CN217408915U

CN217408915U - Medical ultrasonic knife, medical ultrasonic knife system and robot-assisted ultrasonic knife system

Info

Publication number: CN217408915U
Application number: CN202221138828.XU
Authority: CN
Inventors: 曹群; 战松涛; 戴志凌
Original assignee: Beijing Shuimu Tianpeng Medical Equipment Co ltd
Current assignee: Beijing Shuimu Tianpeng Medical Equipment Co ltd
Priority date: 2022-05-11
Filing date: 2022-05-11
Publication date: 2022-09-13
Anticipated expiration: 2032-05-11

Abstract

The application provides a medical ultrasonic knife, a medical ultrasonic knife system and a robot-assisted ultrasonic knife system, and relates to the technical field of medical instruments. The medical ultrasonic knife is characterized in that at least one of the knife handle and the knife bar is provided with a composite vibration mode generating part, and the composite vibration mode generating part can drive the knife head to generate composite vibration containing at least two of longitudinal vibration, torsional vibration and bending vibration under the action of a vibration source, so that the medical ultrasonic knife can generate various vibrations to adapt to various different operation types, and the application range of the medical ultrasonic knife in an operation is expanded.

Description

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

Technical Field

The application relates to the field of medical instruments, in particular to a medical ultrasonic scalpel, a medical ultrasonic scalpel system and a robot-assisted ultrasonic scalpel system.

Background

In modern medicine, common surgical tools include medical high-speed abrasive drills, oscillating saws and other traditional tools. The operation tool can be used for cutting, drilling or grinding the bone, thereby achieving the purpose of processing the bone.

However, in the practical use process of the surgical tool, especially when the surgical site is close to the interface of bone and soft tissue (especially spinal cord), the conventional surgical tools such as high-speed grinding drill and swing saw are difficult to ensure that the bone is treated but the soft tissue is not damaged. Particularly, the medical high-speed abrasive drill is difficult to accurately control the depth of the drilled bone and is easy to damage soft tissues while drilling the bone; the oscillating saw is difficult to control accurately due to large oscillating amplitude, and is easy to accidentally injure soft tissues near bones.

With the development of the ultrasonic technology and the combination of the ultrasonic technology and modern medicine, the medical ultrasonic knife is gradually applied to surgical operations, and due to the characteristics of the ultrasonic, when the medical ultrasonic knife is in contact with a bone with high hardness, the bone is not easy to deform, so that cutting can be performed at the contact position, and when the medical ultrasonic knife is in contact with soft tissue, the soft tissue can be bounced or deformed under the elastic action of the soft tissue, and vibrates slightly along with the vibration of the medical ultrasonic knife, so that the energy at the knife head is offset, and the cutting is avoided. Therefore, the bone cutting advantages of the medical ultrasonic scalpel are obvious especially for the surgical operation of which the operation position is near the interface of the bone and the soft tissue.

On the basis, how to exert the advantages of the medical ultrasonic scalpel, so that the medical ultrasonic scalpel can replace the traditional surgical tool, is widely applied to various surgical types, and is also gradually a hot point of research.

SUMMERY OF THE UTILITY MODEL

The present application is directed to solving at least one of the problems in the prior art. Therefore, an object of the present application is to provide a medical ultrasonic scalpel, a medical ultrasonic scalpel system, and a robot-assisted ultrasonic scalpel system, so as to increase the application range of the medical ultrasonic scalpel in surgery.

Embodiments of a first aspect of the present application provide a medical ultrasonic blade, including: a tool shank having a shank longitudinal central axis and a first end of the tool shank for connection to a vibration source for receiving vibrations generated by the vibration source; a tool bar having a tool bar longitudinal central axis and a first end of the tool bar connected to a second end of the tool shank opposite the first end of the tool shank; the cutting head is provided with a cutting part used for cutting the tissue to be cut; the composite vibration mode generating part is arranged on at least one of the tool handle and the tool bar and used for converting the vibration received from the vibration source into composite vibration of the cutting part of the tool bit, and the composite vibration comprises at least two of the following vibrations: 1) longitudinal vibration parallel to at least one of the shank longitudinal central axis, and the tool bit longitudinal central axis; 2) torsional vibration with at least one of the longitudinal central axis of the tool holder, the longitudinal central axis of the tool bar and the longitudinal central axis of the tool bit as a torsional central axis; and 3) bending vibrations laterally offset from at least one of the shank longitudinal central axis, and the tool tip longitudinal central axis.

Embodiments of a second aspect of the present application provide a medical ultrasonic blade system comprising a vibration source and a medical ultrasonic blade as described above; the vibration source is connected with the first end part of the handle of the medical ultrasonic knife and is used for generating vibration.

Embodiments of a third aspect of the present application provide a robotic-assisted ultrasonic blade system comprising: a robotic-assisted surgical device and a medical ultrasonic blade system as described above; the robot-assisted surgery device is connected with a medical ultrasonic knife in the medical ultrasonic knife system to control the movement of the medical ultrasonic knife.

The medical ultrasonic knife, medical ultrasonic knife system and supplementary ultrasonic knife system of robot that this application embodiment provided, through set up the compound mode of vibration generation portion on at least one of handle of a knife or cutter arbor, compound mode of vibration generation portion can drive the tool bit under the effect of the vibration source and produce the compound vibration that contains two kinds at least in longitudinal vibration, torsional vibration and bending vibration to make medical ultrasonic knife can produce multiple vibration, in order to adapt to the operation type of multiple difference, improve the range of application of medical ultrasonic knife in the operation.

Drawings

In the drawings, like reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily to scale. It is appreciated that these drawings depict only some embodiments in accordance with the disclosure and are therefore not to be considered limiting of its scope.

FIG. 1 illustrates a block diagram of a medical ultrasonic blade system in an embodiment of the present application;

FIG. 2 is a schematic view of a medical ultrasonic blade according to an embodiment of the present application;

FIG. 3 is a front view of the medical ultrasonic blade of FIG. 2;

FIG. 4 is a rear view of the ultrasonic blade of FIG. 2;

FIG. 5 is a top view of the ultrasonic blade of FIG. 2;

FIG. 6 is a bottom view of the ultrasonic blade of FIG. 2;

FIG. 7 is a left side view of the ultrasonic blade of FIG. 2;

FIG. 8 is a right side view of the ultrasonic blade of FIG. 2;

FIG. 9 is a schematic view of a medical ultrasonic blade according to another embodiment of the present application;

FIG. 10 is a front view of the ultrasonic blade of FIG. 9;

FIG. 11 is a rear view of the ultrasonic blade of FIG. 9;

FIG. 12 is a top view of the ultrasonic blade of FIG. 9;

FIG. 13 is a bottom view of the ultrasonic blade of FIG. 9;

FIG. 14 is a left side view of the ultrasonic blade of FIG. 9;

FIG. 15 is a right side view of the ultrasonic blade of FIG. 9;

FIG. 16 is a schematic view of a medical ultrasonic blade according to yet another embodiment of the present application;

FIG. 17 is a front view of the ultrasonic blade of FIG. 16;

FIG. 18 is a rear view of the ultrasonic blade of FIG. 16;

FIG. 19 is a top view of the ultrasonic blade of FIG. 16;

FIG. 20 is a bottom view of the ultrasonic blade of FIG. 16;

FIG. 21 is a left side view of the ultrasonic blade of FIG. 16;

FIG. 22 is a right side view of the ultrasonic blade of FIG. 16;

FIG. 23 is a schematic view of a medical ultrasonic blade according to yet another embodiment of the present application;

FIG. 24 is a front view of the ultrasonic blade of FIG. 23;

FIG. 25 is a rear view of the medical ultrasonic blade of FIG. 23;

FIG. 26 is a top view of the ultrasonic blade of FIG. 23;

FIG. 27 is a bottom view of the ultrasonic blade of FIG. 23;

FIG. 28 is a left side view of the ultrasonic blade of FIG. 23;

FIG. 29 is a right side view of the ultrasonic blade of FIG. 23;

FIG. 30 is a view showing a deformation of the medical ultrasonic blade when vibrated in the longitudinal direction in the example of the present application;

fig. 31 is a deformation diagram of the medical ultrasonic blade in bending vibration according to the embodiment of the present application.

Description of reference numerals:

10: a medical ultrasonic knife; 100: a knife handle;

200: a cutter bar; 300: a cutter head;

310: a cutting section; 400: a composite vibration mode generating unit;

410: a first composite vibration mode generating section; 411: a chute;

420: a second composite vibration mode generating section; 421: a lateral cut-out;

500: a conical transition section; 60: and (4) a vibration source.

Detailed Description

In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present application. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.

Fig. 1 shows a block diagram of a medical ultrasonic blade system in an embodiment of the present application. Referring to fig. 1, the medical ultrasonic blade system includes a medical ultrasonic blade 10 and a vibration source 60. The medical ultrasonic blade 10 includes: a tool shank 100, a tool bar 200, a tool tip 300, and a composite vibration pattern generating portion 400.

The tool holder 100 may be a rod-shaped structure, and the cross section thereof may be circular, square, or other shapes. The tool shank 100 has a shank longitudinal center axis L1, and opposite ends of the tool shank 100 along the shank longitudinal center axis L1 are a first end (left end in fig. 1) and a second end (right end in fig. 1) of the tool shank 100, respectively. A first end of tool shank 100 may be coupled to vibration source 60 to receive vibrations generated by vibration source 60.

The tool bar 200 may be an elongated structure, and the cross section thereof may be square, oval, or other shapes. The tool bar 200 has a tool bar longitudinal center axis L2, and opposite ends of the tool bar 200 along the tool bar longitudinal center axis L2 are a first end (left end in fig. 1) and a second end (right end in fig. 1) of the tool bar 200, respectively. A first end of tool bar 200 is connected to a second end of tool shank 100.

The cutting head 300 may also be an elongated structure, and the cross section thereof may be roughly in various shapes such as a cross shape, a diamond shape, and the like. The tool bit 300 has a bit longitudinal center axis L3, and the opposite ends of the tool bit 300 along the bit longitudinal center axis L3 are a first end (left end in fig. 1) and a second end (right end in fig. 1) of the tool bit 300, respectively. The first end of the cutter head 300 is connected to the second end of the cutter bar 200, and the second end of the cutter head 300 is provided with a cutting part 310 for cutting a tissue to be cut.

The tissue to be cut can be bone, blood vessel and other tissues needing to be processed. For convenience of explanation, the tissue to be cut is described below as a bone. The cutting part 310 may be located at a second end of the tool bit 300 facing away from the tool shank 100, and the cutting part 310 may first come into contact with a bone to treat the bone at the time of surgery.

It is understood that tool shank 100, tool bar 200, and tool tip 300 may be connected in series, generally in the left-to-right direction of fig. 1. In some embodiments, tool shank 100 may be a cylindrical structure, tool bar 200 may be a sheet-like structure, tool bar 200 may have a generally rectangular cross-sectional shape, and tool tip 300 may have a generally diamond-shaped cross-sectional shape. And among the three, the cross-sectional area of the knife handle 100 is the largest, the cross-sectional area of the tool bit 300 is the smallest, and the cross-sectional area of the knife bar 200 is between the knife handle 100 and the tool bit 300.

In addition, the relationship among the shank longitudinal center axis L1, the shank longitudinal center axis L2, and the bit longitudinal center axis L3 may be varied.

In some embodiments, the shank longitudinal central axis L1 and the shank longitudinal central axis L2 coincide, and the bit longitudinal central axis L3 is offset from the shank longitudinal central axis L1 and the shank longitudinal central axis L2 by a predetermined distance or by a predetermined angle, i.e., the shank 100 and the shank 200 may extend in the same direction, the bit longitudinal central axis L3 may be at a predetermined angle to the shank longitudinal central axis L2, or the bit longitudinal central axis L3 may be parallel to the shank longitudinal central axis L2 and offset by a predetermined distance.

In other embodiments, the shank longitudinal center axis L1 and the tool bit longitudinal center axis L3 coincide and the shank longitudinal center axis L2 is offset a predetermined distance or a predetermined angle from the shank longitudinal center axis L1 and the tool bit longitudinal center axis L3, i.e., the shank 100 and the tool bit 300 may extend in the same direction, the shank longitudinal center axis L2 may be at a predetermined angle to the tool bit longitudinal center axis L3, or the shank longitudinal center axis L2 may be parallel to the tool bit longitudinal center axis L3 and offset a predetermined distance therebetween.

In still other embodiments, the shank longitudinal central axis L1, the shank longitudinal central axis L2, and the bit longitudinal central axis L3 coincide. The three can be connected in sequence along the same direction.

The connection of the tool holder 100, the tool bar 200 and the tool bit 300 can be realized by the above arrangement modes. The preset angle can be larger than 0 degree and smaller than 180 degrees, and the preset distance can be set according to actual requirements.

The medical ultrasonic blade 10 further includes a composite vibration mode generating portion 400, the composite vibration mode generating portion 400 being provided on at least one of the handle 100 and the blade bar 200, the composite vibration mode generating portion 400 being configured to convert vibrations received from the vibration source 60 into composite vibrations of the cutting portion 310 of the blade head 300, the composite vibrations including at least two of the following vibrations:

1) a longitudinal oscillation parallel to at least one of the shank longitudinal central axis L1, the shank longitudinal central axis L2, and the bit longitudinal central axis L3. Taking the example of being parallel to the longitudinal center axis L3 of the blade head, the longitudinal vibration may cause the length of the medical ultrasonic blade 10 to change reciprocally along the first direction a (the direction of L3).

2) Torsional vibration having at least one of the shank longitudinal central axis L1, the shank longitudinal central axis L2, and the bit longitudinal central axis L3 as a torsional central axis. Taking the blade longitudinal central axis L3 as an example of a torsional central axis, the torsional vibration can cause the medical ultrasonic blade 10 to rotate back and forth in the second direction B.

3) Bending vibrations laterally offset from at least one of the shank longitudinal central axis L1, the shank longitudinal central axis L2, and the bit longitudinal central axis L3. The bending vibration may cause the ultrasonic medical blade 10 to be bent and deformed in the third direction C, taking the deviation from the longitudinal center axis L3 of the blade head as an example.

It is understood that the compound vibration may include at least two of longitudinal vibration, torsional vibration, and bending vibration. The combination of the longitudinal vibration and the torsional vibration can simulate the motion mode of a high-speed grinding drill or an oscillating saw so as to realize bone drilling or bone grinding treatment, and the combination of the longitudinal motion and the bending motion can simulate the motion mode of an oscillating saw or a bone cutting knife so as to realize bone grinding or bone cutting treatment. The combination of torsional and bending vibrations may also effect a bone drilling or grinding process. In addition, the combination of longitudinal vibration, torsional vibration, and bending vibration may also enable bone drilling, cutting, or grinding processes.

During operation, the compound vibration mode of the cutter head 300 can be selected according to the operation type to replace traditional operation tools such as a high-speed grinding drill or a swing saw, so that bones are treated, the medical ultrasonic scalpel can be applied to various operations of different types, and the application range of the medical ultrasonic scalpel 10 in the operation is expanded. And the operation performed by the medical ultrasonic scalpel 10 does not damage the soft tissue near the bone, and the safety is high.

It is understood that there are various ways in which the tool tip 300 can perform the composite vibration, for example, the medical ultrasonic blade 10 may be configured by the composite vibration mode generating portion 400 such that the medical ultrasonic blade 10 converts a single type of vibration generated by the vibration source 60 into the composite vibration. For another example, the vibration source 60 may be arranged such that the vibration source 60 can provide various types of vibrations to the medical ultrasonic blade 10, and in this case, the composite vibration pattern generating portion 400 may be formed by at least parts of the blade holder 100 and the blade bar 200.

The generation of the compound vibration is explained in detail below with reference to the drawings.

FIG. 2 is a schematic view of a medical ultrasonic blade according to an embodiment of the present application; FIG. 3 is a front view of the ultrasonic blade of FIG. 2; FIG. 4 is a rear view of the ultrasonic blade of FIG. 2; FIG. 5 is a top view of the ultrasonic blade of FIG. 2; FIG. 6 is a bottom view of the ultrasonic blade of FIG. 2; FIG. 7 is a left side view of the ultrasonic blade of FIG. 2; fig. 8 is a right side view of the ultrasonic blade for chinese medical science of fig. 2.

Referring to fig. 2 to 8, the vibration source 60 can generate longitudinal vibration. The complex vibration mode generating portion 400 includes a first complex vibration mode generating portion 410 provided in the tool holder 100, and the first complex vibration mode generating portion 410 is configured to convert a longitudinal vibration component of the vibration source 60 into a torsional vibration, so that a complex vibration (a longitudinal vibration and a torsional vibration are superimposed) of the cutting portion 310 in the tool bit 300 can be realized depending on the configuration of the medical ultrasonic blade 10.

The first complex vibration mode generating portion 410 may have various structures, for example, the first complex vibration mode generating portion 410 may be a groove disposed on the tool shank 100.

With continued reference to fig. 5, the first compound mode shape generating portion 410 includes at least one inclined groove 411 disposed at an outer periphery of the tool shank 100 at a first predetermined angle with respect to the tool shank longitudinal central axis L1, and the inclined groove 411 may be at the first predetermined angle with respect to the tool shank longitudinal central axis L1, i.e., the extending direction of the inclined groove 411 is not parallel to the longitudinal central axis L1 of the tool shank.

In addition, the number of the inclined grooves 411 may be one or more, and when the number of the inclined grooves 411 is plural, at least one inclined groove 411 includes two or more inclined grooves 411 uniformly distributed along the outer circumference of the tool shank 100. That is, the plurality of inclined grooves 411 may be provided at equal intervals along the outer periphery of the tool holder 100. The first predetermined included angle may be greater than 0 ° and less than 180 °.

When the vibration source 60 generates longitudinal vibration, a part of the longitudinal vibration component of the longitudinal vibration acts on the first compound vibration mode generating portion 410, and since the inclined groove 411 forms a first predetermined included angle with respect to the longitudinal central axis L1 of the tool holder, the part of the longitudinal vibration component is converted into torsional vibration rotating along the circumferential direction of the tool holder 100, so as to drive the cutting portion 310 to realize torsional vibration, and since a part of the longitudinal vibration component still exists and is not converted into torsional vibration, the cutting portion 310 can still generate longitudinal vibration under the action of the vibration source 60. That is, the cutting portion 310 of the tool bit 300 can realize a composite vibration of longitudinal vibration and torsional vibration.

In some embodiments, the first composite mode shape generating portion 410 may include at least one helical groove disposed at an outer periphery of the tool shank 100 at a first predetermined angle relative to a central longitudinal axis L1 of the tool shank. The helical groove may extend in a helical direction and the first predetermined included angle may be a helix angle of the helical line.

In addition, the number of the spiral grooves may be one or more, and when the number of the spiral grooves is plural, at least one spiral groove includes two or more spiral grooves uniformly distributed along the outer circumference of the tool shank 100. I.e., a plurality of helical grooves spaced circumferentially along the tool shank 100.

Of course, the first complex mode shape generating portion 410 may also include at least one inclined groove 411 and at least one spiral groove at the same time, and also enable the cutting portion 310 to realize complex vibration of longitudinal vibration and torsional vibration. That is, at least one of the tapered slots and the helical grooves includes two or more tapered slots and helical grooves, respectively, that are uniformly distributed along the outer circumference of the tool shank 100.

The first complex vibration mode generating portion 410 may be provided as a protrusion on the tool shank 100, in addition to a groove on the tool shank 100.

For example, the first compound mode shape generating portion 410 is at least one strip-shaped protrusion disposed at the outer periphery of the tool shank 100 at a first predetermined angle with respect to the longitudinal central axis L1 of the tool shank. The angled slot 411 may be at a first predetermined angle with respect to the longitudinal center axis L1 of the handle, i.e., the direction of extension of the bar-shaped protrusion is not parallel to the longitudinal center axis L1 of the handle.

In addition, the number of the strip-shaped protrusions may be one or more, and a plurality of the strip-shaped protrusions may be disposed at equal intervals along the outer circumference of the tool holder 100. The first predetermined included angle may be greater than 0 ° and less than 180 °.

When the vibration source 60 generates longitudinal vibration, a part of the longitudinal vibration component of the longitudinal vibration acts on the first compound vibration mode generating portion 410, and since the strip-shaped protrusion forms a first predetermined included angle with respect to the longitudinal central axis L1 of the tool holder, the part of the longitudinal vibration component is converted into torsional vibration rotating along the circumferential direction of the tool holder 100, so as to drive the cutting portion 310 to realize torsional vibration, and since a part of the longitudinal vibration component still exists and is not converted into torsional vibration, the cutting portion 310 can still generate longitudinal vibration under the action of the vibration source 60. That is, the cutting portion 310 of the tool bit 300 can realize a composite vibration of longitudinal vibration and torsional vibration.

For another example, the first composite vibration mode generating portion 410 is a spiral protrusion that is provided on the outer periphery of the shank 100 and forms a first predetermined angle with respect to the shank longitudinal center axis L1. The helical projection may extend in a helical direction, and the first predetermined angle may be the helix angle of the helix.

In addition, the number of the helical projections may be one or more, and when the number of the helical projections is plural, the plurality of helical grooves may be provided at intervals along the shank longitudinal central axis L1, or at intervals along the circumferential direction of the shank 100.

For another example, the first complex mode shape generating portion 410 may further include at least one bar-shaped protrusion and at least one spiral protrusion, which also enable the cutting portion 310 to realize complex vibration of longitudinal vibration and torsional vibration.

Of course, in other embodiments, the first composite vibration mode generating portion 410 may also include both the above-mentioned groove and the above-mentioned protrusion provided on the tool shank 100.

The above-described first compound mode generating part 410 is configured to convert the longitudinal vibration component into the torsional vibration, so that the cutting part 310 realizes the compound vibration of the longitudinal vibration and the torsional vibration.

FIG. 9 is a schematic view of a medical ultrasonic blade according to another embodiment of the present application; FIG. 10 is a front view of the ultrasonic blade of FIG. 9; FIG. 11 is a rear view of the ultrasonic blade of FIG. 9; FIG. 12 is a top view of the ultrasonic blade of FIG. 9; FIG. 13 is a bottom view of the ultrasonic blade of FIG. 9; FIG. 14 is a left side view of the medical ultrasonic blade of FIG. 9; fig. 15 is a right side view of the ultrasonic blade for chinese medical science of fig. 9.

Referring to fig. 9 to 15, the vibration source 60 can generate longitudinal vibration. The complex vibration mode generating portion 400 further includes a second complex vibration mode generating portion 420 provided in the tool shank 100 or the tool bar 200, and the second complex vibration mode generating portion 420 is configured to convert a longitudinal vibration component of the vibration source 60 into a bending vibration, so that a complex vibration (a longitudinal vibration and a bending vibration are superimposed) of the cutting portion 310 in the tool tip 300 can be realized depending on the configuration of the medical ultrasonic blade 10.

There may be various configurations of the second complex mode shape generating portion 420, and the second complex mode shape generating portion 420 is formed by at least one lateral cut-out portion 421 in the tool bar 200.

It will be appreciated that the lateral cut-out 421 may be formed by removing a portion of material from the side of the tool holder 200, which may be represented as a depression in the tool holder 200. The number of the lateral cut-outs 421 may also be one or more, and the lateral cut-outs 421 may make the tool bar 200 have an asymmetric structure, for example, when the number of the lateral cut-outs is multiple, the multiple lateral cut-outs 421 are arranged at intervals along the longitudinal central axis L2 of the tool bar 200. Wherein a lateral surface may be understood as a lateral surface between a first end and a second end of the tool bar 200.

In some embodiments, the tool bar 200 is a flat sheet-like structure, and the lateral cut-out 421 may be a notch provided at an edge of the tool bar 200.

In the embodiment shown in fig. 9, the second complex vibration mode generating portion 420 is provided on the tool bar 200, in other embodiments, the second complex vibration mode generating portion 420 may also be provided on the tool shank 100, for example, the second complex vibration mode generating portion 420 is formed by at least one lateral cut-out portion in the tool shank 100.

In some embodiments, the second compound mode shape generating portion 420 may be formed by at least one lateral protrusion in the tool shank 100 or the tool shank 200, in addition to the lateral cut-out. The lateral protrusion may be formed by an increased material of the side of the tool holder 200, which may be embodied as a protrusion on the tool holder 200. The number of the lateral protrusions may also be one or more, and the lateral protrusions may make the tool bar 200 asymmetric, for example, when the lateral protrusions are plural, the plural lateral protrusions may be spaced along the longitudinal central axis L2 of the tool bar 200. Wherein a lateral surface may be understood as a lateral surface between a first end and a second end of the tool bar 200.

In addition, lateral protrusions may also be provided on the tool shank 100, for example, the second composite mode shape generating portion 420 is formed by at least one lateral protrusion in the tool shank 100.

When the vibration source 60 generates longitudinal vibration, a part of the longitudinal vibration component of the longitudinal vibration acts on the second composite vibration mode generating portion 420, and the second composite vibration mode generating portion 420 makes the handle 100 or the tool bar 200 be an asymmetric eccentric structure, so that the structural stress on the two sides of the longitudinal central axis L1 of the handle or the longitudinal central axis L2 of the handle is unbalanced, and the medical ultrasonic knife 10 generates bending vibration, and further drives the cutting portion 310 to realize bending vibration. And since there is still a portion of the longitudinal vibration component that is not converted into bending vibration, the cutting portion 310 can still generate longitudinal vibration under the action of the vibration source 60. That is, the cutting portion 310 of the tool bit 300 can realize a composite vibration of longitudinal vibration and bending vibration.

The above-described second complex vibration mode generating part 420 is configured to convert the longitudinal vibration component into the bending vibration, so that the cutting part 310 realizes the complex vibration of the longitudinal vibration and the bending vibration.

FIG. 16 is a schematic view of a medical ultrasonic blade according to yet another embodiment of the present application; FIG. 17 is a front view of the ultrasonic blade of FIG. 16; FIG. 18 is a rear view of the ultrasonic blade of FIG. 16; FIG. 19 is a top view of the ultrasonic blade of FIG. 16; FIG. 20 is a bottom view of the ultrasonic blade of FIG. 16; FIG. 21 is a left side view of the medical ultrasonic blade of FIG. 16; fig. 22 is a right side view of the ultrasonic blade of fig. 16.

Referring to fig. 16 to fig. 22, the present embodiment is based on the embodiment shown in fig. 2 and is combined with the embodiment shown in fig. 9. In this embodiment, the vibration source 60 may generate longitudinal vibration. The complex vibration mode generating portion 400 includes a first complex vibration mode generating portion 410 disposed in the tool holder 100 and a second complex vibration mode generating portion 420 disposed in the tool holder 100 or the tool bar 200, the first complex vibration mode generating portion 410 is configured to convert a longitudinal vibration component of the vibration source 60 into a torsional vibration, and the second complex vibration mode generating portion 420 is configured to convert a longitudinal vibration component of the vibration source 60 into a bending vibration, so that a complex vibration (a superposition of the longitudinal vibration, the torsional vibration, and the bending vibration) of the cutting portion 310 in the tool bit 300 can be realized depending on the configuration of the medical ultrasonic blade 10.

The structures and functions of the first complex vibration mode generating portion 410 and the second complex vibration mode generating portion 420 are the same as or similar to those of the above embodiments, and reference may be made to the above embodiments for details, which are not repeated herein.

When the vibration source 60 generates longitudinal vibration, the longitudinal vibration may substantially include three longitudinal vibration components, wherein one longitudinal vibration component acts on the first compound vibration mode generating portion 410, and since the first compound vibration mode generating portion 410 forms a first predetermined included angle with respect to the tool shank longitudinal central axis L1, the longitudinal vibration component is converted into torsional vibration rotating along the circumferential direction of the tool shank 100, so as to drive the cutting portion 310 to realize torsional vibration.

The second part of the longitudinal vibration component acts on the second compound vibration mode generating portion 420, and the second compound vibration mode generating portion 420 makes the handle 100 or the tool bar 200 be an asymmetric eccentric structure, so that the stress on the structures on both sides of the longitudinal central axis L1 of the handle or the longitudinal central axis L2 of the tool bar is unbalanced, and the medical ultrasonic knife 10 generates bending vibration, and further drives the cutting portion 310 to realize the bending vibration.

The longitudinal vibration component of the third portion is not converted into torsional vibration or bending vibration, so that the cutting portion 310 can still generate longitudinal vibration under the action of the vibration source 60.

In summary, the composite vibration mode generating portion 400 enables the cutting portion 310 of the tool tip 300 to realize composite vibrations including longitudinal vibrations, bending vibrations, and torsional vibrations.

In some embodiments, the transverse dimension of the tool shank 100 is larger than the transverse dimension of the tool bar 200, i.e. the cross-sectional area of the tool shank 100 is larger than the cross-sectional area of the tool bar 200, and the second end of the tool shank 100 is connected to the first end of the tool bar 200 by a conical transition 500. The conical transition section 500 can realize smooth transition between the handle 100 and the knife bar 200, and improve the strength of the medical ultrasonic knife 10.

The complex mode shape generating portion 400 further includes a third complex mode shape generating portion provided in the conical transition section 500 for converting a longitudinal vibration component of the vibration source 60 into a torsional vibration.

The structure of the third composite mode-generating portion may be various, for example, the third composite mode-generating portion may be a groove disposed on the conical transition section 500.

For example, the third compound mode shape generating portion includes at least one inclined groove disposed at the outer periphery of the tool shank 100 at a second predetermined angle with respect to the longitudinal central axis L1 of the tool shank, and the inclined groove may be at the second predetermined angle with respect to the longitudinal central axis L1 of the tool shank, that is, the extending direction of the inclined groove is not parallel to the longitudinal central axis L1 of the tool shank. The chute in the third composite mode generation portion is different from the chute shown in fig. 2 in that the chute in the third composite mode generation portion is arranged on a conical surface, and the distance between the chute and the center line of the conical transition section 500 is gradually reduced along the taper direction of the conical surface, while the chute shown in fig. 2 is arranged on a cylindrical surface, and the distance between the chute and the longitudinal center axis L1 of the tool shank is unchanged. The second predetermined included angle may be greater than 0 ° and less than 180 °. Which may or may not be the same as the first predetermined angle.

For another example, the third composite mode vibration generating portion may include at least one helical groove disposed at an outer periphery of the shank 100 at a second predetermined angle with respect to the shank longitudinal center axis L1. The helical groove may extend in the direction of a conical helix and the first predetermined included angle may be the helix angle of the conical helix.

Of course, the third complex mode shape generating portion may also include at least one inclined groove and at least one spiral groove, which also enables the cutting portion 310 to realize complex vibration of longitudinal vibration and torsional vibration. I.e. at least one chute and helical groove comprises two or more chutes and helical grooves, respectively, evenly distributed along the circumference of the conical transition section 500.

The third composite mode shape generating portion may be a protrusion provided on the conical transition section 500, in addition to the groove provided on the conical transition section 500.

For example, the third compound mode shape generating portion is at least one strip-shaped protrusion disposed at the outer periphery of the shank 100 at a second predetermined angle with respect to the shank longitudinal central axis L1. The strip-shaped protrusion may be at a second predetermined angle with respect to the longitudinal center axis L1 of the handle, i.e., the extension direction of the strip-shaped protrusion is not parallel to the longitudinal center axis L1 of the handle. And the distance between the strip-shaped protrusion and the center line of the conical transition section 500 is gradually reduced along the taper direction of the conical surface. The arrangement mode of the strip-shaped bulges can refer to the arrangement mode of the inclined groove, and is not described in detail.

For another example, the third composite mode vibration generating portion may include at least one helical protrusion disposed at an outer periphery of the shank 100 at a second predetermined angle relative to the shank longitudinal central axis L1. The helical projection may extend in the direction of a conical helix and the second predetermined angle may be the helix angle of the conical helix. The spiral protrusion can be set in the spiral groove, which is not described in detail.

Of course, the third complex mode shape generating portion may also include at least one bar-shaped protrusion and at least one spiral protrusion, which also enables the cutting portion 310 to realize complex vibration of longitudinal vibration and torsional vibration. When the vibration source 60 generates longitudinal vibration, a part of longitudinal vibration component of the longitudinal vibration acts on the third compound vibration mode generating portion, and because the third compound vibration mode generating portion forms a second predetermined included angle with respect to the longitudinal central axis L1 of the tool holder, the part of longitudinal vibration component is converted into torsional vibration rotating along the circumferential direction of the conical transition section, so as to drive the cutting portion 310 to realize torsional vibration, and because a part of longitudinal vibration component still exists and is not converted into torsional vibration, the cutting portion 310 can still generate longitudinal vibration under the action of the vibration source 60. That is, the cutting portion 310 of the tool bit 300 can realize a composite vibration of longitudinal vibration and torsional vibration.

It is understood that the third complex mode shape generating part has a structure and a function similar to those of the first complex mode shape generating part 410, and reference may be made to the first complex mode shape generating part 410 in detail. The complex mode shape generating part 400 may include at least one of the first complex mode shape generating part 410, the second complex mode shape generating part 420, and the third complex mode shape generating part, and may be specifically selected according to a desired vibration mode.

In some embodiments, vibration source 60 comprises an ultrasonic transducer, and ultrasonic transducer 60 may be coupled to a first end of tool shank 100, the ultrasonic transducer being capable of generating longitudinal and/or torsional vibrations.

It is understood that in the above embodiments, only the ultrasonic transducer 60 generates the longitudinal vibration, and the realization of the composite vibration of the cutting portion 310 is mainly described by taking the change of the structure of the medical ultrasonic blade 10 as an example. In other embodiments, the ultrasonic transducer may also effect a torsional motion and convert the torsional motion into a compound vibration comprising torsional vibrations through structural changes of the medical ultrasonic blade 10.

FIG. 23 is a schematic view of a medical ultrasonic blade according to yet another embodiment of the present application; FIG. 24 is a front view of the ultrasonic blade of FIG. 23; FIG. 25 is a rear view of the medical ultrasonic blade of FIG. 23; FIG. 26 is a top view of the ultrasonic blade of FIG. 23; FIG. 27 is a bottom view of the ultrasonic blade of FIG. 23; FIG. 28 is a left side view of the ultrasonic blade of FIG. 23; fig. 29 is a right side view of the ultrasonic blade of fig. 23.

Referring to fig. 22 to 29, in the present embodiment, the ultrasonic transducer can generate longitudinal vibration and torsional vibration, and at least a portion of the handle 100 and the tool bar 200 form a composite vibration mode generating portion, and the structure of the medical ultrasonic scalpel 10 is not specially modified in the present embodiment, and the longitudinal vibration and the torsional rotation of the cutting portion 310 are realized by means of various vibrations generated by the ultrasonic transducer, that is, the composite vibration is realized.

Of course, in other embodiments, the ultrasonic transducer may generate the torsional vibration and the longitudinal vibration at the same time, the structure of the medical ultrasonic blade 10 may be modified, and the composite vibration mode generating portion 400 may include the second composite vibration mode generating portion 420, so as to realize the composite vibration including the longitudinal vibration, the torsional vibration, and the bending vibration.

It is understood that the vibration mode of the ultrasonic transducer and the structure of the complex vibration mode generating portion 400 may be combined as required, the ultrasonic transducer generates at least one of torsional vibration and longitudinal vibration, and the complex vibration mode generating portion 400 may include at least one of the first complex vibration mode generating portion 410, the second complex vibration mode generating portion 420, and the third complex vibration mode generating portion, so as to realize the complex vibration of the cutting portion 310.

Fig. 30 is a deformation diagram of the medical ultrasonic blade in the case of longitudinal vibration according to the embodiment of the present application, and referring to fig. 23 and 30, the medical ultrasonic blade 10 shown by the dotted line is in a state before vibration is generated, and the medical ultrasonic blade 10 shown by the solid line is in a state when the length of the longitudinal vibration generated by the medical ultrasonic blade 10 is increased, and since the width of the medical ultrasonic blade 10 is not significantly changed in the case of longitudinal vibration, the entire contour is not shown in fig. 30, and only the portion with the increased length is shown, and the longitudinal vibration of the medical ultrasonic blade 10 makes it possible to perform the bone cutting process.

Fig. 31 is a deformation diagram of the medical ultrasonic blade in bending vibration according to the embodiment of the present application, and referring to fig. 9 and 31, the medical ultrasonic blade 10 shown by the dotted line is in a state before vibration is generated, and the medical ultrasonic blade 10 shown by the solid line is in a state when longitudinal vibration is generated, and the second complex vibration mode generating portion 420 may change the longitudinal vibration into bending vibration, so that the medical ultrasonic blade 10 is bent and has an increased length, that is, the cutting portion 310 generates complex vibration including the longitudinal vibration and the bending vibration. The medical ultrasonic blade 10 can perform bone cutting and grinding processes.

With continued reference to fig. 1, embodiments of the present application further provide a medical ultrasonic blade system, including a vibration source 60 and a medical ultrasonic blade 10; the vibration source 60 is connected to a first end of the handle 100 of the medical ultrasonic blade 10, and the vibration source 60 is used for generating vibration.

The structures and functions of the vibration source 60 and the medical ultrasonic blade 10 are the same as those of the above embodiments, and reference may be made to the above embodiments specifically, and details are not repeated here.

The medical ultrasonic scalpel system provided by the embodiment enables the medical ultrasonic scalpel to generate various vibrations so as to adapt to various different operation types, and the application range of the medical ultrasonic scalpel in an operation is expanded.

The embodiment of the present application further provides a robot-assisted ultrasonic scalpel system, including: a robot-assisted surgical device and a medical ultrasonic blade system. The robot-assisted surgery device is connected with a medical ultrasonic knife in the medical ultrasonic knife system to control the movement of the medical ultrasonic knife.

The structure and function of the medical ultrasonic scalpel system are the same as those of the above embodiments, and reference may be made to the above embodiments specifically, which are not described herein again. The robot-assisted surgery device may include a robot capable of achieving multi-degree-of-freedom movement, and the robot may operate the medical ultrasonic scalpel to achieve precise control of surgery.

It will be understood that in this specification, the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like, indicate an orientation or positional relationship or dimension based on that shown in the drawings, and that such terms are used for convenience of description only and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be considered limiting to the scope of this application.

Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to a number of indicated technical features. Thus, features defined as "first", "second", "third" may explicitly or implicitly include one or more of the features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; the connection can be mechanical connection, electrical connection or communication; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

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

Claims

1. A medical ultrasonic blade, comprising:

a tool shank having a shank longitudinal central axis and a first end of the tool shank for connection to a vibration source for receiving vibrations generated by the vibration source;

a tool bar having a tool bar longitudinal central axis and a first end of the tool bar connected to a second end of the tool shank opposite the first end of the tool shank;

a cutting head having a cutting head longitudinal central axis, the first end of the cutting head being connected to the second end of the knife bar opposite the first end of the knife bar, the second end of the cutting head being provided with a cutting portion for cutting tissue to be cut;

a composite vibration pattern generating portion disposed on at least one of the tool shank and the tool bar for converting vibrations received from the vibration source into composite vibrations of the cutting portion of the tool bit, the composite vibrations including at least two of the following vibrations:

1) a longitudinal oscillation parallel to at least one of the shank longitudinal central axis, and the tool bit longitudinal central axis;

2) torsional vibration with at least one of the shank longitudinal central axis, the tool bar longitudinal central axis and the tool bit longitudinal central axis as a torsional central axis; and

3) a bending vibration laterally offset from at least one of the shank longitudinal central axis, and the tool bit longitudinal central axis.

2. The medical ultrasonic blade of claim 1,

the shank longitudinal central axis and the shank longitudinal central axis coincide and the cutting head longitudinal central axis is offset from the shank longitudinal central axis and the shank longitudinal central axis by a predetermined distance or at a predetermined angle; or

The shank longitudinal central axis and the tool tip longitudinal central axis coincide and the shank longitudinal central axis is offset from the shank longitudinal central axis and the tool tip longitudinal central axis by a predetermined distance or at a predetermined angle; or

The longitudinal central axis of the cutter handle, the longitudinal central axis of the cutter bar and the longitudinal central axis of the cutter head are superposed.

3. The medical ultrasonic blade of claim 1,

the compound vibration mode generating part comprises a first compound vibration mode generating part arranged in the tool handle and used for converting the longitudinal vibration component of the vibration source into the torsional vibration.

4. The medical ultrasonic blade of claim 3,

the first composite vibration mode generating part is at least one inclined groove and/or spiral groove which is arranged on the periphery of the cutter handle and forms a first preset included angle relative to the longitudinal central axis of the cutter handle; or

The first composite vibration mode generating part is at least one strip-shaped protrusion and/or spiral protrusion which is arranged on the periphery of the cutter handle and forms a first preset included angle relative to the longitudinal central axis of the cutter handle.

5. The medical ultrasonic blade of claim 4,

the at least one inclined groove and/or spiral groove comprises two or more inclined grooves and/or spiral grooves which are uniformly distributed along the periphery of the tool shank.

6. The medical ultrasonic blade of any one of claims 1 to 5,

the compound vibration mode generating part further comprises a second compound vibration mode generating part arranged in the tool handle or the tool bar, and the second compound vibration mode generating part is used for converting the longitudinal vibration component of the vibration source into bending vibration.

7. The medical ultrasonic blade of claim 6,

the second composite mode shape generating portion is formed by at least one lateral cut-out portion in the shank or the shank; or

The second compound mode shape generating portion is formed by at least one lateral protruding portion of the tool shank or the tool bar.

8. The medical ultrasonic blade of any one of claims 1 to 5,

the vibration source comprises an ultrasonic transducer capable of generating longitudinal and/or torsional vibrations.

9. The medical ultrasonic blade of any one of claims 3 to 5,

the transverse dimension of the handle is greater than the transverse dimension of the tool bar and the second end of the handle is connected to the first end of the tool bar by a conical transition section.

10. The medical ultrasonic blade of claim 9,

the compound mode shape generating part further comprises a third compound mode shape generating part arranged in the conical transition section, and the third compound mode shape generating part is used for converting the longitudinal vibration component of the vibration source into the torsional vibration.

11. The medical ultrasonic blade of claim 10, wherein the third compound mode shape generating portion is at least one inclined groove and/or spiral groove disposed at the periphery of the conical transition section and forming a second predetermined included angle with respect to the longitudinal central axis of the blade shank; or

The third composite vibration mode generating part is at least one strip-shaped bulge and/or spiral-shaped bulge which is arranged on the periphery of the conical transition section and forms a second preset included angle relative to the longitudinal central axis of the cutter handle.

12. A medical ultrasonic blade system comprising a vibration source and the medical ultrasonic blade of any one of claims 1 to 11;

the vibration source is connected with the first end part of the handle of the medical ultrasonic knife and is used for generating vibration.

13. A robot-assisted ultrasonic blade system, comprising: a robotic assisted surgical device and the medical ultrasonic blade system of claim 12;

the robot-assisted surgery device is connected with a medical ultrasonic knife in the medical ultrasonic knife system to control the movement of the medical ultrasonic knife.