CN117442352A

CN117442352A - Medical instrument box, robot ultrasonic knife and surgical robot

Info

Publication number: CN117442352A
Application number: CN202311380404.3A
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Agile Medical Technology Suzhou Co ltd
Current assignee: Agile Medical Technology Suzhou Co ltd
Priority date: 2023-10-24
Filing date: 2023-10-24
Publication date: 2024-01-26

Abstract

The embodiment of the application provides a medical instrument box, ultrasonic knife of robot and surgical robot, wherein, medical instrument box includes: a base; the push-pull piece is arranged on the base in a penetrating way and is provided with a first end and a second end which extend along the direction perpendicular to the base; the second end is configured to connect with the first tool tip; the power structure is rotatably connected with the push-pull piece along the circumferential direction of the push-pull piece and is configured to drive the push-pull piece to axially move so as to drive the first tool bit to switch between an open state and a closed state relative to the second tool bit. The state switching of the first tool bit is decoupled with the rotation of the first tool bit along the circumference of the push-pull piece, so that the control precision of the tool bit is improved, and the surgical wound is reduced.

Description

Medical instrument box, robot ultrasonic knife and surgical robot

Technical Field

The application relates to the technical field of medical instruments, in particular to a medical instrument box, a robot ultrasonic knife and a surgical robot.

Background

With the continuous development of medical instruments, computer technology and control technology, minimally invasive surgery has been widely used with the advantages of small surgical trauma, short rehabilitation time, less pain of patients and the like. The minimally invasive surgery robot has the characteristics of high dexterity, high control precision, visual surgery images and the like, can avoid operation limitations, such as tremble of hands during filtering operation, and is widely applied to surgery areas such as abdominal cavities, pelvic cavities, thoracic cavities and the like. Wherein, the ultrasonic instrument represented by the ultrasonic knife is a novel surgical cutting hemostatic device. The robotic ultrasonic blade is an ultrasonic blade dedicated to minimally invasive surgical robots and typically includes a main machine, handle connection lines, transducers, a blade, foot pedals, etc., wherein the blade is connected to the instrument box by an instrument bar and is driven by a transmission member (e.g., a drive wire or lever) within the instrument box such that the blade is switched between open and closed for grasping and cutting tissue.

In the related art, for example, in CN106659543B or CN113729970a, the transmission component includes a worm driving device, a lever arm, a first end of the lever arm is provided with a driven member, the driven member engages a spiral groove of the worm driving device, and when the worm driving device rotates, the lever arm drives the instrument rod to translate, so as to switch the opening or closing of the cutter head; alternatively, for example, in CN116473627a, the transmission member drives the instrument bar to move by means of a pull rope as a power output, so as to switch the opening or closing of the cutter head.

However, in the related art, the mode of driving the instrument rod to move and opening or closing the cutter head has poor control precision, which is not beneficial to reducing the surgical wound.

Disclosure of Invention

The embodiment of the application provides a medical instrument box, ultrasonic knife of robot and surgical robot, power structure is to the axial drive of push-and-pull spare with the circumference Xiang Zhuaidong decoupling of push-and-pull spare, and the state switching of first tool bit and the rotation decoupling of first tool bit along push-and-pull spare circumference promptly can not influence each other to be convenient for accurate control first tool bit along push-and-pull spare circumference pivoted angle, promoted the control accuracy to the tool bit, be favorable to reducing the operation wound.

According to a first aspect of embodiments of the present application, there is provided a medical instrument cartridge comprising:

a base;

the push-pull piece is arranged on the base in a penetrating way and is provided with a first end and a second end which extend along the direction perpendicular to the base; the second end is configured to connect with the first tool tip;

the power structure is rotatably connected with the push-pull piece along the circumferential direction of the push-pull piece and is configured to drive the push-pull piece to axially move so as to drive the first tool bit to switch between an open state and a closed state relative to the second tool bit.

In an alternative implementation, the first end is provided with a first protruding part protruding from the peripheral wall of the push-pull member;

one end of the power structure, which is opposite to the base, is abutted with the first protruding part, and the power structure can rotate relative to the first protruding part along the circumferential direction of the push-pull piece.

In an alternative implementation, a rolling element is arranged between the power structure and the first protruding part, and the rolling element is abutted between the power structure and the first protruding part.

In an alternative implementation manner, an annular groove is arranged at one end of the power structure facing the first protruding part, and the rolling piece is embedded in the annular groove and can roll along the annular groove; the rolling part protrudes out of the annular groove and is abutted against the first protruding part;

And/or the number of the groups of groups,

an annular groove is formed in one side, facing the power structure, of the first bulge, and the rolling piece is embedded in the annular groove and can roll along the annular groove; the rolling part protrudes out of the annular groove and is abutted with the power structure.

In an alternative embodiment, the rolling elements comprise any one of balls and rollers.

In an alternative design mode, the peripheral wall of the push-pull piece is also provided with a second protruding part, and the second protruding part and the first protruding part are arranged at intervals along the axial direction of the push-pull piece;

the power structure is positioned between the first protruding part and the second protruding part; and the power structure can rotate relative to the second protruding part.

In an alternative design, a rolling element is arranged between the power structure and the second protruding part, and the rolling element is abutted between the power structure and the second protruding part.

In an alternative design mode, a constant force providing piece is arranged between the power structure and the push-pull piece, and the power structure provides preset constant acting force for the push-pull piece through the constant force providing piece so as to drive the push-pull piece to move along the axial direction; the power structure is rotatable relative to the constant force provider and/or the constant force provider is rotatable relative to the push-pull member.

In an alternative design, the end of the power structure facing away from the base is provided with a recess, and the constant force providing member is arranged in the recess.

In an alternative design, the power structure includes:

the screw rod is rotatably sleeved on the periphery of the push-pull piece and is configured to drive the push-pull piece to axially move;

the screw nut is sleeved on the periphery of the screw, a first gear is arranged on the periphery of the screw nut and is used for being meshed with the first driving gear, so that the screw can move relative to the screw nut due to the passive rotation of the first gear under the driving of the first driving gear, and the push-pull piece can be driven to move by the movement of the screw, so that the first tool bit is driven to move.

According to a second aspect of embodiments of the present application, there is provided a robotic ultrasonic blade comprising:

a medical device cartridge and transducer as provided in any optional implementation of the first aspect of embodiments of the present application, the transducer being detachably connected to the medical device cartridge.

According to a third aspect of embodiments of the present application, there is provided a surgical robot comprising:

a patient operating platform on which a robotic ultrasonic blade as provided in the second aspect of the embodiments of the present application is removably mounted.

The medical instrument box, the robot ultrasonic knife and the surgical robot provided by the embodiment of the application are characterized in that a push-pull piece is arranged on a base in a penetrating way, and the push-pull piece is provided with a first end and a second end which extend along the direction perpendicular to the base, wherein the second end is configured to be connected with a first tool bit; the method comprises the steps of carrying out a first treatment on the surface of the The push-pull piece is provided with a power structure which can rotate along the circumferential direction, the power structure drives the push-pull piece to move along the axial direction, and the push-pull piece is convenient for driving the first cutter head to switch between an open state and a closed state relative to the second cutter head; in the embodiment of the application, the power structure is rotatably connected with the push-pull piece along the circumferential direction of the push-pull piece; therefore, when tissue with different angle positions is required to be clamped and cut, the push-pull piece can be rotated to rotate the angle position of the first cutter head; the power structure is rotatably connected with the push-pull piece, so that the power structure decouples the axial driving of the push-pull piece and the circumference Xiang Zhuaidong of the push-pull piece, namely the state switching of the first cutter head and the rotation decoupling of the first cutter head along the circumferential direction of the push-pull piece are mutually unaffected, the angle of the first cutter head rotating along the circumferential direction of the push-pull piece can be conveniently and accurately controlled, the control precision of the cutter head is improved, and the surgical wound is reduced.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the related art, the drawings that are required to be used in the embodiments or the related technical descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort for a person having ordinary skill in the art.

Fig. 1 is a schematic view of the overall structure of a robotic ultrasonic blade with a transducer mounted therein in a surgical robot provided in an embodiment of the present application;

FIG. 2 is a schematic view of the overall structure of an instrument box in the surgical robot according to the embodiment of the present application;

FIG. 3 is a schematic view of an internal structure of an instrument box in the surgical robot according to the embodiment of the present application;

FIG. 4 is a cross-sectional view taken along line A-A of FIG. 2;

fig. 5 is a schematic structural view of a screw rod and a push-pull member in the surgical robot according to the embodiment of the present application;

FIG. 6 is an enlarged partial schematic view at B in FIG. 4;

FIG. 7 is a schematic view of an exploded view of the internal structure of an instrument box in a surgical robot according to an embodiment of the present application;

FIG. 8 is a schematic view of an explosion structure of a screw rod and a push-pull member in the surgical robot according to the embodiment of the present application;

FIG. 9 is a schematic view of a surgical robot with an instrument tip in an open position;

FIG. 10 is a schematic view of a surgical robot with an instrument tip in a closed position;

FIG. 11 is a schematic view of a part of a push-pull member of a surgical robot according to an embodiment of the present application;

FIG. 12 is a schematic view of another internal structure of an instrument pod in a surgical robot provided in an embodiment of the present application;

FIG. 13 is a schematic view of still another internal structure of an instrument pod in a surgical robot according to an embodiment of the present application;

fig. 14 is a schematic structural view of a screw in the surgical robot provided in the embodiment of the present application;

FIG. 15 is a cross-sectional view taken along line C-C of FIG. 2;

FIG. 16 is a schematic view of a partially enlarged structure at D in FIG. 15;

FIG. 17 is another cross-sectional view taken along line C-C of FIG. 2;

fig. 18 is a partially enlarged structural schematic diagram at E in fig. 17.

Reference numerals illustrate:

1-a medical instrument box; 2-instrument end; a 3-transducer;

101-a base; 102-a housing; 103-push-pull member; 104-a lead screw; 105-a lead screw nut; 106-a first drive gear; 107-waveguide rod; 108-pin shafts; 109-an instrument bar; 110-a sealing ring; 111-unlocking piece; 112-a second force storage member; 113-resetting the top plate; 114-a constant force provider; 115-a second gear; 116-a second drive gear; 117-a support plate; 118-side fixing plate; 119-rolling elements; 201-a first cutter head; 202-a second cutter head;

1021-transducer mounting port; 1031-a first end; 1032-a second end; 1033-a first projection; 1034-a latch barrel; 1035-a locking member; 1036-a second projection; 1037-a waist-shaped hole; 1038-a reduced diameter portion; 1041-an annular groove; 1042-a recess; 1051-a first gear; 1071-a first shaft hole; 1091-a second axial bore; 1111—a first force storage member; 1112-a first clutch; 1113-a second clutch; 1131-positioning bosses; 1181-positioning a chute;

1034 a-locking device; 1034 b-locking holes.

Detailed Description

The technical solutions in the embodiments of the present invention will be described below with reference to the accompanying drawings in the embodiments of the present invention.

In this specification, numerous specific details are set forth in some places. It is understood, however, that embodiments of the invention may be practiced without these specific details. Such detailed description is not to be taken in a limiting sense, and the scope of the present invention is defined only by the appended claims. Well-known structures, circuits, and other details have not been shown in detail in order not to obscure the gist of the present invention.

In this specification, the drawings show schematic representations of several embodiments of the invention. However, the drawings are merely schematic, and it is to be understood that other embodiments or combinations may be utilized and that mechanical, physical, electrical and step changes may be made without departing from the spirit and scope of the present invention.

The terminology used herein below is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Spatially relative terms, such as "below," "lower," "above," "upper," and the like, may be used for ease of description to describe one element or feature's relationship to another element or feature's illustrated in the figures. It will be understood that spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below" can encompass both an orientation of above and below. While the device may be otherwise oriented (e.g., rotated 90 deg. or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

As used herein, "a" and "an" in the singular are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof.

The term "object" generally refers to a component or group of components. Throughout the specification and claims, the terms "object," "component," "portion," "part" and "piece" are used interchangeably.

The terms "instrument," "surgical instrument," and "surgical instrument" are used herein to describe a medical device, including an end effector, configured to be inserted into a patient and used to perform a surgical or diagnostic procedure. The end effector may be a surgical tool associated with one or more surgical tasks, such as forceps, needle holders, scissors, bipolar cautery, tissue stabilizer or retractor, clip applier, stapling apparatus, imaging apparatus (e.g., endoscope or ultrasound probe), and the like. Some instruments used with embodiments of the present invention further provide an articulating support (sometimes referred to as a "wrist") for a surgical tool such that the position and orientation of the end effector can be manipulated with one or more mechanical degrees of freedom relative to the instrument shaft. Further, many end effectors include functional mechanical degrees of freedom such as open or closed jaws or knives that translate along a path. The instrument may also contain stored (e.g., on a PCBA board within the instrument) information that is permanent or updateable by the surgical system. Accordingly, the system may provide for one-way or two-way information communication between the instrument and one or more system components.

The terms "mate", "connect" and "connect" may be understood in a broad sense as any situation where two or more objects are connected in a manner that allows the mated objects to operate in conjunction with each other. It should be noted that mating or connecting does not require a direct connection (e.g., a direct physical or electrical connection), but rather, many objects or components may be used to mate two or more objects. For example, objects a and B may be mated by using object C. Furthermore, the term "detachably coupled" or "detachably mated" may be interpreted to mean a non-permanent coupling or mating situation between two or more objects. This means that the detachably coupled objects can be uncoupled and separated such that they no longer operate in conjunction.

Finally, the terms "or" and/or "as used herein should be interpreted as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means any one of the following: a, A is as follows; b, a step of preparing a composite material; c, performing operation; a and B; a and C; b and C; A. b and C. An exception to this definition will occur only when a combination of elements, functions, steps or acts are in some way inherently mutually exclusive.

Summary of Master-slave teleoperated laparoscopic surgical robots

Endoscopic surgical robots typically include a doctor control platform, a patient surgical platform, and an image platform, where a surgeon sits on the doctor control platform, views two-or three-dimensional images of a surgical field transmitted by a scope placed in a patient, and manipulates movements of a robotic arm on the patient surgical platform, as well as surgical instruments or scopes attached to the robotic arm. The mechanical arm is equivalent to an arm simulating a human, the surgical instrument is equivalent to a hand simulating the human, and the mechanical arm and the surgical instrument provide a series of actions simulating the wrist of the human for a surgeon, and meanwhile tremble of the human hand can be filtered.

The patient surgical platform includes a chassis, a column, robotic arms connected to the column, and one or more surgical instrument manipulators at an end of a support assembly of each robotic arm. A surgical instrument and/or endoscope is removably attached to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and/or a scope that are operated at a surgical site within a patient. Each surgical instrument manipulator may be permitted to provide the associated surgical instrument in a variety of forms that move in one or more mechanical degrees of freedom (e.g., all six cartesian degrees of freedom, five or fewer cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is constrained by mechanical or software constraints to rotate the associated surgical instrument about a center of motion on the surgical instrument that remains stationary relative to the patient, which is typically located where the surgical instrument enters the body and is referred to as a "telecentric point".

The image platform typically includes one or more video displays having video image capturing functionality (typically endoscopes) and for displaying surgical instruments in the captured images. In some laparoscopic surgical robots, the endoscope includes optics that transfer images from the patient's body to one or more imaging sensors (e.g., CCD or CMOS sensors) at the distal end of the endoscope, which in turn transfer the video images to a host computer of an image platform by photoelectric conversion or the like. The processed image is then displayed on a video display for viewing by an assistant through image processing.

The physician control platform may be at a single location in a surgical system consisting of an endoscopic surgical robot or it may be distributed at two or more locations in the system. The remote master/slave operation may be performed according to a predetermined control degree. In some embodiments, the physician control platform includes one or more manually operated input devices, such as a joystick, exo-skeletal glove, power and gravity compensation manipulator, or the like. The input devices collect operation signals of a surgeon, and control signals of the mechanical arm and the surgical instrument manipulator are generated after the operation signals are processed by the control system, so that remote control motors on the surgical instrument manipulator are controlled, and the motors further control the movement of the surgical instrument.

Typically, the force generated by the teleoperated motor is transmitted via a transmission system, transmitting the force from the teleoperated motor to the end effector of the surgical instrument. In some teleoperated surgical embodiments, the input device controlling the manipulator may be located remotely from the patient, either in or out of the room in which the patient is located, or even in a different city. The input signal of the input device is then transmitted to the control system. Those familiar with tele-manipulation, tele-control and tele-presentation surgery will appreciate such systems and components thereof.

Referring to fig. 1, a surgical robot according to an embodiment of the present application includes a transducer 3, an instrument box, and an instrument tip 2 connected to the instrument box; in some examples, the instrument tip 2 may be an ultrasonic blade (also referred to as an ultrasonic clamp). Wherein, the part of the ultrasonic knife is connected with the transducer 3 and is driven by the transducer 3 to vibrate at high frequency, and the other part of the ultrasonic knife can rotate relative to the part of the waveguide rod 107, so that the opening and closing of the ultrasonic knife are realized, and the tissue needing the minimally invasive surgery is conveniently clamped and cut.

Referring to fig. 3-4, in order to facilitate accurate control of the ultrasonic blade in the open state and the closed state and reduce the trauma caused by the minimally invasive surgery, the embodiment of the present application further provides a medical instrument box 1, which includes a base 101, a push-pull member 103, and a power structure.

The base 101 may be made of a hard material such as a hard plastic, stainless steel, aluminum alloy, or a metal or nonmetal hard material. The base 101 is provided with a through hole, and in this embodiment, the push-pull member 103 may be movably disposed on the base 101. For example, the push-pull member 103 is movably disposed on the base 101 along the axial direction of the through hole.

In some examples, the push-pull member 103 is movable relative to the base 101 at least in the axial direction of the perforation. It will be appreciated that in some examples, the push-pull member 103 may also rotate relative to the base 101 in the circumferential direction of the perforation.

In the embodiment of the application, the base 101 may be docked with a sterile adapter of the surgical robot, for example, the base 101 may be connected with the sterile adapter by means of a clamping connection; in some examples, the base may also be removably fixedly attached to the sterile adapter by means of a connection such as a bolt, screw, or threaded rod.

Generally, to protect the components on the base 101 and prevent interference of the external aseptic cover, in this embodiment of the present application, the base 101 may be covered with a housing 102, where the housing 102 may be made of the same or similar material as the base 101; the housing 102 and the base 101 are constructed to form a receiving space in which a driving structure for driving the instrument tip 2 may be disposed. For convenience of description, in the embodiment of the present application, a side of the base 101 facing the housing 102 is referred to as an inner side (i.e., inside the accommodating space), and a side of the base 101 facing away from the housing 102 is referred to as an outer side (i.e., outside the accommodating space).

In this embodiment, the push-pull member 103 is disposed on the base 101 in a penetrating manner, and for convenience of description, an end of the push-pull member 103 located inside the base 101 is referred to as a first end 1031, and an end of the push-pull member 103 located outside the base 101 is referred to as a second end 1032. That is, the push-pull member 103 has a first end 1031 and a second end 1032 extending in a direction perpendicular to the base 101. In some examples, the second end 1032 is connected to the instrument end 2, and in some examples, the instrument end 2 is illustrated with an ultrasonic blade as a specific example, in embodiments of the present application, the second end 1032 may be connected to the first blade 201 of the ultrasonic blade. In some examples, the second end 1032 may be rotatably coupled to the first tool bit 201. It will be appreciated that the connection between the instrument end 2 and the push-pull member 103 may be the same or similar to those in the related art, and this will not be repeated in the embodiments of the present application.

In this embodiment of the present application, the power structure may be a lever, for example, one end of the lever is connected with the first end of the push-pull member, the other end of the lever is inserted into a spiral groove of the worm structure, and when the worm structure rotates, the spiral groove of the worm structure drives the lever to translate, and the lever transmits power to the push-pull member 103, thereby driving the push-pull member 103 to move along the axial direction.

Referring to fig. 4 and 5, in some examples of embodiments of the present application, the power structure may also include a lead screw 104 and a lead screw nut 105.

In some examples, the lead screw 104 is sleeved on the outer circumference of the first end 1031, and the lead screw 104 is configured to drive the push-pull member 103 to move along the axial direction of the push-pull member 103.

For example, in some examples, a limit structure may be provided on one of the push-pull member 103 and the lead screw 104, where the limit structure is connected to the other of the push-pull member 103 and the lead screw 104 in a radial direction of the push-pull member 103, so that when the lead screw 104 moves in an axial direction, the push-pull member 103 is driven to move in the axial direction.

As an alternative example of the embodiment of the present application, perforations may be formed on the peripheral walls of the screw rod 104 and the push-pull member 103, and a pin, a screw, a bolt, or a screw rod is inserted into the perforations, so as to limit displacement of the screw rod 104 and the push-pull member 103 in the axial direction, so that when the screw rod 104 moves in the axial direction, the push-pull member 103 may be driven to move, thereby driving the first cutter head 201 connected to the second end 1032 of the push-pull member 103 to move.

In other examples, one of the push-pull member 103 and the screw 104 may be provided with a hole, and the other may be provided with a protrusion. For example, a hole may be provided in the peripheral wall of the push-pull member 103, and a projection may be provided on the inner wall of the screw 104, the projection penetrating into the hole.

Of course, in other examples, perforations may be provided in the peripheral wall of the screw 104 and protrusions may be provided in the outer wall of the push-pull member 103.

It will be appreciated that in some examples, the screw 104 and the push-pull member 103 may be snap-fit or threaded.

In the medical instrument box provided by the embodiment of the application, the push-pull member 103 is arranged on the base 101 in a penetrating manner, the second end 1032 of the push-pull member 103 is positioned on the outer side of the base 101, and the second end 1032 is used for being connected with the first cutter head 21; a power structure which can rotate along the circumferential direction is arranged on the push-pull piece 103, and the power structure drives the push-pull piece 103 to axially move, so that the push-pull piece 103 can conveniently drive the first cutter head 21 to switch between an open state and a closed state relative to the second cutter head 22; in the embodiment of the application, the power structure is rotatably connected with the push-pull member 103 along the circumferential direction of the push-pull member 103; thus, when tissue with different angle positions needs to be clamped and cut, the push-pull piece 103 can be rotated to rotate the angle position of the first cutter head 21; the power structure is rotatably connected with the push-pull member 103, so that the axial driving of the push-pull member 103 by the power structure is decoupled from the circumferential rotation of the push-pull member 103, namely, the state switching of the first cutter head 21 is decoupled from the rotation of the first cutter head 21 along the circumferential direction of the push-pull member 103, and the state switching and the rotation of the first cutter head 21 along the circumferential direction of the push-pull member 103 are not influenced by each other, thereby being convenient for accurately controlling the rotation angle of the first cutter head 21 along the circumferential direction of the push-pull member 103, improving the control precision of the cutter head and being beneficial to reducing surgical wounds.

In other embodiments of the present application, the power structure is exemplified by the screw 104 and the screw nut 105, and referring to fig. 4 and 5, the first end 1031 is provided with a first protruding portion 1033, and the first protruding portion 1033 protrudes from the peripheral wall of the push-pull member 103.

In some examples, the first protrusion 1033 and the push-pull member 103 may be an integrally formed structure; it is understood that the first protruding portion 1033 may be formed separately from the push-pull member 103, and fixed to the first end 1031 of the push-pull member 103 by a fixing member, for example, a fixing member such as a screw, a bolt or a screw rod, and fixed to the first end 1031.

In this embodiment, the lead screw 104 is sleeved on the outer periphery of the push-pull member 103, and the end of the lead screw 104 abuts against the first protruding portion 1033. Here, the end of the lead screw 104 may directly abut the first protrusion 1033, and in some examples, the end of the lead screw 104 may also indirectly abut the first protrusion 1033, such as by a constant force provider described in subsequent embodiments of the present application.

In some examples, the lead screw 104 may remain relatively stationary with the push-pull member 103 in the direction of movement of the push-pull member 103 (e.g., in the axial direction of the push-pull member 103); that is, the movement of the screw 104 pushes the first protrusion 1033, and the first protrusion 1033 drives the push-pull member 103 to move. In some alternative examples, the screw 104 and the push-pull member 103 can also move relatively in the axial direction, and have a certain moving space, so that when clamping and cutting tissue, the clamping force on the tissue can be adjusted through the moving space. In some alternative examples, the lead screw 104 may be rotatable relative to the push-pull member 103 in the circumferential direction of the push-pull member 103.

Referring to fig. 4, in the embodiment of the present application, a screw nut 105 is provided around the outer circumference of the screw 104. It will be appreciated that the lead screw nut 105 is in threaded engagement with the lead screw 104. That is, an external thread may be provided on the outer circumferential wall of the screw 104, an internal thread may be provided on the inner circumferential wall of the screw nut 105, and the screw nut 105 is sleeved on the outer circumference of the screw 104 by screw fitting.

In this embodiment, the lead screw nut 105 may be provided with a first gear 1051, where the first gear 1051 is configured to mesh with the first driving gear 106. In some examples, the first drive gear 106 may be coupled to an external power source (e.g., may be coupled to a drive disk in a sterile adapter in some examples) to rotate under the influence of the external power source. The first driving gear 106 rotates to drive the first gear 1051 to rotate, and the first gear 1051 is arranged on the screw nut 105, so that the screw nut 105 can be driven to synchronously rotate. In this embodiment, the screw nut 105 is screwed with the screw 104, so that the rotational motion of the screw nut 105 can be converted into the linear motion of the screw 104 along the axial direction, and the screw 104 drives the push-pull member 103 to move by providing the acting force to the first protruding portion 1033 during the linear motion. For example, the push-pull member 103 is moved toward the base 101, and at this time, the push-pull member 103 rotates the first cutter head 201, thereby opening or closing the distal end 2 (e.g., ultrasonic blade) of the instrument.

In some examples, referring to fig. 4, the device tip 2 may be switched from an open state to a closed state when the push-pull member 103 moves inward of the base 101; when the push-pull member 103 moves outward of the base 101, the instrument tip 2 is switched from the closed state to the open state.

In other examples, the instrument tip 2 may be switched from the closed state to the open state when the push-pull member 103 moves inward of the base 101; when the push-pull member 103 moves outward of the base 101, the instrument tip 2 is switched from the open state to the closed state.

In some alternative examples of the embodiments of the present application, the first gear 1051 may be integrally formed with the outer peripheral wall of the lead screw nut 105, for example, by cutting and grooving the outer peripheral wall of the lead screw nut 105 by a lathe, a milling cutter, or the like, thereby forming the first gear 1051.

In some examples, the first gear 1051 may be two separate structural members with the lead screw nut 105, where the first gear 1051 and the lead screw nut 105 are connected with a limited circumferential degree of freedom through a spline and a keyway, so that the first gear 1051 rotates to drive the lead screw nut 105 to rotate.

It will be appreciated that in other examples, the first gear 1051 may also be secured to the lead screw 104 by a screw, bolt, or threaded rod, or other connection means, such that when the first gear 1051 is rotated, the lead screw nut 105 is rotated.

In the medical instrument box 1 provided by the embodiment of the application, the push-pull member 103 is movably arranged on the base 101 in a penetrating manner, the first end 1031 of the push-pull member 103 is positioned on the inner side of the base 101, and the first end 1031 is provided with the first protruding part 1033; a lead screw 104 is sleeved on the outer periphery of the push-pull member 103, and the end part of the lead screw 104 is abutted against the first protruding part 1033; the screw nut 105 is connected to the outer Zhou Sikou of the screw 104, and a first gear 1051 is arranged on the outer periphery of the screw nut 105, so that after the first gear 1051 is meshed with the first driving gear 106, the first driving gear 106 drives the screw nut 105 to rotate through the first gear 1051, and in the rotation process of the screw nut 105, the rotation is converted into linear motion of the screw 104 through screw threads, and the end part of the screw 104 drives the push-pull piece 103 to move through the first protruding part 1033, so that the push-pull piece 103 drives the first cutter head 201 connected to the second end 1032 (the end positioned outside the base 101) of the push-pull piece 103 to rotate, and the opening or closing of the tail end 2 of the instrument is realized; the push-pull member 103 is driven to move by the interaction of the end of the lead screw 104 and the first protrusion 1033; in the moving process of the push-pull member 103, the push-pull member 103 can be subjected to uniform and constant acting force of the lead screw 104, so that the moving stability of the push-pull member 103 is improved, namely, the control precision of the tail end 2 of the instrument is improved.

In addition, in the embodiment of the present application, the screw 104 is rotatably sleeved on the outer periphery of the push-pull member 103; thus, when tissue with different angle positions needs to be clamped and cut, the push-pull piece 103 can be rotated to rotate the angle position of the first cutter head; the lead screw 104 and the push-pull member 103 are rotatably sleeved, so that the axial driving of the lead screw 104 to the push-pull member 103 is decoupled from the circumferential rotation of the push-pull member 103, namely, the state switching of the first cutter head 201 is decoupled from the rotation of the first cutter head 201 along the circumferential direction of the push-pull member 103, and the state switching and the rotation of the first cutter head 201 along the circumferential direction of the push-pull member 103 are not influenced, thereby being convenient for accurately controlling the rotation angle of the first cutter head 201 along the circumferential direction of the push-pull member 103, improving the control precision of the cutter head and being beneficial to reducing surgical wounds.

In some alternative examples of embodiments of the present application, referring to fig. 5, the first protrusion 1033 is a first flange provided at the first end 1031. That is, the first protrusion 1033 is a continuous annular structure surrounding the outer periphery of the first end 1031. In this way, when the screw 104 applies the force to the first protruding portion 1033, the force is uniformly distributed in the circumferential direction of the push-pull member 103, so that stability of the screw 104 when driving the push-pull member 103 is improved, and accuracy of controlling the instrument end 2 is improved.

It will be appreciated that in some examples of the embodiment of the present application, an end of the lead screw 104 facing away from the base 101 may be rotatable relative to the first protrusion 1033 along the circumferential direction of the push-pull member 103.

In some alternative examples of embodiments of the present application, as shown with reference to fig. 6-8, first end 1031 is sleeved with latch cylinder 1034, and first protrusion 1033 is provided at an end of latch cylinder 1034; one of lock cylinder 1034 and push-pull member 103 is provided with lock 1034a, the other of lock cylinder 1034 and push-pull member 103 is provided with lock hole 1034b, and lock 1034a is configured to be inserted into lock hole 1034 b.

That is, in the embodiment of the present application, the first protruding portion 1033 may be connected to the push-pull member 103 by means of the lock catch 1034a or the snap-fit manner.

In some examples, referring to fig. 6 and 8, latch 1034a may be disposed on an inner wall of latch cylinder 1034, that is, latch 1034a may be a latch protruding from an inner wall of latch cylinder 1034, and latch hole 1034b may be a recess or a through hole disposed on a peripheral wall of push-pull member 103. In some alternative examples, the lock hole 1034b may be an annular groove surrounding the peripheral wall of the push-pull member 103, and the lock catch 1034a is snapped into the annular groove and may slide along the annular groove; that is, lock cylinder 1034 and push-pull member 103 are rotatable relative to each other. Of course, in some examples, the locking hole 1034b may be an intermittent groove surrounding the peripheral wall of the push-pull member 103. The specific type of the lock hole 1034b is not limited in the embodiment of the present application.

In other alternative examples, lock catch 1034a may also be provided on a peripheral wall of push-pull member 103, for example, lock catch 1034a may be a catch protruding outward from the peripheral wall of push-pull member 103, and lock hole 1034b may be a groove provided on an inner wall of lock cylinder 1034.

In the embodiment of the present application, by sleeving the lock cylinder 1034 at the first end 1031 of the push-pull member 103, the first protruding portion 1033 is disposed on the lock cylinder 1034; and lock catch 1034a is provided on one of lock catch cylinder 1034 and push-pull member 103, lock catch 1034a is provided on the other of lock catch cylinder 1034 and push-pull member 103, so that push-pull member 103 is facilitated to be penetrated into a through hole provided on base 101 when push-pull member 103 is assembled; that is, the first end 1031 of the push-pull member 103 can be inserted into the base 101 during assembly, so that the length of the push-pull member 103 required to be inserted into the base 101 can be reduced; then, a screw nut 105 is sleeved on the periphery of the push-pull member 103 from the first end 1031, the screw 104 is sleeved on the screw rod 104, and the screw rod 104 is in threaded fit connection with the screw nut 105; then, the lock cylinder 1034 is sleeved on the push-pull member 103 and is clamped with the lock hole 1034b through the lock 1034a, so that the end part of the screw rod 104 can be abutted with the first protruding part 1033 on the lock cylinder 1034, the screw rod 104 and the screw rod nut 105 can be quickly mounted and assembled, and the assembly efficiency of the screw rod 104 and the screw rod nut 105 is improved.

In some alternative examples of embodiments of the present application, latch 1034a is provided on latch cylinder 1034 and latch hole 1034b is provided on push-pull member 103 as specific examples. Referring to fig. 8, a plurality of locking holes 1034b are uniformly arranged at intervals in the circumferential direction of the push-pull member 103, and a plurality of locking arms are circumferentially provided to the locking cylinder 1034, each corresponding to one of the locking holes 1034b.

Referring to fig. 8, in the embodiment of the present application, the lock hole 1034b may be a through hole, that is, the lock catch 1034a penetrates into the push-pull member 103 along the radial direction of the push-pull member 103. In some alternative examples, the number of locking holes 1034b may be three, four, five, or more; the plurality of lock holes 1034b are arranged at uniform intervals in the axial direction of the push-pull member 103. In some specific examples, the number of latch arms on latch cylinder 1034 in the axial direction may be the same or identical to the number of latch holes 1034b, that is, each latch arm corresponds to one latch hole 1034b after latch cylinder 1034 is nested with push-pull member 103. When specifically provided, an end portion of the latch arm facing away from the first projecting portion 1033 projects inward with a latch 1034a. Referring to fig. 6, an inner wall of lock catch 1034a may be provided as an inclined guide surface; in this way, lock cylinder 1034 is conveniently sleeved onto push-pull member 103 during installation.

Referring to fig. 6, in this embodiment of the present application, after lock cylinder 1034 is sleeved on push-pull member 103, lock catch 1034a is embedded or snapped into lock hole 1034b, and one side of lock catch 1034a facing first protruding portion 1033 abuts against a side wall of lock catch 1034a, so as to realize connection fixation of lock cylinder 1034 and push-pull member 103, that is, realize connection and fixation of first protruding portion 1033 and push-pull member 103, facilitate connection of first protruding portion 1033 and push-pull member 103, and promote connection efficiency of first protruding portion 1033 and push-pull member 103.

In this embodiment, by uniformly arranging a plurality of lock holes 1034b at intervals in the circumferential direction of the push-pull member 103, the lock cylinder 1034 is provided with a plurality of lock arms in the axial direction, each lock arm corresponding to one lock hole 1034b; thus, after mounting lock cylinder 1034 and push-pull member 103, lead screw 104 applies a force to first projection 1033 on lock cylinder 1034, lock cylinder 1034 applies a uniform force to push-pull member 103 in the axial direction of push-pull member 103 by lock 1034a on the plurality of lock arms; so that the acting force received by the push-pull member 103 is uniformly distributed along the axial direction; thereby improving the stability of the movement of the push-pull member 103, i.e. the accuracy of the control of the instrument tip 2.

In other alternative examples of embodiments of the present application, and with continued reference to fig. 6-8, lock 1035 is provided around the periphery of lock cylinder 1034, lock 1035 is threaded with lock cylinder 1034.

In an alternative example, the outer peripheral wall of lock cylinder 1034 may be provided with external threads, and the inner peripheral wall of lock 1035 may be provided with internal threads, lock 1035 being threadably coupled to lock cylinder 1034.

In a specific installation, the locking member 1035 may be sleeved on the outer periphery of the push-pull member 103 from the first end 1031 of the push-pull member 103, and then the push-pull member 103 is sleeved with the installation upper lock catch cylinder 1034; after that, one end of locking member 1035 facing away from first protruding portion 1033 of lock cylinder 1034 is sleeved on the periphery of lock cylinder 1034, locking member 1035 is screwed down, and in the screwing down process of locking member 1035, locking member 1035 presses the locking arm on lock cylinder 1034, so that lock cylinder 1034a is clamped into lock hole 1034b in the radial direction, namely, the contact area of lock cylinder 1034a and lock hole 1034b and the clamping tightness are increased, the stability of connection of lock cylinder 1034a and lock hole 1034b can be effectively improved, namely, the stability of connection of lock cylinder 1034 and push-pull member 103 is improved, and the control precision and the use safety of instrument end 2 are improved.

With continued reference to fig. 4-6, and as shown in fig. 8, in some alternative examples of embodiments of the present application, a second protruding portion 1036 is provided on a side peripheral wall of the locking member 1035 facing away from the first protruding portion 1033, and the second protruding portion 1036 abuts against an end of the lead screw 104 facing away from the first protruding portion 1033.

That is, in the embodiment of the present application, referring to fig. 6, after locking piece 1035 is coupled with lock cylinder 1034, an annular installation groove is formed between first protruding portion 1033 and second protruding portion 1036, and screw 104 may be installed in the annular installation groove. In this way, the first protruding portion 1033 and the second protruding portion 1036 may define the degree of freedom of the screw 104 along the axial direction of the push-pull member 103, and when the first driving gear 106 drives the screw nut 105 to rotate, the screw nut 105 converts the rotational motion into the linear motion through the screw 104, so as to drive the push-pull member 103 to move, and can improve the accuracy of the control of the push-pull member 103 on the instrument end 2.

It can be appreciated that in the embodiment of the present application, the second protruding portion 1036 may be disposed in the same manner as or similar to the first protruding portion 1033, and specific reference may be made to the detailed description of the first protruding portion 1033 in the foregoing embodiment of the present application, which is not repeated herein.

For example, in some examples, the second protrusion 1036 may be a second flange provided on a peripheral wall of the retaining member 1035. That is, the second protrusion 1036 may be a continuous annular flange along the axial direction of the locking member 1035. In this way, when the end of the lead screw 104 abuts the second protrusion 1036, the end of the lead screw 104 can be made to provide a force to the push-pull member 103 along the periphery Xiang Junyun of the locking member 1035, thereby improving the accuracy of the control of the instrument tip 2 by the push-pull member 103.

In some optional examples of embodiments of the present application, referring to fig. 4 and 8, the medical device case 1 provided in the embodiments of the present application further includes a waveguide rod 107, where the waveguide rod 107 is disposed through the push-pull member 103.

In some examples, the push-pull member 103 may be provided in a tubular configuration (also commonly referred to as an inner tube), and in embodiments of the present application, the waveguide rod 107 is disposed through the push-pull member 103. In a specific arrangement, the axial direction of the waveguide rod 107 may be the same as the axial direction of the push-pull member 103, i.e. the extending direction of the push-pull member 103 is the same as the extending direction of the waveguide rod 107. In the present embodiment, the waveguide rod 107 may be connected to the transducer 3. Referring to fig. 9, an end of the waveguide rod 107 located outside the base 101 is configured as a second cutter head 202. That is, the present embodiment enables the end of the waveguide rod 107 outside the base 101 to be configured with the first cutter head 201 attached to the push-pull member 103 to form the instrument tip 2; alternatively, in some examples, it may be understood that the first tool bit 201 and the waveguide rod 107 are configured to form the instrument end 2, and in this embodiment, the end of the waveguide rod 107 extending outside the base 101 is referred to as the second tool bit 202 for convenience of description.

It will be appreciated that in the embodiments of the present application, the host computer of the medical apparatus converts the current of 50Hz or 60Hz into a high-frequency alternating current (typically 55.5kHz, but in some examples, other high-frequency alternating currents may be used, and the frequency of the high-frequency alternating current in the embodiments of the present application is shown as a specific example only and is not a specific limitation on the frequency). The high-frequency alternating current is transmitted to the transducer 3 through a wire, and the piezoelectric crystal in the transducer 3 generates the same-frequency oscillation under the action of the high-frequency alternating current, so that the high-frequency alternating current is converted into high-frequency mechanical energy. The mechanical energy is transferred to the second cutter head 202 through the waveguide rod 107 such that the second cutter head 202 mechanically oscillates at an ultrasonic frequency. The high-power ultrasonic waves enable tissue cells contacted with the second cutter 202 to be gasified in the moment of moisture, protein hydrogen bonds are broken, and cells are disintegrated, so that the tissue is incised, and friction heat energy caused by mechanical vibration can coagulate and stop bleeding while the tissue is incised.

Referring to fig. 9 and 10, in the embodiment of the present application, the first bit 201 is rotatable relative to the second bit 202, that is, the first bit 201 and the second bit 202 form a jaw or a jaw structure. When the push-pull member 103 moves axially under the driving of the lead screw 104, the push-pull member 103 can move axially relative to the waveguide rod 107, and the push-pull member 103 drives the first cutter head 201 to rotate relative to the second cutter head 202, so that the instrument end 2 is switched between an open state shown in fig. 9 and a closed state shown in fig. 10.

In the embodiment of the application, the waveguide rod 107 is used for connecting the transducer 3 by penetrating the waveguide rod 107 in the push-pull member 103; in this way, the mechanical energy generated by the transducer 3 can be transferred to the second blade 202 via the waveguide rod 107, facilitating the grasping and cutting of tissue as the push-pull member 103 is moved and the instrument tip 2 is switched from the open to the closed state.

In some alternative examples of the embodiment of the present application, to protect the instrument end 2 and the waveguide rod 107, referring to fig. 8, a first shaft hole 1071 may be provided on the waveguide rod 107 in a radial direction, referring to fig. 11, a waist-shaped hole 1037 is provided on the push-pull member 103 in an axial direction, and the pin shaft 108 is penetrated in the first shaft hole 1071 and the waist-shaped hole 1037.

That is, in this embodiment of the present application, the medical apparatus and instrument box 1 further includes the pin shaft 108, and the pin shaft 108 sequentially passes through the waist-shaped hole 1037 on the push-pull member 103 and the first shaft hole 1071 on the waveguide rod 107, so as to primarily limit the relative position of the waveguide rod 107 and the push-pull member 103. The waveguide rod 107 can be prevented from falling off.

In some alternative examples, the pin 108 may be a clearance fit with the first shaft bore 1071 on the waveguide rod 107. It will be appreciated herein that the clearance fit of the pin 108 with the first shaft bore 1071 refers to: the pin 108 is a non-addictive or close fit with the first bore 1071. In this way, a certain fit clearance (such as a machining tolerance or an error) exists between the pin shaft 108 and the first shaft hole 1071, so that when the transducer 3 transmits high-frequency vibration through the waveguide rod 107, interference between the vibration of the waveguide rod 107 and the pin shaft 108 is avoided, and safety of minimally invasive surgery is improved.

In other examples, the length of the waist-shaped aperture 1037 along the axial direction of the push-pull member 103 may be designed with the opening and closing angle of the instrument end 2, for example, the length of the waist-shaped aperture 1037 may be greater than or equal to the distance that the push-pull member 103 is axially displaced when the instrument end 2 is switched from the closed state to the open maximum angle state.

In the embodiment of the application, the waist-shaped hole 1037 is arranged on the tail end 2 of the instrument, the shaft hole is arranged on the waveguide rod 107, and the shaft hole and the waist-shaped hole 1037 are penetrated through by the pin shaft 108; in this way, the position of the waveguide rod 107 can be limited, and in addition, the push-pull member 103 can be conveniently moved when the tail end 2 of the instrument is controlled by the push-pull member 103; in addition, when the push-pull member 103 moves along the axial direction, the pin shaft 108 can also play a role in circumferential limiting and guiding the movement of the push-pull member 103 through the waist-shaped hole 1037, so that the precision of controlling the tail end 2 of the instrument can be improved, and the surgical wound is reduced.

In further alternative examples of embodiments of the present application, with continued reference to fig. 4 and 8-10, the medical instrument cassette 1 further includes an instrument bar 109, the instrument bar 109 being sleeved around the push-pull member 103.

It will be appreciated that in embodiments of the present application, the instrument bar 109 may also be a tubular structure (commonly referred to as an outer tube). The axial direction of the instrument stem is the same as or similar to that of the push-pull member 103. That is, in the embodiment of the present application, the instrument rod 109, the push-pull member 103 and the waveguide rod 107 may be coaxially disposed, where the push-pull member 103 is sleeved on the outer periphery of the waveguide rod 107, and the instrument rod 109 is sleeved on the outer periphery of the push-pull member 103.

In the embodiment of the application, the device rod 109 is sleeved on the periphery of the push-pull member 103, so that the push-pull member 103 can be isolated from the body tissue of the patient through the device rod 109, and the moving push-pull member 103 can be isolated from the body tissue of the patient when the push-pull member 103 controls the device tail end 2, and the patient can be effectively protected.

Referring to fig. 9 and 10, in the embodiment of the present application, an end portion of the instrument bar 109 may be provided with a hinge point, and the first cutter 201 is hinged to the instrument bar 109; alternatively, the second end 1032 of the push-pull member 103 may be provided with a hinge point, and the first cutter head 201 is also hinged to the push-pull member 103. Wherein the hinge point on the instrument bar 109 and the hinge point on the second end 1032 may be located on both sides of the waveguide bar 107 in a radial direction such that when the push-pull member 103 is moved in an axial direction, the push-pull member 103 pushes the first cutter head 201 to rotate relative to the instrument bar 109, thereby rotating the first cutter head 201 relative to the second cutter head 202, i.e. switching the instrument tip 2 between the open and closed states.

In some alternative examples, referring to fig. 4 and 7, the instrument bar 109 is rotatably mounted to the base 101 by a double bearing.

As described in detail in the previous embodiments of the present application, the base 101 may be provided with a through hole, and in the embodiment of the present application, a bearing may be installed in the through hole. To promote rotational stability of the instrument bar 109 relative to the base 101, in this embodiment, as shown in fig. 4, two bearings are disposed axially side-by-side within the bore.

In some examples, the inner race of the bearing may be affixed to the instrument bar 109, such as an interference fit of the instrument bar 109 with the inner race of the bearing. The bearing outer ring is fixedly connected with the through hole, for example, the bearing outer ring is in interference fit with the through hole.

In the embodiment of the application, by arranging a double bearing in the through hole, the instrument rod 109 is rotatably connected with the base 101 through the double bearing; in this way, stability of the rotation of the instrument bar 109 relative to the base 101 may be improved. When the instrument rod 109 rotates relative to the base 101, the first cutter 201 can be driven to rotate relative to the second cutter 202 in the circumferential direction, so that the position and the direction of the tail end 2 of the instrument can be adjusted, and tissue in different directions can be conveniently clamped and cut.

Referring to fig. 12, in some alternative examples of the embodiment of the present application, a second gear 115 is sleeved on the outer periphery of the instrument rod 109, and the second gear 115 is fixedly connected with the instrument rod 109, that is, when the second gear 115 rotates, the second gear 115 can drive the instrument rod 109 to rotate; a second driving gear 116 may be further disposed on the base 101, and the second driving gear 116 is meshed with the second gear 115, and the second driving gear 116 may be connected to an external power source and rotated under the driving of the external power source, thereby driving the second gear 115 to rotate.

In this embodiment of the application, through setting up second drive gear 116 and overlap at the periphery of apparatus pole 109 and establish second gear 115, like this, can rotate apparatus pole 109 through the meshing of second drive gear 116 and second gear 115, steerable apparatus pole 109 pivoted angle has promoted the precision to the terminal 2 control of apparatus.

It will be appreciated that in the embodiment of the present application, the instrument bar 109 may be independently rotated relative to the waveguide bar 107 by the second gear 115; in some examples, the instrument bar 109 may also be rotated in synchronization with the waveguide bar 107.

For example, referring to fig. 8, the instrument bar 109 is provided with a second axial hole 1091 in a radial direction, and in this embodiment, the pin 108 is further disposed through the second axial hole 1091. That is, in the present embodiment, the pin shaft 108 passes through the second shaft hole 1091, the waist-shaped hole 1037, and then passes through the first shaft hole 1071, thereby forming axial and circumferential limits for the instrument bar 109, the push-pull member 103, and the waveguide bar 107.

It can be appreciated that in this embodiment of the present application, the instrument rod 109 is relatively fixed with the base 101 in the axial direction, and after the pin shaft 108 passes through the second shaft hole 1091 and the first shaft hole 1071, the instrument rod 109 can form a supporting effect on the waveguide rod 107, so that the situation that the waveguide rod 107 falls off can be avoided, in addition, the push-pull member 103 can be initially limited, and parts such as the lock catch cylinder 1034, the locking member 1035, the screw 104 and the like can be conveniently mounted on the push-pull member 103.

In some examples, referring to fig. 4, the first end 1031 of the push-pull member 103 can extend beyond the instrument bar 109. That is, latch cylinder 1034, retaining member 1035, lead screw 104, and the like may be mounted to the portion of push-pull member 103 extending beyond instrument bar 109. Thus, the connection of the screw rod 104 and the push-pull member 103 is facilitated, and the connection and installation efficiency of the push-pull member 103 and the screw rod 104 is improved.

In some alternative examples of embodiments of the present application, as shown with reference to fig. 4 and 8, a sealing ring 110 is provided between the push-pull member 103 and the instrument bar 109, and the sealing ring 110 abuts between the push-pull member 103 and the instrument bar 109.

In the embodiment of the present application, the sealing ring 110 may be made of medical grade silica gel; i.e. the sealing ring 110 may be a silicone sealing ring 110. When the device is specifically arranged, the wire diameter of the sealing ring 110 can be larger than the gap between the push-pull piece 103 and the instrument rod 109, so that the outer wall of the push-pull piece 103 and the inner wall of the instrument rod 109 form an extrusion effect on the sealing ring 110, and the sealing effect of the sealing ring 110 can be effectively improved.

In the embodiment of the application, by arranging the sealing ring 110 between the push-pull member 103 and the instrument rod 109, the sealing ring 110 is abutted between the push-pull member 103 and the instrument rod 109; like this, sealing washer 110 can seal the clearance between push-and-pull spare 103 and the apparatus pole 109, can separate the filth such as patient's body fluid, blood outside base 101 in the minimally invasive surgery, can effectively protect the spare part in the base 101, also can play the guard action to the patient, avoid patient's infection.

As an alternative example of the embodiment of the present application, referring to fig. 4 and 11, the push-pull member 103 is provided with a reduced diameter portion 1038, and the seal ring 110 is disposed in the reduced diameter portion 1038.

That is, in the embodiment of the present application, the diameter of the portion of the push-pull member 103 provided with the seal ring 110 is smaller than the diameter of the rest portion, so that a groove can be formed in the reduced diameter portion 1038, so that the seal ring 110 can be limited, and the stability of the seal ring 110 in sealing the gap between the push-pull member 103 and the instrument rod 109 is improved.

It will be appreciated that the wire diameter of the seal ring 110 is greater than the depth of the reduced diameter portion 1038. In some examples, the wire diameter of the seal ring 110 is greater than the sum of the depth of the reduced diameter portion 1038 and the gap between the push-pull member 103 and the instrument stem 109.

With continued reference to fig. 2-4, in some alternative examples of embodiments of the present application, the housing 102 has a transducer mounting port 1021, the transducer mounting port 1021 being coaxial with the push-pull member 103.

In some examples, referring to fig. 1, transducer 3 may be inserted into transducer mounting port 1021. In a specific example, the transducer 3 may be threadably connected to the waveguide rod 107. It will be appreciated that in other examples, the transducer 3 may also be connected to the waveguide rod 107 by threading or snap-fit. Of course, the transducer 3 may be connected to the waveguide rod 107 by other mechanical connection methods, and the connection method of the transducer 3 and the waveguide rod 107 is not limited in the embodiment of the present application.

In this embodiment, the transducer mounting port 1021 is coaxially disposed with the push-pull member 103, so that the transducer 3 is conveniently connected with the waveguide rod 107, and the convenience of connection of the transducer 3 with the waveguide rod 107 is improved.

With continued reference to fig. 4, in some alternative examples of embodiments of the present application, an unlocking member 111 is provided on the housing 102, at least a portion of the retrieval extends into the housing 102, and the unlocking member 111 is optionally coupled to the first drive gear 106.

In some examples, the unlocking member 111 may be located on a side of the housing 102 facing away from the base 101. In a specific arrangement, a mounting groove may be provided in the housing 102, and the unlocking member 111 is inserted into the mounting groove. The bottom of the mounting groove may communicate with the inside of the housing 102, for example, a through hole may be provided in the bottom of the housing 102, and a portion of the unlocking piece 111 passes through the through hole and extends into the housing 102.

Illustratively, the axis of the through hole is coaxial or approximately coaxial with the rotational axis of the first drive gear 106, and upon unlocking, as shown with reference to fig. 4, the unlocking member 111 may be pressed in the direction shown by the z-axis in fig. 4, such that the unlocking member 111 moves toward the inside of the housing 102 and is connected with the first drive gear 106. Then, the unlocking member 111 may be rotated in the direction indicated by the arrow x in fig. 4, and the unlocking member 111 drives the first driving gear 106 to rotate, and the first driving gear 106 drives the push-pull member 103 to move through the first gear 1051, thereby adjusting the instrument tip 2 in the opened state and the closed state.

For example, in some applications, the instrument tip 2 needs to be threaded into the tip sleeve, at which point the instrument tip 2 needs to be switched from an open state to a closed state; at this time, the operator can push the unlocking member 111 with one hand and twist the unlocking member 111 in the direction indicated by the arrow x in fig. 4 to switch the instrument tip 2 from the open state to the closed state, and the operator can sleeve the sleeve on the instrument bar 109 with the other hand and then release the unlocking member 111.

In some examples, the unlocking member 111 has a first clutch 1112, and the first driving gear 106 is provided with a second axial limiting portion, and when the unlocking member 111 moves along the z direction in fig. 4 and is connected to the first driving gear 106, the first clutch 1112 engages with the second clutch 1113, so as to transmit the rotation force of the unlocking member 111 to the first driving gear 106 and drive the first driving gear 106 to rotate.

In some examples, the first clutch 1112 may be prismatic; accordingly, the second clutch 1113 may be a groove, and the cross section of the groove may be polygonal. That is, the edges of the prisms intermesh with the edges or corners of the polygon, thereby transmitting torque.

In other examples, the first clutch 1112 may be a groove, and the cross section of the groove may be polygonal; accordingly, the second clutch 1113 is prismatic.

It is understood that when one of the first clutch 1112 and the second clutch 1113 is a prism and the other of the first clutch 1112 and the second clutch 1113 is a groove, the groove and the prism may extend in the rotational axial direction of the first drive gear 106. In this way, the structures of the unlocking piece 111 and the first drive gear 106 can be simplified.

In other alternative examples, one of the first clutch 1112 and the second clutch 1113 may be a cylinder, and the other of the first clutch 1112 and the second clutch 1113 may be a circular hole. Wherein, a plurality of cylinders can be arranged, and the plurality of cylinders are arranged at intervals around the rotation axis of the first driving gear 106; accordingly, a plurality of round holes may be provided, and the plurality of round holes are arranged at intervals along the rotation axis of the first driving gear 106. Thus, when the unlocking piece 111 moves in the direction shown by the z-axis in fig. 4 and is connected to the first driving gear 106, a plurality of cylinders are inserted into a plurality of circular holes, thereby transmitting the rotational torque of the unlocking piece 111 to the first driving gear 106.

In other alternative examples of the embodiment of the present application, the rotation direction of the unlocking member 111 may also be the opposite direction shown by the arrow x in fig. 4, and the rotation direction of the unlocking member 111 in the embodiment of the present application is only illustrated as a specific example and is not a limitation on the rotation direction of the unlocking member 111.

In the embodiment of the present application, by providing the unlocking member 111 on the housing 102, at least a portion of the unlocking member 111 extends into the housing 102, and the unlocking member 111 is selectively connectable with the first driving gear 106; thus, in the first aspect, when the instrument end 2 needs to be sleeved with a sleeve, the unlocking piece 111 can manually drive the first driving gear 106 to rotate, so that the instrument end 2 is switched from an open state to a closed state, and the sleeve is convenient to install; in the second aspect, when some emergency situations occur, for example, after the instrument end 2 is closed and cannot be opened, the unlocking piece 111 can manually drive the first driving gear 106 to rotate, so that the instrument end 2 is switched from the closed state to the open state, dangerous situations can be handled in time, and the use safety of the surgical robot is improved.

With continued reference to FIG. 4, in alternative examples of embodiments of the present application, a first force reservoir 1111 is disposed between the housing 102 and the unlocking member 111, a portion of the first force reservoir 1111 is coupled to the housing 102, another portion of the first force reservoir 1111 is coupled to the unlocking member 111, and the first force reservoir 1111 is configured to provide a force to the unlocking member 111 away from the housing 102.

In some examples, the first power storage 1111 may be a compression spring or an elastic member such as an elastic sponge column. In other alternative examples, the first power storage member 1111 may also be two magnets with the same poles opposite to each other, for example, one of the magnets is disposed on the unlocking member 111, and the other magnet is disposed on the housing 102. It is understood that in the present embodiment, the specific type of first power storage element 1111 is shown as only some specific examples, and in some possible examples, first power storage element 1111 may be other types of power storage elements, which is not limited in the present embodiment.

When the unlocking piece 111 moves towards the first driving gear 106, the first power storage piece 1111 stores power and provides a force for the unlocking piece 111 to face away from the housing 102; after the sleeve installation is completed or the unlocking process of the instrument end 2 in an emergency is completed, the pressure of the operator multiple unlocking members 111 disappears, and the power storage of the first power storage member 1111 is released, so that the unlocking members 111 are moved in a direction away from the first driving gear 106, and the first clutch 1112 is separated from the second clutch 1113, thus, the normal driving of the first driving gear 106 by an external power source can be ensured, and the control precision of the instrument end 2 is ensured.

In other alternative examples of embodiments of the present application, the lead screw 104 is rotatably connected to the push-pull member 103 in the circumferential direction.

As described in detail in the embodiment of the present application, screw 104 may be sleeved on the outer circumference of unlocking member 111, that is, screw 104 is disposed in a mounting groove formed between first protrusion 1033 on lock cylinder 1034 and second protrusion 1036 on lock member 1035. In other words, in the present embodiment, screw 104 is rotatably connected to lock cylinder 1034 and lock 1035 in the circumferential direction.

Thus, when the second gear 115 is driven by the second driving gear 116, as shown in fig. 12, for example, and the second gear 115 drives the instrument rod 109, the push-pull member 103, and the waveguide rod 107 to rotate, the lead screw 104 does not rotate together with the push-pull member 103; namely, the rotation of the push-pull member 103 and the rotation of the screw rod 104 are decoupled, so that the first driving gear 106 and the screw rod nut 105 cannot influence the rotation of the push-pull member 103, the rotatable degree of freedom of the tail end 2 of the instrument is increased, and the tissue in different directions can be conveniently clamped and cut.

Referring to fig. 13, in some alternative examples of embodiments of the present application, a support plate 117 may be provided on the base 101, and a bearing may be mounted on the support plate 117, and an inner ring of the bearing is mounted with the lead screw nut 105; that is, in the embodiment of the present application, the bearing outer ring and the support plate 117 may be in interference fit, and the bearing inner ring and the screw nut 105 may be in interference fit; in this way, the rotation resistance of the screw nut 105 during rotation can be reduced, the screw 104 can be conveniently driven, and the control accuracy of the instrument tail end 2 can be improved.

In some examples of embodiments of the present application, as shown with reference to fig. 6, a rolling member 119 may be provided between the end surface of the lead screw 104 and the first protrusion 1033. In some examples, the rolling member 119 may be a ball or roller.

In this embodiment, by providing the rolling element 119 between the end surface of the screw 104 and the first protruding portion 1033, when the screw 104 rotates relative to the lock cylinder 1034 and the locking element 1035, friction force between the screw 104 and the first protruding portion 1033 can be reduced, which is beneficial to the overall rotation adjustment of the instrument end 2.

In some examples, the rollers 119 may be disposed on an end face of the lead screw 104; alternatively, in other examples, the rolling member 119 may be provided on the first projecting portion 1033.

As a specific example of an embodiment of the present application, the rolling member 119 may be a ball. Referring to fig. 14, in the embodiment of the present application, an annular groove 1041 may be provided on an end surface of the screw 104, and balls may be embedded in the annular groove 1041 and may roll in the annular groove 1041. It will be appreciated that where the rollers 119 are rollers, the rollers may also be embedded in the annular groove 1041 with the axes of the rollers disposed radially of the lead screw 104.

In the embodiment of the application, the annular groove 1041 is formed in the end face of the screw 104, so that the rolling element 119 is convenient to set, and the efficiency of the installation and setting of the rolling element 119 is improved.

In other alternative examples of the embodiment of the present application, a rolling member 119 may be provided between the end surface of the lead screw 104 facing the side of the second protruding portion 1036 and the second protruding portion 1036. It should be noted that, in the embodiment of the present application, the arrangement mode of the rolling element 119 between the screw 104 and the second protruding portion 1036 may be the same as or similar to the arrangement mode of the rolling element 119 between the screw 104 and the first protruding portion 1033, and reference may be made specifically to the detailed description of the foregoing embodiment of the present application, which is not repeated herein.

In this embodiment, rolling elements 119 are disposed at two ends of the screw 104, so that when the second gear 115 is driven by the second driving gear 116 and the second gear 115 drives the apparatus rod 109 to rotate, the apparatus rod 109 drives the push-pull element 103 and the waveguide rod 107 to rotate together through the pin shaft 108, and the push-pull element 103 drives the lock cylinder 1034 and the lock element 1035 to rotate relative to the screw 104; that is, the screw 104 is decoupled from the rotation of the push-pull member 103 in the circumferential direction, and the screw nut 105 screwed with the screw 104 and the first drive gear 106 do not affect the rotation of the push-pull member 103; facilitating adjustment of the instrument tip 2 at various angles; the degree of freedom of the instrument tip 2 is increased.

Referring to fig. 15, in some alternative examples of embodiments of the present application, the medical instrument cartridge 1 further includes a second force storage member 112, and the second force storage member 112 may be disposed between the first end 1031 of the push-pull member 103 and the housing 102. Referring to fig. 15, a portion of the second force storage member 112 is disposed on the housing 102, and another portion of the second force storage member 112 is configured to be coupled to the first end 1031.

In some alternative examples, the second power storage member 112 may be the same type as or similar to the first power storage member 1111, that is, the second power storage member 112 may be a compression spring, an elastic sponge column, or two magnets with the same polarity opposite each other.

In the embodiment of the present application, the second power storage member 112 is taken as a compression spring as a specific example. The second force accumulating member 112 may be cylindrical, and the second force accumulating member 112 is coaxial with the push-pull member 103. In some examples, one end of the second force storage member 112 abuts against an inner wall of the housing 102 (e.g., may abut against an edge of the transducer mounting port 1021), and the other end of the second force storage member 112 may abut against the first protrusion 1033.

Referring to fig. 15, when the external power source drives the first driving gear 106 to rotate, the first driving gear 106 drives the screw nut 105 to rotate, at this time, the screw nut 105 converts the rotational motion into the linear motion of the screw 104 through the screw thread, that is, referring to fig. 15, when the screw nut 105 rotates along the xy plane in fig. 15, the screw 104 can move upwards along the direction shown by the z axis, so that the push-pull member 103 is driven to move along the z axis through the lock cylinder 1034; referring to fig. 9 and 10, during movement of the lead screw 104 in the z-axis direction, the instrument tip 2 switches from the open state shown in fig. 9 to the closed state shown in fig. 10.

That is, referring to fig. 15 and 16, when instrument tip 2 is in the open state shown in fig. 9, second force storage member 112 may be in the extended state, i.e., lead screw 104, latch cylinder 1034, retaining member 1035, and push-pull member 103 may be in initial position i shown in fig. 15 and 16.

Referring to fig. 17 and 18, when it is desired to clamp and cut tissue, the lead screw nut 105 is driven to rotate by the first driving gear 106, the lead screw nut 105 drives the push-pull member 103 to move in the direction shown by the x-axis in fig. 17, the first protrusion 1033 compresses the second force accumulating member 112, and when the instrument tip 2 holds tissue, referring to fig. 17 and 18, the second force accumulating member 112 can be compressed by the first protrusion 1033 to the end position i1 shown in fig. 17 and 18, and at this time, the second force accumulating member 112 is accumulated due to the compression.

In some examples, when the instrument tip 2 is released after clamping and cutting of tissue is completed, the push-pull member 103 may be pushed by the first protrusion 1033 to move in the negative direction of the z-axis in fig. 17 until it moves to the initial position i shown in fig. 15 and 16, and the instrument tip 2 switches from the closed state shown in fig. 10 to the open state shown in fig. 9.

In some alternative examples of the embodiment of the present application, in order to improve the stability of the movement of the push-pull member 103 along the negative z-axis direction in fig. 15 and 17, referring to fig. 7, 12 and 13, in the embodiment of the present application, a side fixing plate 118 is further disposed on the support plate 117, and the lead screw nut 105 is disposed between the side fixing plate 118 and the support plate 117; the side fixing plate 118 is interposed with a reset top plate 113.

Referring to fig. 15 to 18, at least a part of the reset top plate 113 is inserted into the side fixing plate 118, one end of the reset top plate 113 abuts against the second reset member, and the other end of the reset top plate 113 abuts against the screw 104. That is, as shown with reference to fig. 15 and 17, when the lead screw 104 rotates along the xy-plane in fig. 15 and 17, at least a part of the end surface of the lead screw 104 facing the first projecting portion 1033 side abuts against the return top plate 113, and applies a force in the positive z-axis direction to the return top plate 113. In other words, when the push-pull member 103 is driven by the first protrusion 1033, the screw 104 also applies a pressing force to the reset top plate 113 and compresses the second force storage member 112.

When resetting is required, for example, the first driving gear 106 stops driving the lead screw nut 105, at this time, the lead screw nut 105 stops rotating, the force stored by the second force storing member 112 is released, and the resetting top plate 113 is pushed to move along the negative z-axis direction in fig. 15 and 17, the resetting top plate 113 pushes the lead screw 104 to apply a force along the negative z-axis direction in fig. 15 and 17, the lead screw 104 reversely rotates relative to the lead screw nut 105, so as to apply a force to the second protruding portion 1036 on the locking member 1035, and the locking member 1035 drives the push-pull member 103 to move along the negative z-axis direction, so that the instrument end 2 is switched from the closed state in fig. 10 to the open state in fig. 9.

As an alternative example of an embodiment of the present application, the lead screw nut 105 may be a ball screw 104. By using the ball screw 104, the resistance to reverse rotation of the screw 104 relative to the screw nut 105 is reduced, facilitating the return of the screw 104, i.e. the switching of the instrument tip 2 from the closed state to the open state.

In other alternative examples of the embodiment of the present application, referring to fig. 7, a positioning chute 1181 is provided on one side of the reset top plate 113 and the side fixing plate 118, a positioning boss 1131 is provided on the other side of the reset top plate 113 and the side fixing plate 118, the positioning chute 1181 and the positioning boss 1131 are in one-to-one correspondence, and the positioning boss 1131 is slidably provided in the positioning chute 1181; the positioning runner 1181 may extend in the axial direction of the push-pull member 103.

In some specific examples, the positioning sliding grooves 1181 may be disposed on an inner wall of the side fixing plate 118, the positioning sliding grooves 1181 may be disposed in plurality, and the positioning sliding grooves 1181 may be disposed at intervals along a circumferential direction of the side fixing plate 118, and in some examples, the positioning sliding grooves 1181 may be disposed at intervals uniformly.

Accordingly, the positioning boss 1131 may be disposed on the outer peripheral wall of the reset top plate 113, and the positioning boss 1131 may also be provided with a plurality of positioning bosses 1131 arranged at intervals along the outer peripheral wall of the reset top plate 113. As a specific example, each positioning boss 1131 corresponds to one positioning slide groove 1181, and is slidable in the positioning slide groove 1181 in the axial direction of the push-pull member 103.

In this embodiment, through setting up location spout 1181 on one of roof 113 and the side fixed plate 118 that resets, set up location boss 1131 on the other of roof 113 and the side fixed plate 118 that resets, like this, side fixed plate 118 can restrict the circumference degree of freedom of roof 113 that resets for roof 113 that resets only moves along axial direction, has promoted the stability that lead screw 104 supported roof 113 that resets, in addition, when the second holds power piece 112 to reset roof 113, also can promote the stability that roof 113 that resets removed, promotes the stability that lead screw 104 and push-pull piece 103 removed promptly.

It will be appreciated that in this embodiment of the present application, in the process that the first driving gear 106 drives the lead screw nut 105 to rotate, and the lead screw nut 105 drives the lead screw 104 to move along the positive direction of the z-axis in fig. 15, the reset top plate 113 compresses the second force accumulating member 112, the second force accumulating member 112 accumulates force, after the instrument end 2 clamps the tissue, the reset top plate 113 continues to compress the second force accumulating member 112, and the force accumulating of the second force accumulating member 112 increases, that is, the clamping force of the instrument end 2 increases, so as to protect the tissue, and avoid damage to the tissue caused by the excessive clamping force of the instrument end 2, as shown in fig. 4 and 6, in other alternative examples of this embodiment of the present application, the medical instrument case 1 further includes the constant force providing member 114, where the constant force providing member 114 is located between the lead screw 104 and the push-pull member 103.

In some examples, referring to fig. 4 and 6, the constant force provider 114 may abut an end surface of the lead screw 104 opposite the end of the base 101 (in some examples, an end of the lead screw 104 opposite the base 101 may also be referred to as a force application end).

In the embodiment of the application, the constant force providing member 114 is arranged between the lead screw 104 and the push-pull member 103, so that when the lead screw 104 drives the push-pull member 103 to move, the acting force provided by the lead screw 104 on the push-pull member 103 is kept constant, namely, the clamping force provided on the tissue of a patient is kept constant when the first cutter head 201 rotates within a certain angle range relative to the second cutter head 202; in this way, the clamping force of the first cutter head 201 and the second cutter head 202 on the tissue of the patient can be precisely controlled, so that the trauma caused by the operation is reduced.

In some alternative examples of embodiments of the present application, the constant force provider 114 may be disposed between the first protrusion 1033 and the lead screw 104, in connection with the detailed description of the previous embodiments of the present application. That is, in some examples, a portion of the constant force provider 114 may be connected with the first protrusion 1033 and another portion of the constant force provider 114 may be connected with the lead screw 104.

It will be appreciated that in some examples, a groove may also be provided in the peripheral wall of the first end 1031 of the push-pull member 103, with a portion of the constant force providing member being embedded within the groove to provide force to the push-pull member 103 through the side walls of the groove.

In this embodiment, the constant force provider 114 may provide a predetermined constant force between the first protrusion 1033 and the screw 104, i.e., the force provided by the constant force provider 114 is a predetermined value. It will be appreciated that the predetermined constant force provided by the constant force provider 114 may be set according to the different types of instrument tips 2 and different surgical scenarios for which the constant force provided by the constant force provider 114 is not limited in the embodiments of the present application.

As an alternative example of the embodiment of the present application, referring to fig. 4 and 6, an end surface of the lead screw 104 facing the first protruding portion 1033 (i.e., the force application end of the previous embodiment of the present application) may be concavely formed with a concave portion 1042 in the axial direction, the concave portion 1042 communicating with the interior of the lead screw 104; in embodiments of the present application, the constant force provider 114 may be disposed within the recess 1042. That is, in the embodiment of the present application, the constant force provider 114 is located between the recess 1042 and the first protrusion 1033, and the end surface of the lead screw 104 abuts against the reset top plate 113.

In some alternative examples of embodiments of the present application, as shown with reference to fig. 4 and 6, the inner diameter of the recess 1042 is greater than the diameter of the first projection 1033.

Thus, when the screw 104 moves in the positive z-axis direction in fig. 15, the end surface of the screw 104 abuts against the return top plate 113, and the return top plate 113 compresses the second power storage element 112; at the same time, the recess 1042 applies a force to the constant force provider 114, and the constant force provider 114 pushes the first protrusion 1033, and the first protrusion 1033 drives the push-pull member 103 through the lock cylinder 1034 to move in the direction shown by the z-axis in fig. 15, so that the instrument tip 2 is switched from the open state shown in fig. 9 to the closed state shown in fig. 10.

It will be appreciated that when the second force accumulation member 112 accumulates a force greater than or equal to the force provided by the constant force providing member 114, and when the lead screw 104 is moved in the direction of the z-axis in fig. 15, the force is first applied to the constant force providing member 114, the constant force providing member 114 is compressed, that is, when the amount of clamping force of the instrument end 2 to the tissue is determined by the constant force provided by the constant force providing member 114, the clamping force of the instrument end 2 to the tissue remains unchanged, and the tissue can be effectively protected.

In some examples, referring to fig. 4, the first protrusion 1033 may move within the reset ceiling 113 as the lead screw 104 compresses the constant force provider 114. That is, in the present embodiment, at least a portion of lock cylinder 1034 is disposed through reset top plate 113.

As an alternative example of the embodiment of the present application, the peripheral wall of the first protrusion 1033 may be in sliding contact with the inner wall of the reset top plate 113. In this way, the movement of lock cylinder 1034 and push-pull member 103 can be guided by reset top plate 113, so that the stability of the movement of push-pull member 103 can be improved, and the accuracy of controlling instrument tip 2 can be improved.

In some examples, the constant force provider 114 may be any one of a constant force wave spring, a linear motor, or an electromagnet.

Referring to fig. 6, in the embodiment of the present application, when the constant force provider 114 is a constant force wave spring, the screw 104 and the end surface of the constant force wave spring can rotate relatively in the circumferential direction. In some specific examples, the rolling element 119 in the previous embodiments of the present application may be disposed between the constant force wave spring and the lead screw 104. Alternatively, in other examples, the constant force wave spring and the first protrusion 1033 may be rotatable relative to each other in the circumferential direction, that is, the rolling member 119 may be disposed between the constant force wave spring and the first protrusion 1033.

It can be appreciated that the constant force spring is used as the constant force providing member 114, and is determined by the self-characteristics of the constant force spring, and the detailed description of the Guan Heng force spring in the related art will be referred to, which will not be repeated in the embodiments of the present application.

It will also be appreciated that when the constant force provider 114 is a linear motor, the force provided by the constant force provider 114 to the first protrusion 1033 may be maintained constant by controlling the output power of the linear motor.

It will be appreciated that in some alternative examples of the present application, the constant force supply 114 may be other types of motors, the output shaft of which may abut in at least one of the first protrusion 1033 and the bottom wall of the recess 1042, for example, when the motor is a dual-shaft motor, one of the output shafts of the motor may abut on the first protrusion 1033 and the other of the output shafts of the motor may abut on the bottom wall of the recess 1042 in some examples.

In other alternative examples of embodiments of the present application, where the constant force provider 114 is an electromagnet, the amount of current flowing through the electromagnet may be varied based on the compression distance (or alternatively, the relative displacement) between the lead screw 104 and the first protrusion 1033, thereby ensuring that the force provided by the constant force provider 114 against the first protrusion 1033 remains constant.

As a specific example of the embodiment of the present application, an electromagnet may be provided on the first protrusion 1033; accordingly, a magnet may be provided in the recess 1042, and the magnet may be homopolar-opposed to the electromagnet.

Of course, in some examples, an electromagnet may also be disposed in the recess 1042 and a magnet disposed on the first protrusion 1033.

In other examples of embodiments of the present application, constant force provider 114 may be disposed around latch cylinder 1034, that is, constant force provider 114 may provide a constant force to first protrusion 1033 along the circumference of latch cylinder 1034, such that the force provided by first protrusion 1033 may be evenly distributed, and stability of movement of push-pull member 103 may be improved, thereby improving accuracy of control of instrument tip 2.

In the embodiment of the present application, by providing the constant force provider 114 between the lead screw 104 and the first protrusion 1033, a part of the constant force provider 114 is connected to the first protrusion 1033, and another part of the constant force provider 114 is connected to the lead screw 104; like this, after first tool bit 201 rotates to predetermineeing the angle within range under push-and-pull spare 103 drives, when continuing to rotate, constant force provides the piece 114 and provides predeterminedly invariable constant force to first bulge 1033, like this, instrument end 2 is invariable to the clamping force of tissue to can avoid causing the harm to the tissue, promoted the security that surgical robot used.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting thereof; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.

Claims

1. A medical device cassette, comprising:

a base;

the push-pull piece is arranged on the base in a penetrating manner and is provided with a first end and a second end which extend along the direction perpendicular to the base; the second end is configured to connect with a first tool tip;

2. The medical device cassette of claim 1, wherein the first end is provided with a first projection protruding from a peripheral wall of the push-pull member;

One end of the power structure, which is opposite to the base, is abutted against the first protruding part, and the power structure can rotate relative to the first protruding part along the circumferential direction of the push-pull piece.

3. The medical device cartridge of claim 2, wherein a rolling element is disposed between the power structure and the first projection, the rolling element abutting between the power structure and the first projection.

4. A medical instrument box according to claim 3, wherein an annular groove is formed in one end of the power structure facing the first protruding portion, and the rolling element is embedded in the annular groove and can roll along the annular groove; the rolling piece part protrudes out of the annular groove and is abutted against the first protruding part;

and/or the number of the groups of groups,

an annular groove is formed in one side, facing the power structure, of the first protruding part, and the rolling piece is embedded in the annular groove and can roll along the annular groove; the rolling part protrudes out of the annular groove and is abutted against the power structure.

5. The medical device cartridge of claim 3, wherein the rolling member comprises any one of a ball and a roller.

6. The medical instrument box according to claim 2, wherein the peripheral wall of the push-pull member is further provided with second protruding portions, and the second protruding portions and the first protruding portions are arranged at intervals along the axial direction of the push-pull member;

7. The medical device cartridge of claim 6, wherein a rolling member is disposed between the power structure and the second projection, the rolling member abutting between the power structure and the second projection.

8. The medical device cartridge according to any one of claims 1 to 7, wherein a constant force providing member is provided between the power structure and the push-pull member, and the power structure provides a preset constant force to the push-pull member through the constant force providing member so as to drive the push-pull member to move in the axial direction; the power structure is rotatable relative to the constant force provider and/or the constant force provider is rotatable relative to the push-pull member.

9. The medical device cartridge of claim 8, wherein an end of the power structure facing away from the base is provided with a recess, and the constant force providing member is disposed in the recess.

10. The medical device cartridge of any one of claims 1-7, wherein the power structure comprises:

the lead screw is rotatably sleeved on the periphery of the push-pull piece and is configured to drive the push-pull piece to move along the axial direction;

the screw nut is sleeved on the periphery of the screw, a first gear is arranged on the periphery of the screw nut and is used for being meshed with a first driving gear, so that the screw can move relative to the screw nut due to the passive rotation of the first gear under the driving of the first driving gear, and the push-pull piece can be driven to move due to the movement of the screw, so that the first tool bit is driven to move.

11. A robotic ultrasonic blade comprising:

the medical device cartridge of any one of claims 1-10 and a transducer removably attached to the medical device cartridge.

12. A surgical robot, comprising:

a patient operating table having the robotic ultrasonic blade of claim 11 removably mounted thereon.