Ultrasonic surgical tool, assemblable ultrasonic surgical tool assembly, and surgical robot

Abstract

Provided are an ultrasonic surgical tool (100, 300, 500), an assemblable ultrasonic surgical tool assembly (10, 30, 50), and a surgical robot. The ultrasonic surgical tool (100, 300, 500) comprises a tool shank assembly (110, 310, 510), an ultrasonic transducer (120), and an assembly structure (130, 330, 530). The tool shank assembly (110, 310, 510) comprises a tool shank (111) and a tool shank housing (112, 312) covering at least a part of the tool shank (111); the ultrasonic transducer (120) is coupled to a proximal end of the tool shank (111) so as to output vibration to the tool shank (111); and the assembly structure (130, 330, 530) is configured for assembling or disassembling the ultrasonic surgical tool (100, 300, 500), and the assembly structure (130, 330, 530) is arranged on the tool shank housing (112, 312). The ultrasonic surgical tool (100, 300, 500) is easy to assemble or disassemble, thereby helping improve the output power and the movement flexibility of the ultrasonic surgical tool (100, 300, 500).

Description

Ultrasonic surgical tool, assembleable ultrasonic surgical tool assembly, and surgical robot

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure claims priority to Chinese patent applications with application date of February 5, 2024, application number 2024101622212, and invention name “ULTRASONIC SURGICAL TOOLS, ASSEMBLYABLE ULTRASONIC SURGICAL TOOL ASSEMBLY AND SURGICAL ROBOT”, Chinese patent application with application date of April 23, 2024, application number 2024104879153, and invention name “ULTRASONIC SURGICAL TOOLS, ASSEMBLYABLE ULTRASONIC SURGICAL TOOL ASSEMBLY AND SURGICAL ROBOT”, Chinese patent application with application date of April 28, 2024, application number 2024105176386, and invention name “ULTRASONIC SURGICAL TOOLS, ASSEMBLYABLE ULTRASONIC SURGICAL TOOL ASSEMBLY AND SURGICAL ROBOT”, and Chinese patent application with application date of June 3, 2024, application number 2024107037528, and invention name “MOVABLE ASSEMBLY ULTRASONIC SURGICAL TOOLS, ASSEMBLY AND SURGICAL ROBOT”, and the entire contents of the above applications are incorporated herein by reference in their entirety. Technical Field

[0003] The present disclosure relates to the field of medical instruments, and in particular to an ultrasonic surgical tool, an assembleable ultrasonic surgical tool assembly, and a surgical robot. Background Art

[0004] Laparoscopic surgery has been a growing and widely used surgical procedure in recent years. It offers advantages such as minimal incision, significantly reducing patient recovery time, discomfort, and post-operative side effects. Laparoscopic surgery, particularly single-port laparoscopic surgery, can be optimized through computer remote control.

[0005] The ultrasonic scalpel is a widely used energy-based surgical tool. Its ultrasonic transducer converts incoming high-frequency AC voltage into high-frequency vibrations, which it transmits to the blade tip. The high-frequency vibrations contact the tissue, thereby cutting and coagulating it.

[0006] The ultrasonic scalpels used in laparoscopic surgery by surgical robotic systems often have problems such as insufficient output power, difficulty in assembly, and inconvenient operation, which affect the efficiency of tissue cutting. Summary of the Invention

[0007] In some embodiments, the present disclosure provides an ultrasonic surgical tool comprising:

[0008] A knife bar assembly, the knife bar assembly comprising a knife bar and a knife bar housing, the knife bar housing covering at least a portion of the knife bar;

[0009] an ultrasonic transducer coupled to the proximal end of the knife rod to output vibration to the knife rod; and

[0010] An assembly structure is used for assembling or disassembling the ultrasonic surgical tool, and the assembly structure is arranged on the knife rod housing.

[0011] In some embodiments, the present disclosure further provides an assembleable ultrasonic surgical tool assembly, comprising:

[0012] An ultrasonic surgical tool as in any one of the embodiments of the present disclosure; and

[0013] Auxiliary surgical tools are detachably connected to the ultrasonic surgical tools and are used to drive the ultrasonic surgical tools to move. The auxiliary surgical tools include:

[0014] Arm; and

[0015] The assembly head is arranged at the distal end of the arm body and is detachably connected to the assembly structure of the ultrasonic surgical tool.

[0016] In some embodiments, the present disclosure further provides a surgical robot comprising:

[0017] an operating table, comprising at least one robotic arm; and

[0018] In the mountable ultrasonic surgical tool assembly as in any one of some embodiments of the present disclosure, the auxiliary surgical tool in the mountable ultrasonic surgical tool assembly is disposed at the distal end of at least one robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly describes the drawings required for describing the embodiments of the present disclosure. The drawings described below only illustrate some embodiments of the present disclosure. Those skilled in the art can, without inventive effort, derive other embodiments based on the contents of the embodiments of the present disclosure and these drawings.

[0020] FIG1 illustrates a side view of a distal end structure of an ultrasonic surgical tool according to some embodiments of the present disclosure;

[0021] FIG2 illustrates a bottom view of a distal end structure of an ultrasonic surgical tool according to some embodiments of the present disclosure;

[0022] FIG3 illustrates a side view of an assemblable ultrasonic surgical tool assembly according to some embodiments of the present disclosure;

[0023] FIG4 shows a cross-sectional view of the distal end structure of the knife bar and the knife bar housing of an ultrasonic surgical tool according to some embodiments of the present disclosure;

[0024] FIG5 shows a side view of an ultrasonic surgical tool in a ready-to-assemble state according to some embodiments of the present disclosure;

[0025] FIG6 is a schematic structural diagram showing an operating handle of an ultrasonic surgical tool in a closed state according to some embodiments of the present disclosure;

[0026] FIG7 is a schematic structural diagram showing an operating handle of an ultrasonic surgical tool in an open state according to some embodiments of the present disclosure;

[0027] FIG8 is a schematic structural diagram showing an operating handle of an ultrasonic surgical tool in a closed state according to other embodiments of the present disclosure;

[0028] FIG9 is a schematic structural diagram showing an operating handle of an ultrasonic surgical tool in an open state according to other embodiments of the present disclosure;

[0029] FIG10 illustrates a side view of a clamp assembly of an ultrasonic surgical tool in an open state according to some embodiments of the present disclosure;

[0030] FIG11 illustrates a side view of a clamp drive assembly of an ultrasonic surgical tool according to some embodiments of the present disclosure;

[0031] FIG12 illustrates a perspective view of a clamp drive assembly of an ultrasonic surgical tool according to some embodiments of the present disclosure;

[0032] FIG13 illustrates a perspective view of a clamp assembly of an ultrasonic surgical tool according to some embodiments of the present disclosure;

[0033] FIG14 shows a perspective view of a distal end structure of an auxiliary surgical tool according to some embodiments of the present disclosure;

[0034] FIG15 shows a side view of the assemblable ultrasonic surgical tool assembly 10 in a ready-to-assemble state according to some embodiments of the present disclosure;

[0035] FIG16 illustrates a side view of an assemblable ultrasonic surgical tool assembly in an assembled state according to some embodiments of the present disclosure;

[0036] FIG17 illustrates a side view of a clamp assembly in an open state that can be equipped with an ultrasonic surgical tool assembly according to some embodiments of the present disclosure;

[0037] FIG18 illustrates a cross-sectional view of an assemblable ultrasonic surgical tool assembly according to some embodiments of the present disclosure;

[0038] FIG19 is a perspective view showing an assembled structure of an ultrasonic surgical tool in an extended state according to some embodiments of the present disclosure;

[0039] FIG20 is a perspective view showing an assembled structure of an ultrasonic surgical tool according to some embodiments of the present disclosure;

[0040] FIG21 is a perspective view showing an assembled structure of an ultrasonic surgical tool in a closed state according to some embodiments of the present disclosure;

[0041] FIG22 illustrates a bottom view of a distal structure of an ultrasonic surgical tool according to some embodiments of the present disclosure;

[0042] FIG23 shows a perspective view of an assembleable ultrasonic surgical tool assembly in a ready-to-assemble state according to some embodiments of the present disclosure;

[0043] FIG24 illustrates a side view of an assemblable ultrasonic surgical tool assembly during assembly, according to some embodiments of the present disclosure;

[0044] FIG25 illustrates a side view of an assemblable ultrasonic surgical tool assembly in an assembled state, according to some embodiments of the present disclosure;

[0045] FIG26 is a perspective view showing a distal end structure of an ultrasonic surgical tool according to other embodiments of the present disclosure;

[0046] FIG27 is a schematic structural diagram of an assembly structure reduction component of an ultrasonic surgical tool according to some embodiments of the present disclosure;

[0047] FIG28 is a perspective view showing a distal end structure of an ultrasonic surgical tool according to other embodiments of the present disclosure at another angle;

[0048] FIG29 shows a perspective view of an assembleable ultrasonic surgical tool assembly in a ready-to-assemble state according to other embodiments of the present disclosure;

[0049] FIG30 is a schematic structural diagram of an auxiliary surgical tool according to some embodiments of the present disclosure;

[0050] FIG31 is a schematic structural diagram showing a first continuum structure of an arm according to some embodiments of the present disclosure;

[0051] FIG32 is a schematic structural diagram of a driving device according to some embodiments of the present disclosure;

[0052] FIG33 shows a schematic diagram of a surgical robot system according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0053] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0054] In the description of the present disclosure, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the 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 a limitation on the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected" and "coupled" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a communication between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances.

[0055] In the present disclosure, the end close to the operator (e.g., a doctor) is defined as the proximal end, the near part, or the rear end, or the rear part, and the end opposite to the proximal end, the near part, or the rear end, or the rear part is defined as the distal end, the far end, or the front end, or the front part. Alternatively, the end close to the operator (e.g., a surgical patient) is defined as the distal end, the far end, or the front end, or the front part, and the end opposite to the distal end, the far end, or the front end, or the front part is defined as the proximal end, the near part, or the rear end, or the rear part. It will be understood by those skilled in the art that the embodiments of the present disclosure can be used for medical instruments or surgical robots, and can also be used for other non-medical devices.

[0056] Some embodiments of the present disclosure provide an ultrasonic surgical tool. FIG1 illustrates a side view of the distal end structure of an ultrasonic surgical tool 100 according to some embodiments of the present disclosure. FIG2 illustrates a bottom view of the distal end structure of an ultrasonic surgical tool 100 according to some embodiments of the present disclosure. The ultrasonic surgical tool 100 can be used to perform laparoscopic surgery.

[0057] Some embodiments of the present disclosure also provide a mountable ultrasonic surgical tool assembly 10. Figure 3 shows a side view of the mountable ultrasonic surgical tool assembly 10 according to some embodiments of the present disclosure. As shown in Figure 3, in some embodiments, the mountable ultrasonic surgical tool assembly 10 may include an ultrasonic surgical tool 100 and an auxiliary surgical tool 200. The ultrasonic surgical tool 100 can be quickly assembled and disassembled in the patient's body, for example, quickly assembled and disassembled with the auxiliary surgical tool 200. In some embodiments, the mountable ultrasonic surgical tool assembly 10 can be used in a surgical robot system, such as various suitable surgical robot systems including a laparoscopic surgical robot system. In some embodiments, the auxiliary surgical tool 200 in the mountable ultrasonic surgical tool assembly 10 can be set at the distal end of the robotic arm of the surgical robot system (for example, the positioning arm of the surgical robot system). The auxiliary surgical tool 200 can move under the control of the user (for example, remote operation).

[0058] 1 to 3 , the ultrasonic surgical tool 100 may include a knife bar assembly 110, an ultrasonic transducer 120, and an assembly structure 130. The knife bar assembly 110 may include a knife bar 111 and a knife bar housing 112. The knife bar housing 112 may cover at least a portion of the knife bar 111.

[0059] As shown in FIG3 , the ultrasonic transducer 120 of the ultrasonic surgical tool 100 can be coupled to the proximal end of the blade shaft 111 to output vibrations to the blade shaft 111. FIG4 illustrates a cross-sectional view of the distal end structure of the blade shaft 111 and the blade shaft housing 112 of the ultrasonic surgical tool 100 according to some embodiments of the present disclosure. In some embodiments, as shown in FIG4 , the blade shaft 111 can include a proximal section 1111 and a distal section 1112. The proximal end of the proximal section 1111 can be coupled to the ultrasonic transducer 120 to receive vibrations, while the distal end of the distal section 1112 can form a blade tip structure, which can extend from the blade shaft housing 112 to contact and manipulate patient tissue. In some embodiments, the blade shaft 111 can include at least one portion with reduced lateral dimensions. For example, the distal section 1112 can have smaller lateral dimensions than the proximal section 1111. This can increase the amplitude of the vibrations transmitted through the blade shaft 111 and improve the efficiency of tissue cutting or coagulation.

[0060] In some embodiments, as shown in FIG2 , the distal end of the knife rod 111 can extend along a curved arc (e.g., arc h1) to facilitate performing surgical operations via the knife rod 111. In some embodiments, the distal end of the knife rod 111 can include at least one cutting edge structure to enhance the mechanical cutting efficiency of the knife head structure on biological tissue. Those skilled in the art will appreciate that the shape of the knife rod 111 is not limited to that shown in FIG4 , and can be a knife rod with a longitudinal cross-sectional edge that is an exponential curve, a rounded step, or a slope, or can be a knife rod with a suitable shape such as a cone or a step.

[0061] As shown in FIG3 , the ultrasonic transducer 120 may include a front cover plate 121 at the distal end, a rear cover plate 122 at the proximal end, and an ultrasonic transducer section 123 disposed between the front cover plate 121 and the rear cover plate 122. In some embodiments, the front cover plate 121 may be made of a low acoustic impedance material such as a titanium alloy or an aluminum alloy to achieve a higher output amplitude; the rear cover plate 122 may be made of a high acoustic impedance material such as stainless steel or a tungsten alloy to reduce the amplitude of the rear end face of the ultrasonic transducer 120. The ultrasonic transducer section 123 may include multiple piezoelectric ceramic sheets and multiple electrode sheets (not shown). The multiple electrode sheets may be disposed between the front cover plate 121 and the ultrasonic transducer section 123, between the multiple piezoelectric ceramic sheets, and between the ultrasonic transducer section 123 and the rear cover plate 122. In some embodiments, the multiple electrode sheets may be copper electrode sheets.

[0062] In some embodiments, the ultrasonic transducer 120 may further include a plurality of wires, the distal ends of the plurality of wires being respectively connected to a plurality of electrode sheets, and the proximal ends of the plurality of wires being connected to a power source to transmit energy to the ultrasonic surgical tool 100. The plurality of wires may be constrained into a wire bundle at the proximal end of the ultrasonic transducer 120. The power source may apply a high-frequency voltage to the plurality of electrode sheets through the wire bundle. Due to the inverse piezoelectric effect, the plurality of piezoelectric ceramic sheets will vibrate at a high frequency along their thickness direction, and the high-frequency vibration will be transmitted to the knife rod 111. The distal end of the high-frequency vibrating knife rod 111 can cut or coagulate biological tissue when in contact with biological tissue. The plurality of piezoelectric ceramic sheets and the plurality of electrode sheets may include a central through hole for allowing the plurality of wires to pass through.

[0063] During surgery, a portion of the distal end of the blade assembly 110 of the ultrasonic surgical tool 100 extends into the patient's body, while the ultrasonic transducer 120 can be located outside the patient's body. Therefore, the ultrasonic transducer 120 can be set to any appropriate volume as needed, thereby improving the efficiency of the ultrasonic surgical tool 100 in performing surgical operations.

[0064] The assembly structure 130 of the ultrasonic surgical tool 100 can be used to assemble or disassemble the ultrasonic surgical tool 100. For example, the ultrasonic surgical tool 100 can be assembled or disassembled with the auxiliary surgical tool 200 through the assembly structure 130. As shown in FIG2 , the assembly structure 130 can be provided on the shank housing 112.

[0065] FIG5 shows a side view of the ultrasonic surgical tool 100 in a state to be assembled according to some embodiments of the present disclosure. In some embodiments, as shown in FIG2 or FIG5 , the knife rod housing 112 may include a knife rod outer shell 1121 and a knife rod inner shell 1122. The knife rod inner shell 1122 may cover at least a portion of the knife rod 111. In some embodiments, as shown in FIG4 , the knife rod 111 may further include a flange structure 1113 disposed between the proximal section 1111 and the distal section 1112. The flange structure 1113 of the knife rod 111 may be engaged with the knife rod inner shell 1122, thereby fixing the knife rod 111 in the knife rod inner shell 1122. In some embodiments, the proximal section 1111, the distal section 1112, and the flange structure 1113 of the knife rod 111 may be integrally formed.

[0066] As shown in FIG2 or FIG5 , the outer shell 1121 of the knife bar can cover at least a portion of the inner shell 1122 of the knife bar. In some embodiments, the outer shell 1121 of the knife bar can include an outer shell distal section 1121a located at the distal end and an outer shell proximal section 1121b located at the proximal end. In some embodiments, at least a portion of the outer shell distal section 1121a can be fixedly connected to the distal end of the inner shell 1122 of the knife bar, for example, by a suitable method such as snapping or welding. As shown in FIG5 , the outer shell distal section 1121a can include a distal portion p1 and a proximal portion p2, and the distal portion p1 can cover a portion of the knife bar 111, and the proximal portion p2 can cover a portion of the inner shell 1122 of the knife bar. As shown in FIG5 , the distal portion p1 can include a stepped surface to facilitate connection with the proximal portion p2.

[0067] In some embodiments, as shown in FIG. 2 , the assembly structure 130 may include a first slot structure C1, which may be disposed at the distal end of the outer shell proximal section 1121b. The first slot structure C1 may be used to assemble or disassemble the ultrasonic surgical tool 100. In some embodiments, the first slot structure C1 may be connected to at least a portion of the auxiliary surgical tool 200 to facilitate assembly of the ultrasonic surgical tool 100 with the auxiliary surgical tool 200. In some embodiments, the first slot structure C1 may also be a U-shaped slot, a special-shaped slot, or other suitable structure. In some embodiments, the assembly structure 130 may include multiple first slot structures C1 for assembly or disassembly. For example, multiple first slot structures C1 may be disposed side by side at the distal end of the outer shell proximal section 1121b, and at least one of the multiple first slot structures C1 may be connected to the auxiliary surgical tool 200 for assembly.

[0068] In some embodiments, as shown in FIG3 , the ultrasonic surgical tool 100 may further include a shank housing drive assembly 140. The shank housing drive assembly 140 may be disposed proximal to the outer housing proximal segment 1121b. The shank housing drive assembly 140 may be configured to drive the outer housing proximal segment 1121b to move proximally away from the outer housing distal segment 1121a, for example, to the position shown in FIG5 . The shank housing drive assembly 140 may also be configured to drive the outer housing proximal segment 1121b to move distally toward the outer housing distal segment 1121a, for example, to the position shown in FIG1 .

[0069] In some embodiments, the arbor housing drive assembly 140 may include a fixed member 141, a movable member 142, and an elastic member 143. The fixed member 141 is located at the proximal end of the arbor housing drive assembly 140, the movable member 142 is located at the distal end of the arbor housing drive assembly 140, and the elastic member 143 is disposed between the fixed member 141 and the movable member 142.

[0070] As shown in FIG3 , the fixing member 141 can be fixedly connected to the proximal end of the inner shell 1122 of the knife bar to fix the position of the fixing member 141, for example, by fixing the connection by any suitable means such as welding, bonding, thermoplasticization, etc. In some embodiments, the fixing member 141 can be any suitable structure such as an annular structure or a plate-like structure with a central through hole, so that it can be sleeved on the inner shell 1122 of the knife bar. As shown in FIG3 , the movable member 142 can be connected to the proximal end of the proximal end section 1121b of the outer shell, for example, by fixed connection, abutment, etc. In some embodiments, the movable member 142 can be any suitable structure such as an annular structure or a plate-like structure with a central through hole, so that it can be sleeved on the proximal end section 1121b of the outer shell.

[0071] Elastic member 143 can be used to apply a force to outer housing proximal segment 1121b, causing it to move distally. Elastic member 143 can be any suitable elastic element, such as a coil spring, a gas spring, or a rubber spring. Those skilled in the art will appreciate that when the arbor housing drive assembly 140 is not subjected to external forces, the elastic member 143 acts to keep movable member 142 in the distal position, with outer housing proximal segment 1121b in close proximity to outer housing distal segment 1121a.

[0072] During surgery, the distal end of the ultrasonic surgical tool 100 extends into the patient's body, while the blade bar housing drive assembly 140, located at the proximal end, is located outside the patient's body. In some embodiments, the user can operate the blade bar housing drive assembly 140, located outside the patient's body, to assemble or disassemble the ultrasonic surgical tool 100. For example, the user can operate the blade bar housing drive assembly 140, such as by pulling the movable member 142 proximally, causing the movable member 142 to slide the outer housing proximal segment 1121b proximally away from the outer housing distal segment 1121a, thereby transitioning the distal side of the first slot structure C1 from a closed state (as shown in FIG. 2 ) to an open state.

[0073] The ultrasonic surgical tool 100 can be assembled or disassembled through the first slot structure C1 with a distal end open. For example, the ultrasonic surgical tool 100 can release the auxiliary surgical tool 200 through the first slot structure C1 with a distal end open for disassembly. Alternatively, the ultrasonic surgical tool 100 can be connected to at least a portion of the auxiliary surgical tool 200 through the first slot structure C1 with a distal end open for assembly.

[0074] When the external force received by the arbor housing drive assembly 140 (e.g., the force exerted by a user pulling on the movable member 142) disappears, the movable member 142 can drive the outer housing proximal section 1121b to move distally under the action of the elastic member 143, until the distal end of the outer housing proximal section 1121b abuts the outer housing distal section 1121a. In the assembled state, the abutting outer housing proximal section 1121b and outer housing distal section 1121a can clamp at least a portion of the auxiliary surgical tool 200, thereby establishing a rigid connection between the ultrasonic surgical tool 100 and the auxiliary surgical tool 200.

[0075] In some embodiments, the user can directly operate the shank housing drive assembly 140 for assembly or disassembly. In other embodiments, the ultrasonic surgical tool 100 may further include an operating handle, through which the user can operate the shank housing drive assembly 140 for assembly or disassembly. In some embodiments, the operating handle may be connected to the shank housing drive assembly 140, or to both the shank housing drive assembly 140 and the shank assembly 110. The operating handle may be used to move the movable member 142 or the outer housing proximal section 1121b toward or away from the fixed member 141.

[0076] Figure 6 illustrates a schematic diagram of the structure of the operating handle 150a of the ultrasonic surgical tool 100 in a closed state, according to some embodiments of the present disclosure. Figure 7 illustrates a schematic diagram of the structure of the operating handle 150a of the ultrasonic surgical tool 100 in an open state, according to some embodiments of the present disclosure. As shown in Figures 6 and 7, in some embodiments, the operating handle 150a may include a grip portion 151a and an operating portion 152a.

[0077] During surgery, the operating handle 150a can be located outside the patient's body. The grip portion 151a can be used for the user to hold to stabilize the ultrasonic surgical tool 100 or operate the operating handle 150a. As shown in Figures 6 and 7, in some embodiments, the grip portion 151a can be cylindrical and can cover a portion of the proximal end of the arbor housing drive assembly 140 and the outer housing proximal section 1121b to facilitate user grip. Those skilled in the art will appreciate that part of the structure of the grip portion 151a is hidden in Figure 7 to facilitate viewing of the structure inside the grip portion 151a.

[0078] As shown in Figure 7, the gripping portion 151a can be fixedly connected to the fixing member 141. For example, the operating handle 150a can also include a first connecting portion 151j, and the first connecting portion 151j can be fixedly connected to the gripping portion 151a, and the gripping portion 151a can be fixedly connected to the fixing member 141 through the first connecting portion 151j. In some embodiments, the first connecting portion 151j can be fixedly connected to the fixing member 141 by a suitable method such as welding, thermoplasticization, and snap-fitting. In some embodiments, the fixing member 141 can include a first groove arranged along the circumference, and the first connecting portion 151j can snap-fit ​​with the first groove to be fixedly connected to the fixing member 141. In some embodiments, the first connecting portion 151j can be in a suitable shape such as an annular shape or an arc shape to snap-fit ​​with the first groove of the fixing member 141.

[0079] The operating portion 152a can be used for user operation. As shown in Figure 7, the distal end of the operating portion 152a can be rotatably connected to the handle portion 151a, for example, hinged to the handle portion 151a at point D1 inside the handle portion 151a. In some embodiments, the operating portion 152a can be connected to the movable member 142, for example, by abutment, direct connection, or connection via a connector. In some embodiments, as shown in Figure 7, the operating handle 150a can further include a first connecting portion 152j, through which the operating portion 152a can be connected to the movable member 142. The first connecting portion 152j can be fixedly connected to the movable member 142 by a suitable method such as welding, thermoplasticization, or snap-fitting. In some embodiments, the first connecting portion 152j can have a suitable shape, such as an annular or arcuate shape. As shown in Figure 7, the operating handle 150a can further include a first connecting rod 152g, the ends of which can be hinged to the operating portion 152a and the first connecting portion 152j, respectively.

[0080] In some embodiments, the operating portion 152a can be configured to receive a torque, causing the movable member 142 to move proximally. As shown in Figure 7 , under the action of the elastic member 143 and in the absence of external force, the movable member 142 is located distally, and the operating portion 152a connected to the movable member 142 is in an open position as shown in Figure 7 . In some embodiments, the operating portion 152a receives a torque in the direction indicated by arrow J1 in Figure 7 . Those skilled in the art will appreciate that, under the action of this torque, the operating portion 152a can rotate about the hinge point D1 in the direction indicated by arrow J1, for example, to the closed position shown in Figure 6 . During this rotation, the operating portion 152a pushes the first connecting rod 152g proximally, which in turn pushes the movable member 142 and the outer shell proximal section 1121b fixed thereto proximally. The distal side of the first slot structure C1 located distal to the outer shell proximal section 1121b can transition from a closed position to an open position, thereby facilitating assembly or disassembly.

[0081] In other embodiments, the operating portion 152a may be directly connected to the outer housing proximal section 1121b without passing through the movable member 142, and the operating portion 152a may receive a torque to drive the outer housing proximal section 1121b to move proximally. In some embodiments, the operating portion 152a may be connected to the outer housing proximal section 1121b via a connecting structure or directly connected to the outer housing proximal section 1121b.

[0082] As shown in Figures 6 or 7, the operating portion 152a can be rod-shaped, and the cylindrical handle portion 151a can cover a portion of the distal end of the operating portion 152a. In some embodiments, the operating portion 152a can extend into the internal cavity of the handle portion 151a through the opening at the distal end of the handle portion 151a, and the opening at the distal end of the handle portion 151a can accommodate the distal end of the operating portion 152a to rotate within the opening.

[0083] FIG8 illustrates a schematic diagram of the structure of an operating handle 150b of an ultrasonic surgical tool 100 in a closed state according to other embodiments of the present disclosure. FIG9 illustrates a schematic diagram of the structure of an operating handle 150b of an ultrasonic surgical tool 100 in an open state according to other embodiments of the present disclosure. As shown in FIG8 and FIG9 , the operating handle 150b may include a grip portion 151b for a user to hold and an operating portion 152b for a user to operate. In some embodiments, the operating portion 152b may be connected to the movable member 142 via a second connecting rod 152h. The distal end of the second connecting rod 152h may be hinged to the operating portion 152b, and the proximal end of the second connecting rod 152h may be connected to (e.g., abutted against) the movable member 142. In some embodiments, as shown in FIG8 or FIG9 , the operating handle 150b may further include a connecting member 153. The operating portion 152b and the grip portion 151b may be hinged to the connecting member 153 on opposite sides of the connecting member 153, for example, at hinge points D2 and D3, respectively.

[0084] Regarding the operating handle 150b, upon receiving a torque indicated by arrow J2 in Figure 9, the operating portion 152b can rotate about hinge point D2 in the direction indicated by arrow J2, for example, to the closed position shown in Figure 8. The connecting member 153 can then rotate counterclockwise about hinge point D3, driving the operating portion 152b toward the proximal end. During this rotation, the operating portion 152b pushes the second connecting rod 152h toward the proximal end, thereby driving the movable member 142 and the proximal outer shell segment 1121b fixed thereto toward the proximal end. The distal side of the first slot structure C1 located distal to the proximal outer shell segment 1121b can transition from a closed state to an open state, thereby facilitating assembly or disassembly.

[0085] In some embodiments, the operating handle 150b may further include a connecting torsion spring (not shown in the figure). The connecting torsion spring may be disposed between the operating portion 152b and the second connecting rod 152h (e.g., disposed at the position indicated by L1 in FIG9 ). The connecting torsion spring may be used to apply a torque to the second connecting rod 152h so that the proximal end of the second connecting rod 152h is close to the proximal end section 1121b of the outer shell. The proximal end of the second connecting rod 152h can thus always remain in contact with the proximal end section 1121b of the outer shell, thereby promoting the movement of the movable member 142.

[0086] When the ultrasonic surgical tool 100 is assembled or disassembled, the proximal end section 1121b of the outer shell will move relative to the inner shell 1122 of the shank. In some embodiments, the stability of the movement of the outer shell of the shank can be improved by various suitable methods. In some embodiments, the proximal end section 1121b of the outer shell can also include a plurality of annular bosses (not shown in the figure), and the plurality of annular bosses can be evenly arranged on the inner wall of the proximal end section 1121b of the outer shell. The inner side surfaces of the plurality of annular bosses can abut against the inner shell 1122 of the shank. Based on this, when the proximal end section 1121b of the outer shell moves proximally or distally, the inner shell 1122 of the shank can move relative to the channel formed by the constraints of the plurality of annular bosses, thereby helping to prevent the inner shell 1122 of the shank from swaying inside the outer shell of the shank.

[0087] In some embodiments, the inner shell 1122 of the arbor may include a limiting groove (not shown), which may extend along the length of the inner shell 1122. The limiting groove may be provided at the proximal end of the inner shell 1122 of the arbor. The arbor shell may further include a limiting pin (not shown), one end of which may be fixedly connected to the proximal end section 1121b of the outer shell, and the other end of which may be slidably connected to the limiting groove. Based on the mutually cooperating limiting pin and limiting groove, the movable range of the proximal end section 1121b of the outer shell can be limited to no more than the length of the groove. This helps to prevent the proximal end section 1121b of the outer shell from twisting during movement and helps to improve the stability of the movement of the proximal end section 1121b of the outer shell. It will be understood by those skilled in the art that the limiting pin may include a columnar component, a columnar protrusion, a bump, a rib, etc.

[0088] In some embodiments, the ultrasonic surgical tool 100 may further include a clamp assembly 160 and a clamp drive assembly 170. FIG10 illustrates a side view of the clamp assembly 160 of the ultrasonic surgical tool 100 in an open state, according to some embodiments of the present disclosure. FIG11 illustrates a side view of the clamp drive assembly 170 of the ultrasonic surgical tool 100, according to some embodiments of the present disclosure. FIG12 illustrates a perspective view of the clamp drive assembly 170 of the ultrasonic surgical tool 100, according to some embodiments of the present disclosure.

[0089] As shown in FIG10 , the clamp assembly 160 can be disposed at the distal end of the ultrasonic surgical tool 100. The clamp assembly 160 can include a connecting portion 161 and a clamp body 162. The connecting portion 161 can be hinged to the distal end of the distal segment 1121a of the outer shell. For example, it can be hinged to the distal end of the distal segment 1121a of the outer shell at point A. The clamp body 162 can be disposed at the distal end of the connecting portion 161. The clamp body 162 can be fixedly connected to the connecting portion 161. In some embodiments, the clamp body 162 and the connecting portion 161 can be integrally formed. During surgery, the clamp body 162 can form a clamp with the distal end of the knife rod 111 to clamp the patient's tissue. In some embodiments, the clamp body 162 and the distal end of the knife rod 111 can form a bipolar electrosurgical tool, which can perform bipolar coagulation and other operations on the biological tissue when the clamp body 162 and the distal end of the knife rod 111 clamp the biological tissue.

[0090] The clamp drive assembly 170 can be used to drive the clamp body 162 to open and close. In some embodiments, the clamp drive assembly 170 can be connected to the proximal end of the connecting portion 161 of the clamp assembly 160. In some embodiments, the clamp drive assembly 170 and the connecting portion 161 can be connected by various suitable structures, so that when the clamp drive assembly 170 moves, the connecting portion 161 connected thereto moves, and in turn, the clamp body 162 fixedly connected to the connecting portion 161 moves and closes.

[0091] In some embodiments, as shown in Figures 11 and 12, the connecting portion 161 of the clamp assembly 160 may include a first drive slot 1611 and a second drive slot 1612, which may be disposed on opposite sides of the connecting portion 161. As shown in Figures 11 and 12, the clamp drive assembly 170 may include a first pin structure 171, which may be disposed at the distal end of the clamp drive assembly 170. Both ends of the first pin structure 171 may be slidably connected to the first drive slot 1611 and the second drive slot 1612, respectively.

[0092] In some embodiments, as shown in Figures 11 and 12 , the clamp drive assembly 170 may include a longitudinal portion 173 extending along the length of the ultrasonic surgical tool 100 and a transverse portion 172 disposed perpendicular to the longitudinal portion 173. The transverse portion 172 may be located at the proximal end of the clamp drive assembly 170, and the longitudinal portion 173 may be located at the distal end of the clamp drive assembly 170. The transverse portion 172 and the longitudinal portion 173 are fixedly connected. In some embodiments, the transverse portion 172 and the longitudinal portion 173 may be integrally formed. In some embodiments, the axis of the transverse cross-section of the longitudinal portion 173 may be a circular arc to reduce contact between the clamp drive assembly 170 and the knife bar assembly 110 (e.g., the knife bar inner shell 1122) during movement. In some embodiments, as shown in Figures 11 and 12 , the transverse portion 172 may be annular and may be sleeved onto the knife bar inner shell 1122. In some embodiments, the transverse portion 172 may include two oppositely disposed portions, which may be respectively connected to the proximal ends of the longitudinal portion 173 of the clamp driving assembly 170 .

[0093] In some embodiments, as shown in FIG11 , the clamp drive assembly 170 may further include a boss 174 disposed at the distal end of the longitudinal portion 173. The boss 174 may protrude upward from the upper surface of the longitudinal portion 173 and extend transversely along the longitudinal portion 173. A first pin structure 171 may extend transversely through the boss 174, with both ends extending beyond the boss 174 to connect with the first drive slot 1611 and the second drive slot 1612 of the connecting portion 161 of the clamp assembly 160. In some embodiments, the first pin structure 171 may include two short pins disposed on either side of the boss 174, each of which is slidably connected to the first drive slot 1611 and the second drive slot 1612, respectively. In some embodiments, as an alternative to the boss 174, the distal end of the clamp drive assembly 170 may include two raised ear structures on either side, and the first pin structure 171 may include two portions disposed on the ear structures to connect with the first drive slot 1611 and the second drive slot 1612, respectively.

[0094] In some embodiments, as shown in Figures 11 and 12 , the clamp drive assembly 170 can cover at least a portion of the distal end of the inner housing 1122 of the arbor. For example, the transverse portion 172 and the longitudinal portion 173 of the clamp drive assembly 170 can each cover a portion of the inner housing 1122 of the arbor. The distal end section 1121a of the outer housing can also cover at least a portion of the clamp drive assembly 170. In some embodiments, as shown in Figure 2 , the distal end section 1121a of the outer housing can include a fourth slot structure C4 that exposes at least a portion of the clamp drive assembly 170. Thus, the portion of the clamp drive assembly 170 exposed by the fourth slot structure C4 can be used to move the clamp drive assembly 170, thereby driving the jaws 162 to open and close.

[0095] In some embodiments, as shown in Figures 1 and 10, the outer housing distal segment 1121a may further include a third drive slot DC3 and a fourth drive slot (not shown) disposed opposite each other. The third drive slot DC3 and the fourth drive slot may both extend along the length of the outer housing distal segment 1121a. As shown in Figures 1 and 10, the clamp drive assembly 170 may further include at least one first short pin structure or first protrusion structure 1721. The first short pin structure or first protrusion structure 1721 may be disposed on a first side of the proximal end of the clamp drive assembly 170, such as a first side of the transverse portion 172 (see Figures 11 or 12). The first short pin structure or first protrusion structure 1721 may be slidably connected to the third drive slot DC3 of the outer housing distal segment 1121a.

[0096] The clamp drive assembly 170 may further include at least one second short pin structure or second protrusion structure (not shown). The second short pin structure or second protrusion structure may be disposed on a second side of the proximal end of the clamp drive assembly 170, such as a second side of the transverse portion 172 (see FIG. 11 or 12 ). The at least one second short pin structure or second protrusion structure may be disposed opposite the at least one short pin structure or first protrusion structure 1721. The at least one second short pin structure or second protrusion structure may be slidably connected to the fourth drive slot. Based on this, the clamp drive assembly 170 may slide relative to the fixed distal end section 1121a of the outer shell along the third drive slot DC3 and the fourth drive slot.

[0097] 10 to 12 , the at least one first short pin structure 1721 may include two short pin structures arranged side by side along the axis to improve the sliding stability of the clamp drive assembly 170. The at least one second short pin structure may also include two short pin structures arranged side by side along the axis.

[0098] In some embodiments, as shown in FIG2 and FIG12 , the clamp drive assembly 170 may further include a second pin structure 175. The second pin structure 175 may be disposed at the proximal end of the clamp drive assembly 170, for example, on the transverse portion 172 of the clamp drive assembly 170. In some embodiments, the second pin structure 175 may be fixedly coupled to the transverse portion 172, for example, by welding or other suitable means. The second pin structure 175 may be configured to receive actuation of the clamp assembly 160.

[0099] In some embodiments, as shown in Figures 2 and 12, the clamp drive assembly 170 may further include a fifth slot structure C5. The fifth slot structure C5 may be disposed at the proximal end of the clamp drive assembly 170, for example, at the lower portion of the transverse portion 172 of the clamp drive assembly 170. As shown in Figures 2 and 12, the fifth slot structure C5 may expose at least a portion of the second pin structure 175. Thus, a driving force may be applied to the second pin structure 175 through the exposed portion of the fifth slot structure C5, for example, along the length of the ultrasonic surgical tool 100. Under the action of the driving force, the second pin structure 175 may drive the clamp drive assembly 170 to slide along the length, thereby driving the clamp assembly 160 connected to the clamp drive assembly 170 to open and close.

[0100] FIG13 illustrates a perspective view of the clamp assembly 160 of the ultrasonic surgical tool 100 according to some embodiments of the present disclosure. In some embodiments, as shown in FIG13 , the clamp assembly 160 may further include a clamp torsion spring 163. The clamp torsion spring 163 may be disposed between the distal end section 1121a of the outer housing and the clamp body 162. The clamp torsion spring 163 may be configured to apply a torque to the clamp body 162 that forces the clamp body 162 to close. Under the action of the clamp torsion spring 163, when the clamp drive assembly 170 is not subjected to external force, the clamp body 162 remains closed, facilitating the ultrasonic surgical tool 100 to enter and exit the patient's body or to move within the patient's body.

[0101] Those skilled in the art will understand that, as shown in Figures 1 and 2, when the clamp drive assembly 170 is not subjected to external force, the second pin structure 175 is located near the proximal end of the fifth groove structure C5, the first short pin structure or the first protrusion structure 1721 is located at the proximal end of the third drive slot DC3, the second short pin structure or the second protrusion structure is located at the proximal end of the fourth drive slot, and both ends of the first pin structure 171 are located at the proximal ends of the first drive slot 1611 and the second drive slot 1612.

[0102] When the clamp drive assembly 170 is pushed by an external force, such as a force in the direction indicated by arrow J3 in FIG. 2 , the second pin structure 175 can move distally along the length of the ultrasonic surgical tool 100, driving the clamp drive assembly 170 to move distally. As shown in FIG. 10 , the first short pin structure or first protrusion 1721 of the clamp drive assembly 170 can move to the distal end of the third drive slot DC3, the second short pin structure or second protrusion can move to the distal end of the fourth drive slot, and both ends of the first pin structure 171 can move to the distal ends of the first drive slot 1611 and the second drive slot 1612. Those skilled in the art will appreciate that during this distal movement of the first pin structure 171, the fixedly connected connecting portion 161 and the clamp body 162 rotate clockwise about the hinge point A, causing the clamp body 162 to rotate from the closed position shown in FIG. 1 to the open position shown in FIG. 10 .

[0103] In some embodiments, the clamp assembly 160 may further include a clamp pad (not shown), which may be disposed on the clamp body 162 and connected to the clamp body 162 via, for example, a T-slot. In some embodiments, the clamp pad may be made of a soft material such as PTFE (polytetrafluoroethylene) or PEEK (polyetheretherketone), thereby preventing damage to the high-speed vibrating tool bar 111 when the clamp body 162 is fully closed.

[0104] In some embodiments, the distal end of the ultrasonic transducer 120 can be detachably connected to the proximal end of the knife bar 111. For example, the distal end of the front cover 121 of the ultrasonic transducer 120 can be threadedly connected to the proximal end of the knife bar 111 at the position indicated by L2 in Figure 3. In some embodiments, in the ultrasonic surgical tool 100, the knife bar assembly 110 can be disposable, while the ultrasonic transducer 120 can be used multiple times. In some embodiments, the operating handle (e.g., operating handle 150a or 150b) can be detachably connected to the knife bar housing drive assembly 140, and the operating handle can be reused multiple times. In some embodiments, the clamp assembly 160 and the clamp drive assembly 170 can both be disposable. In some embodiments, for example, after surgery, the disposable portion of the ultrasonic surgical tool 100 can be replaced by removing the connection between the knife bar 111 and the ultrasonic transducer 120 after removing the operating handle, so as to facilitate the operation of replacing consumables.

[0105] Some embodiments of the present disclosure also provide a mountable ultrasonic surgical tool assembly 10. As shown in FIG3 , the mountable ultrasonic surgical tool assembly 10 may include an ultrasonic surgical tool 100 and an auxiliary surgical tool 200. The ultrasonic surgical tool 100 may include any of the ultrasonic surgical tools 100 described in some embodiments of the present disclosure, which will not be described in detail to reduce repetition. The auxiliary surgical tool 200 may be detachably connected to the ultrasonic surgical tool 100 and may be used to drive the ultrasonic surgical tool 100 in motion. As shown in FIG3 , the auxiliary surgical tool 200 may include an arm 210 and an assembly head 220. The assembly head 220 may be disposed at the distal end of the arm 210 and may be detachably connected to the assembly structure 130 of the ultrasonic surgical tool 100. Those skilled in the art will appreciate that after the auxiliary surgical tool 200 is connected to the ultrasonic surgical tool 100, the auxiliary surgical tool 200 may be able to drive the ultrasonic surgical tool 100 in motion, for example, within a patient's body.

[0106] FIG14 illustrates a perspective view of the distal end structure of an auxiliary surgical tool 200 according to some embodiments of the present disclosure. As shown in FIG14 , in some embodiments, the assembly head 220 of the auxiliary surgical tool 200 may include a body 221 and a boss 222 disposed above the body 221. As shown in FIG14 , the boss 222 may include a first rail 2221 and a second rail 2222 disposed opposite each other. The first rail 2221 and the second rail 2222 may be configured to detachably connect to the assembly structure 130 of the ultrasonic surgical tool 100.

[0107] For example, during assembly, the lower portion of the boss 222 can extend from the open side of the first slot structure C1 of the ultrasonic surgical tool 100 into the first slot structure C1, and the first rail 2221 and the second rail 2222 can respectively engage with opposite sides of the first slot structure C1. During disassembly, the lower portion of the boss 222 can detach from the open side of the first slot structure C1 of the ultrasonic surgical tool 100, and the first rail 2221 and the second rail 2222 can slide out of the first slot structure C1.

[0108] In some embodiments, during assembly or disassembly, the outer housing proximal segment 1121b can be slid proximally by operating the shank housing drive assembly 140 or an operating handle (e.g., operating handle 150a or 150b) of the ultrasonic surgical tool 100, thereby opening the distal end of the first groove structure C1. In some embodiments, during assembly, the outer housing proximal segment 1121b can be slid distally, causing the outer housing proximal segment 1121b and the outer housing distal segment 1121a to clamp the boss 222. Those skilled in the art will appreciate that, in the assembled state, the upper portion of the boss 222 can be located between the shank outer housing 112 and the shank inner housing 111. Through the boss 222 of the auxiliary surgical tool 200 and the assembly structure 130 of the ultrasonic surgical tool 100, the auxiliary surgical tool 200 and the ultrasonic surgical tool 100 can establish a rigid connection, facilitating the auxiliary surgical tool 200 to drive the ultrasonic surgical tool 100 in motion.

[0109] In some embodiments, as shown in FIG14 , in the auxiliary surgical tool 200, the main body 221 of the assembly head 220 may include a sliding space 2211, a first arm 221a, and a second arm 221b. The first arm 221a and the second arm 221b may be arranged on opposite sides of the sliding space 2211 and extend toward the distal end of the arm body 210. As shown in FIG14 , the first arm 221a may include a fifth drive slot 2212, and the second arm 221b may include a sixth drive slot 2213. In some embodiments, the first arm 221a and the second arm 221b may be separated from each other. In other embodiments, as shown in FIG14 , the first arm 221a and the second arm 221b may be connected together, for example, the lower portions of the first arm 221a and the second arm 221b are connected together by a connecting structure, thereby facilitating the stability of the structure.

[0110] As shown in FIG14 , the assembly head 220 may further include a slider 223. The slider 223 may be slidably connected to the fifth drive slot 2212 and the sixth drive slot 2213 via at least one pin or protrusion 2231. In some embodiments, 2231 may be a pin structure that passes transversely through the lower portion of the slider 223, with the ends of the pin structure 2231 slidably connected to the fifth drive slot 2212 and the sixth drive slot 2213, respectively. In some embodiments, as shown in FIG14 , the pin structure 2231 may include two pins that slide in the fifth drive slot 2212 and the sixth drive slot 2213 to enhance the sliding stability of the slider 223. In other embodiments, 2231 may be protrusion structures disposed on opposite sides of the lower portion of the slider 223, with the protrusion structures 2231 slidably connected to the fifth drive slot 2212 and the sixth drive slot 2213, respectively. Those skilled in the art will appreciate that, when the pin 2231 slides in the fifth driving slot 2212 and the sixth driving slot 2213 , the slider 223 can move in the sliding space 2211 .

[0111] As shown in FIG14 , the slider 223 may include at least one slot structure 2232 disposed on an upper portion of the slider 223 . The upper portion of the at least one slot structure 2232 extends out of the sliding space 2211 . The at least one slot structure 2232 may be used to connect to the ultrasonic surgical tool 100 . For example, the at least one slot structure 2232 may be connected to the second pin structure 175 (see FIG2 or FIG12 ) of the ultrasonic surgical tool 100 . Based on this, in the assembled state, the movement of the slider 223 of the auxiliary surgical tool 200 may be driven to drive the jaws 162 of the ultrasonic surgical tool 100 to open and close.

[0112] Those skilled in the art will appreciate that, in the assembled state, when the slider 223 moves along the fifth drive slot 2212 and the sixth drive slot 2213, it can drive the second pin structure 175 of the ultrasonic surgical tool 100 connected thereto to move along the length direction of the ultrasonic surgical tool 100. The movement of the second pin structure 175 drives the clamp drive assembly 170 to move along the length direction, thereby driving the clamp body 162 to open and close.

[0113] In some embodiments, the auxiliary surgical tool 200 may further include a drive wire (not shown). The proximal end of the drive wire may pass through the arm 210 of the auxiliary surgical tool 200 to receive a driving force for pushing or pulling, and the distal end of the drive wire may be connected to the slider 223. In some embodiments, the proximal end of the drive wire may pass through the arm 210 to connect a slider drive device for providing a driving force for the movement of the slider 223. The slider drive device may push and pull the drive wire, thereby enabling the slider 223 to move in the sliding space 2211, and thereby driving the opening and closing of the clamp body 162 in the ultrasonic surgical tool 100. In some embodiments, the drive wire may be a nickel-titanium alloy wire.

[0114] In some embodiments, as shown in FIG14 , the slider 223 may further include at least one arcuate groove 2233 disposed on the upper portion of the slider 223. The at least one arcuate groove 2233 opens upward to prevent the slider 223 from contacting the ultrasonic surgical tool 100 when sliding in the assembled state. Those skilled in the art will appreciate that other suitable structures, such as a square groove, may be disposed on the upper portion of the slider 223 to prevent the ultrasonic surgical tool 100 from sliding when the slider 223 slides.

[0115] FIG15 illustrates a side view of an assembleable ultrasonic surgical tool assembly 10 in a ready-to-assemble state, according to some embodiments of the present disclosure. During surgery, the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 can be assembled within a patient's body. As shown in FIG15 , during surgery, the distal portion of the blade assembly 110, assembly structure 130, clamp assembly 160, and clamp drive assembly 170 of the ultrasonic surgical tool 100 can be inserted into the patient's body; the distal portion of the arm 210 and assembly head 220 of the auxiliary surgical tool 100 can also be inserted into the patient's body. The proximal portion of the arm 210 of the auxiliary surgical tool 200, the proximal portion of the blade assembly 110 of the ultrasonic surgical tool 100, the ultrasonic transducer 120, the blade housing drive assembly 140, and an operating handle (e.g., operating handle 150a or 150b) are located outside the patient's body. In some embodiments, during assembly, the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 can be manipulated separately, moving them to the relative positions shown in FIG15 .

[0116] The ultrasonic surgical tool 100 can be inserted into the patient's body through an opening (e.g., a natural opening or an incision). The auxiliary surgical tool 200 can be inserted into the patient's body through a sheath connected to the opening. In some embodiments, the auxiliary surgical tool 200 can be mounted on the distal end of a robotic arm of a surgical robot system, and a user can issue control commands through the surgical robot system to control the distal end of the auxiliary surgical tool 200 to enter the patient's body.

[0117] During the assembly process, the user can adjust the posture of the distal end of the ultrasonic surgical tool 100 by operating the operating handle (e.g., operating handle 150a or 150b). The user can also issue control instructions through the surgical robot system to adjust the posture of the distal end of the auxiliary surgical tool 200.

[0118] After reaching the relative position shown in FIG15 , the user can operate the operating handle, for example, by opening the operating handle 150a or 150b to the open state (see FIG7 or FIG9 ), so as to move the outer shell proximal section 1121b proximally (for example, to the state shown in FIG5 ), thereby opening the first slot structure 131 of the assembly structure 130. Based on this, the user can control the auxiliary surgical tool 200 to move in the direction indicated by arrow J4 in FIG15 to connect with the ultrasonic surgical tool 100. As an alternative embodiment, the user can also control the ultrasonic surgical tool 100 to move in the opposite direction of arrow J4 in FIG15 to connect with the auxiliary surgical tool 200.

[0119] Due to the action of the clamp torsion spring 163, the clamp assembly 160 of the ultrasonic surgical tool 100 is in a closed position, and the second pin structure 175 of the clamp drive assembly 170 is located proximal to the fourth slot structure C4. During assembly, the slider 223 of the auxiliary surgical tool 200 can be moved proximally to connect with the second pin structure 175. Therefore, when the auxiliary surgical tool 200 is moved in the direction indicated by arrow J4, the slider 223 of the auxiliary surgical tool 200 (e.g., the slot structure 2232 on the slider 223) can connect with the second pin structure 175, and the boss 222 can extend into the portion between the proximal end section 1121b of the outer housing and the distal end section 1121a of the outer housing.

[0120] The user can operate the operating handle, for example, by closing the operating handle 150a or 150b to a closed position (see Figure 6 or Figure 8), thereby causing the outer housing proximal segment 1121b to move distally. Figure 16 shows a side view of the assembled ultrasonic surgical tool assembly 10 according to some embodiments of the present disclosure. Under the user's operation, the outer housing proximal segment 1121b moves distally, and the assembly structure 130 (e.g., the first groove structure C1) at the distal end of the outer housing proximal segment 1121b can connect with the boss 222 of the auxiliary surgical tool 200. Based on this, the ultrasonic surgical tool 100 and the auxiliary surgical tool 200 can establish a rigid connection and be assembled into the state shown in Figure 16.

[0121] Those skilled in the art will appreciate that the steps involved in assembling the installable ultrasonic surgical tool assembly 10 are not limited to the steps described above, nor are they limited to the order of the steps described above. After completing assembly of the installable ultrasonic surgical tool assembly 10, the user can issue control commands through the surgical robot system to control the movement of the auxiliary surgical tool 200, thereby driving the ultrasonic surgical tool 100 to move within the human body. This facilitates movement of the ultrasonic surgical tool 100 to different locations within the patient's body for surgical procedures. The user can also issue control commands through the surgical robot system to control the opening and closing of the clamp assembly 160 of the ultrasonic surgical tool 100 to perform operations such as tissue clamping and bipolar coagulation.

[0122] Under the action of the clamp torsion spring 163, in the absence of external force, the clamp body 162 is in a closed state, and the ultrasonic surgical tool assembly 10 is in the state shown in Figure 16. In some embodiments, a pushing force can be applied to the slider 223 to cause the slider 223 to move distally, thereby opening the clamp assembly 160. Figure 17 shows a side view of the clamp assembly 160 of the ultrasonic surgical tool assembly 10 according to some embodiments of the present disclosure in an open state. Figure 18 shows a cross-sectional view of the ultrasonic surgical tool assembly 10 according to some embodiments of the present disclosure. As shown in Figures 17 and 18, the pin 2231 at the bottom of the slider 223 moves distally along the fifth drive slot 2212 and the sixth drive slot 2213, and the movement of the slider 223 drives the clamp drive assembly 170 to move distally. The first pin structure 171 of the clamp driving assembly 170 moves distally along the first driving slot 1611 and the second driving slot 1612, and pushes the connecting portion 161 of the clamp assembly 160 connected thereto to move distally, thereby causing the clamp body 162 to rotate around the hinge point A, and the clamp body 162 rotates from a closed state (see Figure 16) to an open state (see Figure 17 or Figure 18).

[0123] Other embodiments of the present disclosure provide an ultrasonic surgical tool 300. FIG. 19 illustrates a perspective view of the assembly structure 130 of the ultrasonic surgical tool 300 in an extended state, according to some embodiments of the present disclosure. FIG. 20 illustrates a perspective view of the assembly structure 130 of the ultrasonic surgical tool 300 in an extended state, according to some embodiments of the present disclosure. FIG. 21 illustrates a perspective view of the assembly structure 130 of the ultrasonic surgical tool 300 in a closed state, according to some embodiments of the present disclosure. FIG. 22 illustrates a bottom view of the distal end structure of the ultrasonic surgical tool 300, according to some embodiments of the present disclosure.

[0124] The ultrasonic surgical tool 300 may include a blade bar assembly 310, an ultrasonic transducer (not shown), and an assembly structure 330. In some embodiments, the ultrasonic surgical tool 300 may further include a blade bar housing drive assembly (not shown), an operating handle (not shown), a clamp assembly 360, and a clamp drive assembly 370. The blade bar assembly 310, ultrasonic transducer, blade bar housing drive assembly, operating handle, clamp assembly 360, and clamp drive assembly 370 of the ultrasonic surgical tool 300 may be similar to the aforementioned components of the ultrasonic surgical tool 100 and are not described herein in detail to reduce repetition.

[0125] As shown in Figures 19 to 22, in some embodiments, the assembly structure 330 can be connected to the knife bar housing 312. The assembly structure 330 may include a knife bar connector 331 and an assembly connector 332. As shown in Figure 20, the knife bar connector 331 can be connected to the knife bar inner shell 3122. In some embodiments, the knife bar connector 331 can be annular and can be sleeved on the knife bar inner shell 3122. In some embodiments, the knife bar connector 331 can be fixedly connected to the knife bar inner shell 3122 to fix the position of the assembly structure 330 for easy assembly or disassembly, for example, by any suitable means such as bonding, welding, thermoplasticization, etc. It will be understood by those skilled in the art that the shape of the knife bar connector 331 is not limited to the shape shown in Figure 20, but can also be any suitable shape, such as a U-shape, an arc shape, etc.

[0126] As shown in Figures 19 and 20 , the assembly connector 332 can extend from the blade shaft outer housing 3121 (e.g., the proximal end section 3121b of the outer housing) to facilitate assembly or disassembly of the ultrasonic surgical tool 300, such as assembly or disassembly of the ultrasonic surgical tool 300 with the auxiliary surgical tool 200. As shown in Figures 21 and 22 , in some embodiments, the assembly connector 332 can also be retracted within the blade shaft outer housing 3121. Those skilled in the art will appreciate that when the ultrasonic surgical tool 300 is unassembled, the assembly connector 332 is retracted within the blade shaft outer housing 3121, facilitating insertion and removal of the ultrasonic surgical tool 300 from the patient. When the ultrasonic surgical tool 300 is assembled (e.g., assembled with the auxiliary surgical tool 200), the assembly connector 332 is retracted within the blade shaft outer housing 3121, allowing at least a portion of the auxiliary surgical tool 200 to be retracted within the blade shaft outer housing 3121 of the ultrasonic surgical tool 300, thereby enhancing the stability of the connection between the two.

[0127] As shown in Figures 19 and 20, in some embodiments, the assembly structure 330 may further include an assembly torsion spring 333 to enable the assembly connector 332 to extend out of the knife bar outer shell 3121. The assembly torsion spring 333 may be disposed between the knife bar connector 331 and the assembly connector 332, and may be used to apply a torque to the assembly connector 332 that causes the assembly connector 332 to extend out of the knife bar outer shell 3121.

[0128] In some embodiments, as shown in Figures 19 to 22, the assembly connector 332 may include a proximal connection portion 3321 and a distal assembly portion 3322. The proximal end of the proximal connection portion 3321 may be connected to the knife bar connector 331. In some embodiments, the proximal end of the proximal connection portion 3321 may be hinged to the knife bar connector 331, for example, by a pin. In some embodiments, at least a portion of the assembly torsion spring 333 may be sleeved on the pin. The distal assembly portion 3322 may be disposed at the distal end of the proximal connection portion 3321, and the distal assembly portion 3322 may be used to assemble or disassemble the ultrasonic surgical tool 300.

[0129] In some embodiments, as shown in Figures 19 and 20, the distal assembly portion 3322 may include a second slot structure C2 and first and second connecting arms B1 and B2. The first and second connecting arms B1 and B2 may be disposed on opposite sides of the second slot structure C2. In the assembled state, the second slot structure C2 may engage with at least a portion of the auxiliary surgical tool 200, and the first and second connecting arms B1 and B2 may be connected to the auxiliary surgical tool 200. In other embodiments, the distal assembly portion 3322 may include a retaining ring, which may be connected to the auxiliary surgical tool 200 in the assembled state, for example, by being positioned over or retaining at least a portion of the auxiliary surgical tool 200. In other embodiments, the distal assembly portion 3322 may include at least one connecting arm, which may extend into at least a portion of the auxiliary surgical tool 200, such as at least one slot structure of the auxiliary surgical tool 200, in the assembled state. Those skilled in the art will appreciate that the structure of the distal assembly portion 3322 is not limited to the aforementioned structures and may be any suitable structure.

[0130] As shown in Figures 19 and 20, when the assembly connector 332 extends beyond the proximal end section 3121b of the outer housing, the second slot structure C2, first connecting arm B1, and second connecting arm B2 of the distal assembly portion 3322 face outward in the circumferential direction of the knife bar assembly 310, thereby facilitating assembly or disassembly of the ultrasonic surgical tool 300. For example, at least a portion of the auxiliary surgical tool 200 can be connected to the assembly connector 332 via the open side of the second slot structure C2 for assembly. Alternatively, at least a portion of the auxiliary surgical tool 200 can be detached from the assembly connector 332 via the open side of the second slot structure C2 for disassembly.

[0131] As shown in Figures 21 and 22, in some embodiments, the outer housing proximal section 3121b can cover the proximal connection portion 3321 of the assembly connector 332 (see Figures 19 and 20), allowing the assembly connector 332 to converge with the tool bar outer housing 3121. As shown in Figure 21, in some embodiments, the outer housing proximal section 3121b can include a third slot structure C3. The third slot structure C3 can be located at the distal end of the outer housing proximal section 3121b. In some embodiments, as shown in Figure 21, the distal assembly portion 3322 can converge with the third slot structure C3. In some embodiments, as shown in Figure 19, the assembly connector 332 can extend from the third slot structure C3 out of the outer housing proximal section 3121b to facilitate assembly or disassembly of the ultrasonic surgical tool 300.

[0132] As shown in Figures 21 and 22, when the outer housing proximal segment 3121b is close to the outer housing distal segment 3121a, the distal end of the outer housing proximal segment 3121b can cover the proximal connection portion 3321 of the assembly connector 332, and the assembly connector 332 can converge into the third groove structure C3. As shown in Figure 19, when the outer housing proximal segment 3121b is away from the outer housing distal segment 3121a, the assembly torsion spring 333 acts to extend the assembly connector 332 out of the outer housing proximal segment 3121b, thereby enabling the ultrasonic surgical tool 300 to be disassembled or assembled.

[0133] Other embodiments of the present disclosure provide an assembleable ultrasonic surgical tool assembly 30. The assembleable ultrasonic surgical tool assembly 30 may include an ultrasonic surgical tool 300 and an auxiliary surgical tool 200 as described in any of the embodiments of the present disclosure (see FIG14 ). FIG23 shows a stereoscopic view of the assembleable ultrasonic surgical tool assembly 30 in a state to be assembled according to some embodiments of the present disclosure. In some embodiments, the ultrasonic surgical tool 300 and the auxiliary surgical tool 200 can be operated separately to move the two to a relative position as shown in FIG23 , and then the two can be assembled. The user can operate the shank housing drive assembly or the operating handle of the ultrasonic surgical tool 300 to move the proximal end section 3121b of the outer housing toward the proximal end, thereby causing the assembly structure 330 to extend from the proximal end section 3121b of the outer housing (see FIG19 ).

[0134] In some embodiments, the user can control the ultrasonic surgical tool 300 to move in the direction indicated by arrow J5 in Figure 23 to connect with the auxiliary surgical tool 200. As an alternative embodiment, the user can also control the auxiliary surgical tool 200 to move in the opposite direction of arrow J5 in Figure 23 to connect with the ultrasonic surgical tool 300. Figure 24 shows a side view of the assembleable ultrasonic surgical tool assembly 30 during assembly according to some embodiments of the present disclosure. In some embodiments, after the above operations, as shown in Figure 24, the assembly connector 332 of the ultrasonic surgical tool 300 can be connected to the boss 222 of the auxiliary surgical tool 200.

[0135] FIG25 illustrates a side view of an assembled ultrasonic surgical tool assembly 30 according to some embodiments of the present disclosure. In some embodiments, a user can operate the shank housing drive assembly or handle to distally move the outer housing proximal segment 3121b. The distal end of the outer housing proximal segment 3121b can cover the proximal connection portion 3321 of the assembly connector 332 (see FIG21 and FIG22 ). The assembly connector 332 can thereby retract within the outer housing proximal segment 3121b, driving the assembly head 220 of the auxiliary surgical tool 200 connected thereto toward the ultrasonic surgical tool 300. The boss 222 can be pressed into the shank outer housing 3121 of the ultrasonic surgical tool 300. The slider 223 can connect to the pin structure 375 (see FIG21 and FIG22 ) of the clamp drive assembly 370. The ultrasonic surgical tool 300 can establish a rigid connection with the auxiliary surgical tool 200, and the two can be assembled in the configuration shown in FIG25 .

[0136] Those skilled in the art will appreciate that the steps involved in assembling the assemblable ultrasonic surgical tool assembly 30 are not limited to the steps described above, nor are they limited to the order of the steps described above. In the assembled state, the user can issue control commands through the surgical robotic system to control the movement of the auxiliary surgical tool 200, thereby driving the ultrasonic surgical tool 300 to move within the patient's body, facilitating surgical operations at various locations within the patient's body. The user can also issue control commands through the surgical robotic system to control the movement of the slider 223 of the auxiliary surgical tool 200, thereby controlling the opening and closing of the clamp assembly 360 of the ultrasonic surgical tool 300.

[0137] Other embodiments of the present disclosure provide an ultrasonic surgical tool 500. FIG26 shows a stereoscopic view of the distal structure of the ultrasonic surgical tool 500 according to other embodiments of the present disclosure. The ultrasonic surgical tool 500 may include a knife bar assembly 510, an ultrasonic transducer (not shown in the figure), and an assembly structure 530. In some embodiments, the ultrasonic surgical tool 500 may also include a knife bar housing drive assembly (not shown in the figure), an operating handle (not shown in the figure), a clamp assembly 560, and a clamp drive assembly 570. Among them, the knife bar assembly 510, ultrasonic transducer, assembly structure 530, knife bar housing drive assembly, operating handle, clamp assembly 560, and clamp drive assembly 570 of the ultrasonic surgical tool 500 may be similar to the above-mentioned parts of the ultrasonic surgical tool 100 or 300, respectively, and will not be repeated here to reduce repetition.

[0138] FIG27 illustrates a schematic structural diagram of an assembly structure repositioning assembly 580 of an ultrasonic surgical tool 500 according to some embodiments of the present disclosure. In some embodiments, the blade connecting member 531 (see FIG27 ) of the assembly structure 530 can be slidably connected to the blade inner shell 5122. Consequently, when assembling or disassembling the ultrasonic surgical tool 500, such as when assembling it with an auxiliary surgical tool 200, the assembly structure 530 can be slid proximally, thereby leaving more space for assembly or disassembly, thereby facilitating assembly or disassembly.

[0139] As shown in FIG27 , the ultrasonic surgical tool 500 may further include an assembly structure reset assembly 580. The assembly structure reset assembly 580 may be disposed at the proximal end of the assembly structure 530 and configured to apply a force to the assembly structure 530 to cause the assembly structure 530 to move distally. In some embodiments, the distal end of the assembly structure reset assembly 580 may abut against the assembly structure 530 (e.g., the knife bar connector 531) to apply force to the assembly structure 530. In some embodiments, the assembly structure reset assembly 580 may be fixedly connected to the knife bar connector 531 by a suitable means such as bonding, welding, or thermoplasticization.

[0140] In some embodiments, as shown in FIG27 , the assembly structure reset assembly 580 may include a base 581 and an elastic member 582. The base 581 may be fixedly connected to the inner shell 5122 of the shank. In some embodiments, the base 581 may be in any suitable shape, such as an annular shape, a portion of an annular shape, or a U-shape. In some embodiments, the base 581 may be fixedly connected to the inner shell 5122 of the shank by any suitable means, such as welding or bonding. The elastic member 582 may be disposed between the base 581 and the shank connector 531 and may be used to apply a force to the shank connector 531 to cause the shank connector 531 to move distally. As shown in FIG27 , the elastic member 582 may be sleeved onto the inner shell 5122 of the shank. In some embodiments, the elastic member 582 may be any suitable elastic element, such as a coil spring, a gas spring, or a rubber spring.

[0141] In some embodiments, as shown in Figures 26 and 27, the assembly structure reset component 580 may further include a limit block 583. The limit block 583 may be provided on the inner shell 5122 of the knife bar, for example, fixedly connected to the inner shell 5122 of the knife bar. As shown in Figure 27, the limit block 583 may be located at the distal end of the knife bar connector 531. The limit block 583 may be used to prevent the knife bar connector 531 from moving toward the distal end. As shown in Figure 27, when the assembly structure 530 is not subjected to external force, due to the force applied by the first elastic member 582, the knife bar connector 531 is located at the distal end and abuts against the limit block 583.

[0142] FIG28 illustrates a perspective view of the distal structure of the ultrasonic surgical tool 500 from another angle, according to some embodiments of the present disclosure. In some embodiments, as shown in FIG26 to FIG28 , the shank connector 531 may include a first stop pin XX1, and the outer housing proximal section 5121b may include a first stop slot XC1. The first stop slot XC1 may be located at the distal end of the outer housing proximal section 5121b and extend along the length of the outer housing proximal section 5121b. The first stop pin XX1 may be slidably connected to the first stop slot XC1. Therefore, when the outer housing proximal section 5121b moves proximally, the first stop slot XC1 may pull the first stop pin XX1 proximally, thereby driving the assembly structure 530 to move proximally.

[0143] As shown in FIG28 , when the outer housing proximal segment 5121b is adjacent to the outer housing distal segment 5121a, the first stop pin XX1 is located proximal to the first stop slot XC1. At this point, the distal end of the outer housing proximal segment 5121b overlaps the proximal connection portion of the assembly connector 532 (see FIG26 ), and the assembly connector 532 is retracted within the tool bar outer housing 5121. In this state, the outer housing proximal segment 5121b can be moved proximally to disassemble or assemble the ultrasonic surgical tool 500.

[0144] In some embodiments, the outer shell proximal section 5121b moves proximally, for example, a distance equal to the length of the first limiting groove XC1, so that the first limiting pin XX1 is located at the distal end of the first limiting groove XC1. At this time, the outer shell proximal section 5121b releases the proximal connection portion of the assembly connector 532, and the assembly connector 532 can extend from the distal end of the outer shell proximal section 5121b.

[0145] On this basis, the proximal section 5121b of the outer shell can continue to move proximally, for example, to the state shown in Figure 26. During this process, the first limiting slide XC1 can pull the first limiting pin XX1 proximally, thereby driving the assembly structure 530 to move proximally. As shown in Figure 26, the assembly structure 530 moves proximally and the assembly connector 532 remains extended from the proximal section 5121b of the outer shell during this process. When the assembly is to be assembled, pulling the assembly structure 530 proximally can expand the space for assembly, thereby facilitating assembly. When the assembly is to be disassembled, pulling the assembly structure 530 proximally can separate the assembly structure 530 (such as the assembly connector 532) from the auxiliary surgical tool 200, thereby facilitating disassembly.

[0146] Other embodiments of the present disclosure provide an assembleable ultrasonic surgical tool assembly 50. The assembleable ultrasonic surgical tool assembly 50 may include an ultrasonic surgical tool 500 and an auxiliary surgical tool 200 (see FIG. 14 ), as described in any of the embodiments of the present disclosure. FIG. 29 illustrates a perspective view of the assembleable ultrasonic surgical tool assembly 50 according to other embodiments of the present disclosure, in a state ready for assembly. In some embodiments, the ultrasonic surgical tool 500 and the auxiliary surgical tool 200 may be separately operated to move them to relative positions as shown in FIG. 29 , and then assembled. In some embodiments, a user may operate the shank housing drive assembly or operating handle of the ultrasonic surgical tool 500 to move the outer housing proximal section 5121b proximally, thereby extending the assembly structure 530 (e.g., the assembly connector 532) from the outer housing proximal section 3121b. The user may then continue to operate the outer housing proximal section 5121b proximally, thereby driving the assembly structure 530 proximally.

[0147] In this state, the user can move the outer housing proximal section 5121b distally. Under the action of the elastic member 582 of the assembly structure reset assembly 580, the assembly structure 530 follows the outer housing proximal section 5121b in distal movement. Before the tool bar connector 531 of the assembly structure 530 abuts the stop block 583, the assembly connector 532 remains extended beyond the outer housing proximal section 5121b and is able to establish a connection with the auxiliary surgical tool 200 (e.g., the boss 222) during this distal movement.

[0148] After the assembly connector 532 establishes a connection with the boss of the auxiliary surgical tool 200, the user can continue to move the proximal section 5121b of the outer shell distally. However, due to the obstruction of the stop block 583, the assembly structure 530 no longer moves distally. Based on this, the distal end of the proximal section 5121b of the outer shell can cover the proximal connection portion of the assembly connector 532, thereby driving the assembly connector 532 to converge with the proximal section 5121b of the outer shell. The boss 222 connected to the assembly connector 532 can also be pressed into the outer shell 5121 of the blade of the ultrasonic surgical tool 500. During this process, the slider 222 of the auxiliary surgical tool 200 can be connected to the clamp drive assembly 570 (e.g., the pin structure at the bottom of the clamp drive assembly 570). Based on this, the ultrasonic surgical tool 500 can establish a rigid connection with the auxiliary surgical tool 200.

[0149] Those skilled in the art will appreciate that the steps involved in assembling the ultrasonic surgical tool assembly 50 are not limited to the steps described above, nor are they limited to the order of the steps described above. In some embodiments, a user can issue control commands through a surgical robotic system to control the movement of the auxiliary surgical tool 200, thereby driving the ultrasonic surgical tool 500 to move within the patient's body, facilitating surgical operations at various locations within the patient's body. The user can also issue control commands through the surgical robotic system to control the movement of the slider 223 of the auxiliary surgical tool 200, thereby controlling the opening and closing of the clamp assembly 560 of the ultrasonic surgical tool 500.

[0150] FIG30 is a schematic diagram illustrating the structure of an auxiliary surgical tool 200 according to some embodiments of the present disclosure. In some embodiments, the arm 210 can be a flexible arm to increase the degree of freedom of the auxiliary surgical tool 200, improve the flexibility of the auxiliary surgical tool 200 in performing surgical operations in the body, and thereby improve the flexibility of the movement of ultrasonic surgical tools (e.g., ultrasonic surgical tools 100, 300, 500) rigidly connected to the auxiliary surgical tool 200.

[0151] As shown in FIG30 , in some embodiments, the arm 210 of the auxiliary surgical tool 200 may include a first continuum structure 211. FIG31 illustrates a schematic structural diagram of the first continuum structure 211 of the arm 210 according to some embodiments of the present disclosure. As shown in FIG31 , the first continuum structure 211 may include a first base plate 2111, a plurality of first spacer plates (e.g., first spacer plates 2112-1, 2112-2, and 2112-3 shown in FIG31 ), and a plurality of first structural bones (e.g., first structural bones 2113-1, 2113-2, and the like shown in FIG31 ). The plurality of first structural bones pass through the plurality of first spacer plates and the first base plate 2111. The proximal ends of the plurality of first structural bones are configured to receive a push or pull drive to drive the first continuum structure 2111 to move. In some embodiments, as shown in FIG31 , the first continuum structure 211 may further include a first fixing plate 2114. The distal ends of the plurality of first structural bones are fixedly connected to the first fixing plate 2114. In some embodiments, as shown in FIG. 30 , the first fixing plate 2114 may be fixedly connected to the proximal end of the assembly head 220 of the auxiliary surgical tool 200 .

[0152] As shown in FIG31 , multiple first spacer disks can be spaced apart to enhance the stability of the multiple first structural bones when pushed or pulled. The first continuum structure 211 shown in FIG31 includes three first spacer disks. Those skilled in the art will appreciate that the number of first spacer disks included in the first continuum structure 211 is not limited to three and can include any suitable number of first spacer disks.

[0153] In some embodiments, the first base plate 2111 , the first spacer plate and the first fixed plate 2114 may be in the shape of a ring structure, a disk structure or other suitable structures, and the cross section may be in various shapes such as a circle, a rectangle, a polygon or the like.

[0154] In some embodiments, as shown in FIG30 , the arm 210 may further include a second continuum structure 212. The structure of the second continuum structure 212 may be similar to that of the first continuum structure 211 shown in FIG31 . As shown in FIG30 , the second continuum structure may include a second base plate 2121, a plurality of second spacer plates (e.g., the second spacer plates 2122 shown in FIG30 ), and a plurality of second structural bones (e.g., the second structural bones 2123 shown in FIG30 ). The plurality of second structural bones 2123 pass through the plurality of second spacer plates 2122 and the second base plate 2121. The proximal ends of the plurality of second structural bones 2123 are configured to receive a push or pull drive to drive the second continuum structure to move. As shown in FIG30 , the first continuum structure 211 is located at the distal end of the second continuum structure, and the plurality of first structural bones 2113 pass through the plurality of second spacer plates 2122 and the second base plate 2121. In some embodiments, as shown in FIG30 , the second continuum structure 212 may further include a second fixing plate 2124. The distal ends of the plurality of second structural bones 2123 are fixedly connected to the second fixation plate 2124 .

[0155] 30 , multiple second spacer discs 2122 may be spaced apart to enhance the stability of multiple second structural bones 2123 when being pushed or pulled. Those skilled in the art will appreciate that the second continuum structure may include any appropriate number of second spacer discs 2122 .

[0156] In some embodiments, the second base plate 2121 , the second spacer plate 2122 and the second fixed plate 2124 may be in the shape of a ring structure, a disk structure or other suitable structures, and the cross section may be in various shapes such as a circle, a rectangle, a polygon or the like.

[0157] In some embodiments, the arm 210 may further include a first straight rod segment 213 disposed between the first continuum structure 211 and the second continuum structure. In some embodiments, as shown in FIG30 , a second fixed plate 2124 of the second continuum structure may be fixedly connected to the proximal end of the first straight rod segment 213. In some embodiments, the arm 210 may further include a second straight rod segment 214 connected to the proximal end of the second continuum structure. For example, in a laparoscopic surgical robot system, during a surgical operation performed using the auxiliary surgical tool 200, the auxiliary surgical tool 200 is extended into the body from an opening on the patient's body (e.g., an incision or a natural opening, etc.), and the second straight rod segment 214 may pass through the opening.

[0158] Those skilled in the art will appreciate that the structure for increasing the degree of freedom of the arm 210 is not limited to a continuum structure, but may also be a suitable structure such as a snake-bone structure, a combination of a rod and a joint, or the like.

[0159] The proximal ends of the multiple first structural bones 2113 and the multiple second structural bones 2123 can be connected to a driving device. Figure 32 shows a schematic structural diagram of the driving device 1000 according to some embodiments of the present disclosure. In some embodiments, the driving device 1000 may include a first driving mechanism 1010. As shown in Figure 32, the first driving mechanism 1010 is connected to the proximal end of the auxiliary surgical tool 200. In some embodiments, the multiple first structural bones 2113 (see Figure 31) and / or the multiple second structural bones 2123 (see Figure 30) are connected to the first driving mechanism 1010 through multiple second spacer plates 2122 and the second base plate 2121. The first driving mechanism 1010 drives the first continuum structure 211 to bend in different directions in space by pushing and pulling the multiple first structural bones 2113, and drives the second continuum structure to bend in different directions in space by pushing and pulling the multiple second structural bones 2123.

[0160] For example, the first drive mechanism 1010 may include multiple double-ended screw assemblies, each of which may include a double-ended screw and a pair of sliders threadedly connected to the two threaded segments of the double-ended screw. The double-ended screw can be driven to rotate, thereby driving the pair of sliders to move in opposite directions at the same speed. The pair of sliders can be connected to a pair of symmetrical first structural bones 2113 or second structural bones 2123, thereby pushing and pulling the pair of symmetrical first structural bones 2113 or second structural bones 2123, driving the first continuum structure 211 or the second continuum structure 212 to bend. For another example, the first drive mechanism 1010 may include a proximal continuum, and the first continuum structure 211 or the second continuum structure can be connected to the proximal continuum to form a linked dual continuum. The proximal continuum can be driven to bend by the double-ended screw assembly, thereby driving the first continuum structure 211 or the second continuum structure 212 to bend.

[0161] In some embodiments, as shown in FIG32 , the drive device may further include a second drive mechanism 1020, which is connected to the arm of the auxiliary surgical tool 200 (e.g., the arm 210 in FIG30 ) via the first drive mechanism 1010, and is used to drive the arm 210 to advance or retreat, thereby enabling the auxiliary surgical tool 200 to advance or retreat within the patient's body and thereby drive the ultrasonic surgical tool (e.g., ultrasonic surgical tool 100, 300, 500) to advance or retreat within the patient's body; or, when the auxiliary surgical tool 200 is not connected to the ultrasonic surgical tool, enabling the auxiliary surgical tool 200 to enter or exit the patient's body. In some embodiments, the second drive mechanism 1020 may be a linear drive mechanism for driving the arm 210 to move linearly.

[0162] In some embodiments, the second drive mechanism 1020 may include a base and a drive unit. The base may be used to support the first drive mechanism 1010, and the drive unit may be used to drive the base forward or backward. In some embodiments, the second drive mechanism 1020 may include a bracket 1021 with a slide groove, on which a lead screw 1022 is rotatably mounted. A slider 1023 is mounted on the lead screw 1022 as a base. The slider 1023 is threadedly engaged with the lead screw 1022 and slidably disposed in the slide groove of the bracket 1021. A motor 1024 serving as a second drive unit may be disposed at one end of the bracket 1021. The output shaft of the motor 1024 may be fixedly connected to the lead screw 1022 via a coupling 1025. In some embodiments, the slider 1023 also includes a sleeve 10231 for mounting the continuum frame 211. The sleeve 10231 may be mounted on the slider 1023, or the sleeve 10231 may be integrally formed with the slider 1023. The motor 1024 drives the lead screw 1022, thereby driving the slider 1023 and the sleeve 10231 to move linearly along the slide groove, thereby achieving the feeding movement of the arm 210 and the auxiliary surgical tool 200 disposed on the arm 210. It will be understood by those skilled in the art that the second driving mechanism 1020 is not limited to the above structure, and any driving mechanism capable of achieving the feeding movement of the surgical tool does not depart from the scope of the present disclosure.

[0163] Some embodiments of the present disclosure also provide a surgical robot system. Figure 33 shows a schematic diagram of a surgical robot system 400 according to some embodiments of the present disclosure. As shown in Figure 33, the surgical robot system 400 may include an operating trolley 410 and an ultrasonic surgical tool assembly (e.g., an ultrasonic surgical tool assembly 10, 30, 50) that can be equipped with any of the embodiments of the present disclosure. The operating trolley 410 may include at least one robotic arm 411. An auxiliary surgical tool (e.g., an auxiliary surgical tool 200) that can be equipped with an ultrasonic surgical tool assembly can be provided at the distal end of the at least one robotic arm 411. The at least one robotic arm 411 can be a positioning arm of a surgical robot as shown in Figure 33. The at least one robotic arm 411 of the operating trolley 410 can be used to carry at least one surgical tool 412 (e.g., clamps, scissors, etc.). During surgery, the operating trolley 410 can be located on the patient's side to facilitate performing surgical operations on the patient.

[0164] In some embodiments, the surgical robot system 400 may further include a main control trolley 420. The operating trolley 410 and the main control trolley 420 may be connected via wired transmission or wireless transmission. The main control trolley 420 may include at least one main operator 421, which may be used to receive user operations. During surgery, the main control trolley 420 may be located on the user side to facilitate receiving user operations. During surgery, the user may control the surgical tools (such as auxiliary surgical tools 200, clamps, scissors, etc.) and / or imaging tools (such as an endoscope) carried by the operating trolley 410 by operating the main operator 421 to issue control instructions.

[0165] In some embodiments, the surgical robot system 400 may further include an equipment cart 430. The equipment cart 430 may include a power supply (not shown) that is configured to connect to an ultrasonic surgical tool (e.g., ultrasonic surgical tool 100, 300, 500) in an attachable ultrasonic surgical tool assembly (e.g., attachable ultrasonic surgical tool assembly 10, 30, 50) to provide energy to the ultrasonic transducer (e.g., ultrasonic transducer 120 shown in FIG. 3 ) of the ultrasonic surgical tool. In some embodiments, the power supply applies a high-frequency voltage to the ultrasonic transducer segment included in the ultrasonic transducer. Due to the reverse voltage effect, the ultrasonic transducer segment vibrates at a high frequency along the thickness direction. The high-frequency vibration is transmitted to the blade structure at the distal end of the ultrasonic surgical tool, enabling the blade structure of the ultrasonic surgical tool to perform cutting or coagulation operations on biological tissue.

[0166] In some embodiments, the surgical trolley 410 of the surgical robotic system 400 may further include at least one drive device 413. The at least one drive device 413 may be disposed between at least one surgical tool 412 and at least one robotic arm 411. The at least one surgical tool 412 may include an auxiliary surgical tool 200 according to any embodiment of the present disclosure. The at least one surgical tool 412 may also include other surgical tools, such as clamps, scissors, monopolar energy tools, bipolar energy tools, and the like. As shown in FIG33 , the surgical trolley 410 may include a single robotic arm 411, and multiple drive devices 413 may be disposed on the robotic arm 411. Those skilled in the art will appreciate that the surgical trolley of the surgical robotic system 400 may also include multiple robotic arms. The at least one drive device 413 may include a slider drive device for driving the movement of the slider 223 of the auxiliary surgical tool 200 and / or a continuum drive device for driving the movement of the first continuum structure 211 (see FIG30 ) and the second continuum structure 212 (see FIG30 ).

[0167] Those skilled in the art will appreciate that the surgical robot 400 provided in this embodiment may be any suitable surgical robot including a laparoscopic surgical robot.

[0168] In some embodiments, for ultrasonic surgical tools (e.g., ultrasonic surgical tools 100, 300, 500), due to the inverse piezoelectric effect, a high-frequency AC voltage is input to the ultrasonic transducer, causing the ultrasonic transducer to output high-frequency vibrations, which are then transmitted to the head of the blade through the blade. The high-frequency vibrating blade head contacts biological tissue, which, on the one hand, mechanically cuts the tissue. On the other hand, the high-frequency vibration causes internal energy loss in the tissue, causing it to heat up and produce coagulation. Ultrasonic surgical tools have a smaller range of tissue damage when cutting tissue. No current passes through the human body during surgery, resulting in no smoke or eschar, and are therefore safer.

[0169] When performing laparoscopic surgery using a surgical robot, surgical instruments often need to enter the patient's body through a sheath. In order to enable ultrasonic surgical tools to enter the sheath, it is necessary to limit the size of the ultrasonic surgical tools, especially the size of the larger ultrasonic transducer in the ultrasonic surgical tool. The upper limit of the output power of the ultrasonic transducer is positively correlated with the volume of the piezoelectric ceramic in the ultrasonic transducer (for example, the upper limit of the output power = the power density of the piezoelectric ceramic * the volume of the piezoelectric ceramic). Therefore, the ultrasonic surgical tools used by the surgical robot generally use miniature ultrasonic transducers, whose piezoelectric ceramics are small in size, so the output power is limited, and the efficiency of tissue cutting is low. Based on some embodiments of the present disclosure, the assembled ultrasonic surgical tool assembly (for example, the assembled ultrasonic surgical tool assembly 10, 30, 50) is provided. On the one hand, the distal end of the ultrasonic surgical tool (for example, the ultrasonic surgical tool 100, 300, 500) can be inserted into the patient's body through the patient's opening (for example, an incision or a natural opening, etc.) without occupying the channel included in the sheath for the surgical instrument to enter the patient's body. On the other hand, the ultrasonic transducer of the ultrasonic surgical tool can be located outside the patient's body, and the ultrasonic surgical tool can use a larger ultrasonic transducer (for example, the ultrasonic transducer can include a larger piezoelectric ceramic with a larger size and volume), which is beneficial to improving the output power of the ultrasonic transducer.

[0170] The mobility of straight-rod ultrasonic surgical tools is limited by the structural characteristics of ultrasonic surgical tools, making it difficult to flexibly perform surgical operations in the patient's body (for example, in a natural cavity such as the abdominal cavity or oral cavity). Through the assembled ultrasonic surgical tool assemblies (for example, assembled ultrasonic surgical tool assemblies 10, 30, 50) provided in some embodiments of the present disclosure, a rigid connection can be established between the auxiliary surgical tool (for example, the auxiliary surgical tool 200) and the ultrasonic surgical tool (for example, ultrasonic surgical tools 100, 300, 500). The auxiliary surgical tool 200 includes an arm with multiple degrees of freedom of movement. Based on this, driven by the auxiliary surgical tool 200, the flexibility of the ultrasonic surgical tool 100 in the patient's body can be improved.

[0171] In some embodiments, the ultrasonic surgical tool's assembly structure can extend from the blade housing, facilitating assembly of the ultrasonic surgical tool. In some embodiments, the ultrasonic surgical tool can be retracted into the blade housing. This, on the one hand, reduces the ultrasonic surgical tool's radial dimension, thereby facilitating its insertion and exit from the patient's opening. Furthermore, the retraction of the assembly structure into the blade housing allows the boss of the auxiliary surgical tool, connected to the assembly structure, to be pressed into the blade housing, thereby establishing a rigid connection between the ultrasonic surgical tool and the auxiliary surgical tool.

[0172] In some embodiments, the assembly structure of the ultrasonic surgical tool can be moved proximally by the blade housing, thereby leaving more space for assembly or disassembly and facilitating assembly or disassembly. In some embodiments, the assembly structure reset assembly of the ultrasonic surgical tool can apply a force to the assembly structure to cause it to move distally, thereby enabling the assembly structure to remain extended from the blade housing within a certain range during proximal or distal movement, thereby facilitating assembly or disassembly of the ultrasonic surgical tool.

[0173] Note that the above are only exemplary embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure has been described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. An ultrasonic surgical tool, characterized in that: include: A knife bar assembly, the knife bar assembly comprising a knife bar and a knife bar housing, the knife bar housing covering at least a portion of the knife bar; an ultrasonic transducer coupled to the proximal end of the knife rod to output vibration to the knife rod; as well as An assembly structure is used for assembling or disassembling the ultrasonic surgical tool, and the assembly structure is arranged on the knife rod housing.

2. The ultrasonic surgical tool according to claim 1, wherein: The arbor housing comprises: a cutter bar inner shell covering at least a portion of the cutter bar; and The outer shell of the knife rod covers at least a portion of the inner shell of the knife rod, and the outer shell of the knife rod includes an outer shell distal section and an outer shell proximal section.

3. The ultrasonic surgical tool according to claim 2, wherein: The assembly structure comprises: The first groove structure is provided at the distal end of the proximal end section of the outer shell and is used for assembling or disassembling the ultrasonic surgical tool.

4. The ultrasonic surgical tool according to claim 2, wherein: The arbor housing is connected to the assembly structure, and the assembly structure includes: A knife bar connecting piece connected to the inner outer shell of the knife bar; an assembly connector, wherein the assembly connector can be retracted into the outer shell of the knife bar and can extend out of the outer shell of the knife bar to disassemble or assemble the ultrasonic surgical tool; and An assembly torsion spring is provided between the knife bar connecting piece and the assembly connecting piece, and is used for applying a moment to the assembly connecting piece so as to cause the assembly connecting piece to extend out of the outer shell of the knife bar.

5. The ultrasonic surgical tool according to claim 4, characterized in that: The assembly connector comprises: a proximal connecting portion, the proximal end of which is connected to the knife rod connecting piece; and The distal assembly portion is provided at the distal end of the proximal connection portion and is used to assemble or disassemble the ultrasonic surgical tool. The distal assembly portion includes: a second slot structure; and The first connecting arm and the second connecting arm are oppositely arranged on two sides of the second slot structure.

6. The ultrasonic surgical tool according to claim 5, characterized in that: The outer shell proximal section further comprises: The third slot structure is located at the distal end of the proximal segment of the outer shell. The proximal segment of the outer shell can cover the proximal connecting portion so that the distal assembly portion can converge into the third slot structure, and the assembly connecting piece can extend from the third slot structure to the proximal segment of the outer shell to disassemble or assemble the ultrasonic surgical tool.

7. The ultrasonic surgical tool according to any one of claims 4 to 6, characterized in that: The knife rod connecting piece is slidably connected to the inner shell of the knife rod, and the ultrasonic surgical tool further includes: An assembly structure reset component is provided at the proximal end of the assembly structure, and the assembly structure reset component includes: A base fixedly connected to the inner outer shell of the shank; and The first elastic member is arranged between the base and the knife rod connecting member, and is used to apply a force to the knife rod connecting member to make the knife rod connecting member move toward the distal end.

8. The ultrasonic surgical tool according to claim 7, characterized in that: The assembly structure reset component also includes: A limit block is provided on the inner shell of the knife rod and is located at the distal end of the knife rod connecting piece. The limit block is used to prevent the knife rod connecting piece from moving toward the distal end.

9. The ultrasonic surgical tool according to any one of claims 4 to 8, characterized in that: The knife bar connecting piece includes: First limit pin; The proximal end section of the outer shell comprises: The first limiting slide groove is located at the distal end of the proximal end section of the outer shell. The first limiting slide groove extends along the length direction of the proximal end section of the outer shell. The first limiting pin is slidably connected to the first limiting slide groove.

10. The ultrasonic surgical tool according to any one of claims 2 to 9, characterized in that: Also includes: The knife bar housing drive assembly is arranged at the proximal end of the proximal end section of the outer shell, and is used to drive the proximal end section of the outer shell to move proximally or distally to move away from or closer to the distal end of the outer shell. The knife bar housing drive assembly includes: A fixing member is located at the proximal end of the cutter bar housing drive assembly and is fixedly connected to the proximal end of the inner shell of the cutter bar; a movable member located at the distal end of the cutter bar housing drive assembly and fixedly connected to the proximal end of the proximal end section of the outer housing; and The second elastic member is disposed between the fixed member and the movable member, and is used for applying a force to the proximal end section of the outer shell to move the proximal end section of the outer shell toward the distal end.

11. The ultrasonic surgical tool according to claim 10, characterized in that: Also includes: An operating handle connected to the knife bar housing drive assembly, or connected to the knife bar housing drive assembly and the knife bar assembly, for driving the movable member or the proximal end section of the outer housing toward or away from the fixed member, the operating handle comprising: A gripping portion, fixedly connected to the fixing member; as well as An operating portion, the distal end of which is rotatably connected to the holding portion, and the operating portion is connected to the proximal end section of the outer shell or the movable member, and the operating portion is used to receive a torque to move the proximal end section of the outer shell or the movable member toward the proximal end.

12. The ultrasonic surgical tool according to any one of claims 2 to 11, characterized in that: Also includes: A clamp assembly is provided at the distal end of the ultrasonic surgical tool, and the clamp assembly comprises: a connecting portion hingedly connected to the distal end of the distal end section of the outer shell; and a clamp body, disposed at the distal end of the connecting portion; A clamp driving assembly is connected to the proximal end of the connecting portion of the clamp assembly, and the clamp driving assembly is used to drive the clamp body to open and close.

13. The ultrasonic surgical tool according to claim 12, wherein: The connecting portion of the clamp assembly comprises: a first driving chute and a second driving chute, wherein the first driving chute and the second driving chute are arranged oppositely on two sides of the connecting portion; The clamp drive assembly includes: The first pin structure is arranged at the distal end of the clamp driving assembly, and both ends of the first pin structure are slidably connected to the first driving slide groove and the second driving slide groove respectively.

14. The ultrasonic surgical tool according to claim 12 or 13, characterized in that: The clamp drive assembly covers at least a portion of the distal end of the inner shell of the knife bar, and the distal end section of the outer shell covers at least a portion of the clamp drive assembly, and the distal end section of the outer shell includes: The fourth slot structure exposes at least a portion of the clamp driving assembly to the outside.

15. The ultrasonic surgical tool according to any one of claims 12 to 14, characterized in that: The distal end section of the outer shell further comprises a third drive chute and a fourth drive chute disposed opposite to each other; The clamp drive assembly further includes: at least one first short pin structure or first protrusion, disposed on a first side of the proximal end of the clamp drive assembly, the at least one first short pin structure or first protrusion being slidably connected to the third drive slide; and At least one second short pin structure or second protrusion is arranged on the second side of the proximal end of the clamp drive assembly and is arranged opposite to the at least one first short pin structure or first protrusion. The at least one second short pin structure or second protrusion is slidably connected to the fourth drive slide groove.

16. The ultrasonic surgical tool according to any one of claims 12 to 15, characterized in that: The clamp drive assembly further includes: a second pin structure disposed at a proximal end of the clamp drive assembly for receiving a drive to the clamp assembly; and The fifth slot structure is provided at the proximal end of the clamp driving assembly and exposes at least a portion of the second pin structure.

17. An assemblable ultrasonic surgical tool assembly, characterized in that: include: The ultrasonic surgical tool according to any one of claims 1 to 16; as well as An auxiliary surgical tool, detachably connected to the ultrasonic surgical tool, for driving the ultrasonic surgical tool to move, the auxiliary surgical tool comprising: Arm body; as well as An assembly head is arranged at the distal end of the arm body, and the assembly head is detachably connected to the assembly structure of the ultrasonic surgical tool.

18. The mountable ultrasonic surgical tool assembly according to claim 17, wherein: The assembly head of the auxiliary surgical tool comprises: the subject; and A boss is arranged above the main body, and the boss includes a first track and a second track that are arranged opposite to each other, and the first track and the second track are used to be detachably connected to the assembly structure of the ultrasonic surgical tool.

19. The mountable ultrasonic surgical tool assembly according to claim 18, wherein: The main body includes a sliding space and a first arm and a second arm, the first arm and the second arm are arranged on both sides of the sliding space and extend toward the distal end of the arm body, the first arm includes a fifth driving slot, and the second arm includes a sixth driving slot; The assembly head also includes: A slider, wherein the slider is slidably connected to the fifth drive slide groove and the sixth drive slide groove via at least one pin or protrusion, and the slider receives a push or pull force via a drive wire to slide along the fifth drive slide groove and the sixth drive slide groove, and the slider comprises: At least one slot structure is provided on the upper portion of the slider, and the upper portion of the at least one slot structure extends out of the sliding space, and the at least one slot structure is used to be connected to the ultrasonic surgical tool.

20. A surgical robot, characterized in that: include: An operating table, comprising at least one robotic arm; as well as The mountable ultrasonic surgical tool assembly according to any one of claims 17 to 19, wherein the auxiliary surgical tool in the mountable ultrasonic surgical tool assembly is arranged at the distal end of the at least one robotic arm.

Images