 13, wherein: The drilling portion (20) is a tooth-shaped drilling portion.

15. The ultrasonic scalpel head according to any one of claims 1 to 14, wherein: The free end of the drilling portion (20) is tapered.

16. A medical ultrasonic scalpel, comprising a vibration source and an ultrasonic scalpel head according to any one of claims 1 to 15; The vibration source is connected to the ultrasonic scalpel head, and the vibration source is used to generate vibration.

17. A robot-assisted ultrasonic scalpel system, the robot-assisted ultrasonic scalpel system comprising a robot-assisted surgical device and the medical ultrasonic scalpel according to claim 16; The robot-assisted surgery device is connected to the ultrasonic scalpel head in the medical ultrasonic scalpel to control the movement of the ultrasonic scalpel head.

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