WO2024098962A1 - 医用超声刀、医用超声刀***和机器人辅助超声刀*** - Google Patents

医用超声刀、医用超声刀***和机器人辅助超声刀*** Download PDF

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Publication number
WO2024098962A1
WO2024098962A1 PCT/CN2023/119429 CN2023119429W WO2024098962A1 WO 2024098962 A1 WO2024098962 A1 WO 2024098962A1 CN 2023119429 W CN2023119429 W CN 2023119429W WO 2024098962 A1 WO2024098962 A1 WO 2024098962A1
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Prior art keywords
medical ultrasonic
ultrasonic scalpel
face
cutting
scalpel
Prior art date
Application number
PCT/CN2023/119429
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English (en)
French (fr)
Inventor
曹群
战松涛
房英飞
Original Assignee
北京水木天蓬医疗设备有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202211420752.4A external-priority patent/CN115721373A/zh
Priority claimed from CN202223012938.4U external-priority patent/CN218979083U/zh
Application filed by 北京水木天蓬医疗设备有限公司 filed Critical 北京水木天蓬医疗设备有限公司
Publication of WO2024098962A1 publication Critical patent/WO2024098962A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans

Definitions

  • the present application relates to the technical field of medical devices, and in particular to a medical ultrasonic scalpel, a medical ultrasonic scalpel system and a robot-assisted ultrasonic scalpel system.
  • medical ultrasonic scalpels are gradually used in surgical operations.
  • medical ultrasonic scalpels can be used to cut, drill or grind bone tissue, thereby achieving the purpose of processing bone tissue.
  • a medical ultrasonic knife is used to grind the bone tissue, grind the bone tissue or process the bone tissue into smaller bone blocks to achieve the processing of the bone tissue.
  • the present application aims to solve at least one of the technical problems existing in the background technology.
  • one purpose of the present application is to provide a medical ultrasonic scalpel, a medical ultrasonic scalpel system and a robot-assisted ultrasonic scalpel system to improve the problem of low working efficiency of medical ultrasonic scalpels in the related art.
  • An embodiment of the first aspect of the present application provides a medical ultrasonic scalpel, comprising: a scalpel head having a first end face and a cutting groove, the cutting groove passes through the first end face, and the cutting groove forms at least one annular cutting surface on the first end face.
  • the cutting head also has a second end face and a side face, the first end face is opposite to the second end face, the side face connects the first end face and the second end face, and the cutting groove is a through hole, one end of the through hole passes through the first end face, and the other end of the through hole passes through the second end face and one of the side faces.
  • the tool head has at least two through holes, the other ends of the through holes pass through the side surface, and the through holes form a chip discharge portion on the side surface.
  • the area of the first end surface is larger than the area of the second end surface, and the other end of the through hole passes through a portion of the side surface close to the second end surface.
  • the distance L1 between the axes of any two through holes first remains unchanged and then gradually increases.
  • a scraping portion is formed at the junction of the through hole and the side surface.
  • the scraping portion is serrated; or the scraping portion has a chamfer.
  • the tool head has a through hole, and the other end of the through hole passes through the second end surface.
  • the cutting surface is serrated; or the cutting surface is a filed surface; or the edge of the cutting surface has a chamfer.
  • the orthographic projection of the cutting groove on the first end surface includes at least one of a circle, an ellipse, a rectangle, and a rounded rectangle.
  • the medical ultrasonic knife further includes: a knife rod, which is connected to an end of the knife head away from the first end surface.
  • the medical ultrasonic knife further includes: a blade body, the blade body is connected to the blade rod and the blade head, and the cross-sectional area of the blade body in a direction parallel to the first end face is smaller than the area of the first end face.
  • a medical ultrasonic scalpel system which includes a vibration source and the medical ultrasonic scalpel of any one of the above embodiments; the vibration source is connected to the blade head of the medical ultrasonic scalpel, and the vibration source is used to generate vibration.
  • a robot-assisted ultrasonic knife system which includes a robot-assisted surgical device and the medical ultrasonic knife system in the above-mentioned embodiment; the robot-assisted surgical device is connected to the medical ultrasonic knife in the medical ultrasonic knife system to control the movement of the medical ultrasonic knife.
  • the medical ultrasonic scalpel provided in the embodiment of the present application has a cutting groove arranged in the blade head, and the cutting groove passes through the first end face to form an annular cutting surface, which cuts or crushes the bone tissue.
  • the middle part of the cutting surface is hollow.
  • the bone tissue corresponding to the position of the cutting groove that is, the middle part of the cutting surface
  • the bone tissue corresponding to the periphery of the cutting groove that is, the annular cutting surface
  • the cutting surface of the cutting surface on the bone tissue is smaller, but larger bone blocks can still be cut or crushed.
  • the medical ultrasonic scalpel provided in the embodiment of the present application takes less time and has higher work efficiency when cutting or crushing bone blocks of the same size.
  • FIG1 shows a schematic structural diagram of a medical ultrasonic scalpel provided in an embodiment of the present application
  • FIG2 is a schematic diagram showing the structure of a cutter head provided in an embodiment of the present application.
  • FIG3 shows a right side view of a cutter head provided in an embodiment of the present application
  • FIG4 shows a front view of a medical ultrasonic scalpel provided in an embodiment of the present application
  • Fig. 5 shows a cross-sectional view of the A-A plane of the Chinese medical ultrasonic scalpel in Fig. 4;
  • FIG6 shows a top view of the Chinese medical ultrasonic scalpel of FIG4 ;
  • FIG7 shows a schematic structural diagram of another medical ultrasonic scalpel provided in an embodiment of the present application.
  • FIG8 shows a schematic structural diagram of a cutter head provided in an embodiment of the present application.
  • FIG9 shows a partial enlarged view of the blade head of the Chinese medical ultrasonic scalpel in FIG7 ;
  • FIG10 shows a front view of the blade head of the Chinese medical ultrasonic scalpel in FIG7 ;
  • FIG11 shows a top view of the blade head of the Chinese medical ultrasonic scalpel in FIG7 ;
  • FIG12 shows a front view of another medical ultrasonic scalpel provided in an embodiment of the present application.
  • FIG13 shows a cross-sectional view of the B-B plane of the Chinese medical ultrasonic scalpel in FIG12 ;
  • FIG14 shows a right side view of a cutter head provided in an embodiment of the present application.
  • FIG15 shows a left side view of a cutter head provided in an embodiment of the present application.
  • FIG16 shows a schematic structural diagram of another medical ultrasonic scalpel provided in an embodiment of the present application.
  • FIG17 shows a schematic structural diagram of a cutter head provided in an embodiment of the present application.
  • FIG18 shows a partial enlarged view of the blade head of the Chinese medical ultrasonic scalpel in FIG16 ;
  • FIG19 shows a front view of the blade head of the Chinese medical ultrasonic scalpel in FIG16 ;
  • FIG20 shows a front view of another medical ultrasonic scalpel provided in an embodiment of the present application.
  • FIG21 shows a right side view of a cutter head provided in an embodiment of the present application.
  • FIG22 shows a left side view of a cutter head provided in an embodiment of the present application
  • FIG23 shows a schematic structural diagram of another medical ultrasonic scalpel provided in an embodiment of the present application.
  • FIG24 shows a schematic structural diagram of a cutter head provided in an embodiment of the present application.
  • FIG25 shows a partial enlarged view of the blade head of the Chinese medical ultrasonic scalpel in FIG23;
  • FIG26 shows a front view of the blade head of the Chinese medical ultrasonic scalpel in FIG23;
  • FIG27 shows a front view of another medical ultrasonic scalpel provided in an embodiment of the present application.
  • FIG28 shows a right side view of a cutter head provided in an embodiment of the present application.
  • FIG29 shows a left side view of a cutter head provided in an embodiment of the present application.
  • Blade head 20. Blade handle; 30. Blade body;
  • the bone tissue is mainly drilled by the blade of the medical ultrasonic scalpel, and the bone tissue to be cut or crushed is ground or cut into smaller bone blocks to achieve the processing of the bone tissue.
  • the hardness of bone tissue is high, the speed of cutting or crushing bone tissue is slow, and the working efficiency is low.
  • an embodiment of the present application provides a medical ultrasonic scalpel, which includes a scalpel head, the scalpel head having a first end face and a cutting groove, the cutting groove passing through the first end face, and the cutting groove forms at least one annular cutting surface on the first end face.
  • a medical ultrasonic scalpel which includes a scalpel head, the scalpel head having a first end face and a cutting groove, the cutting groove passing through the first end face, and the cutting groove forms at least one annular cutting surface on the first end face.
  • FIG1 shows a schematic diagram of the structure of a medical ultrasonic scalpel provided in the embodiment of the present application.
  • the medical ultrasonic scalpel includes a scalpel head 10.
  • FIG2 shows a schematic diagram of the structure of a scalpel head provided in the embodiment of the present application
  • FIG3 shows a right view of a scalpel head provided in the embodiment of the present application.
  • the scalpel head 10 has a first end face 101 and a cutting groove 102, the cutting groove 102 passes through the first end face 101, and the cutting groove 102 forms at least one annular cutting surface 103 on the first end face 101.
  • the cutting surface 103 is used to cut or crush bone tissue.
  • the vibration of the cutter head 10 drives the cutting surface 103 to vibrate, and the bone tissue is cut or crushed during the vibration of the cutting surface 103.
  • a cutting groove 102 is arranged in the blade head 10, and the cutting groove 102 passes through the first end face 101 to form an annular cutting surface 103, and the cutting surface 103 cuts or crushes the bone tissue.
  • the middle part of the cutting surface 103 is hollow.
  • the cutting or crushing surface of the cutting surface 103 for the bone tissue is smaller, but larger bone blocks can still be cut or crushed.
  • the medical ultrasonic scalpel provided in the embodiment of the present application takes less time and has higher work efficiency for cutting or crushing bone blocks of the same size.
  • the cutting surface 103 of the medical ultrasonic scalpel provided in the embodiment of the present application is relatively large, and can perform wide groove cutting or crushing on bone tissue.
  • the cutting surface 103 is serrated, which increases the friction of the cutting surface 103, and the medical ultrasonic knife is stable and does not slip when used.
  • the cutting surface 103 is a filing surface, which can also increase the friction of the cutting surface 103.
  • the cutting or crushing speed of the cutting surface 103 with a filing surface is faster, thereby improving the working efficiency of the medical ultrasonic knife.
  • the edge of the cutting surface 103 has a chamfer.
  • the ring width D of the annular cutting surface 103 is greater than or equal to 0.3 mm and less than or equal to 0.6 mm, for example, the ring width D of the annular cutting surface 103 is equal to 0.45 mm.
  • the strength of the cutting surface 103 is ensured, and on the other hand, the size of the cutting surface 103 is too large, which causes the medical ultrasonic scalpel to be too large and inoperable.
  • the cutter head 10 further comprises a second end face 104 and a side face 105 , the first end face 101 is opposite to the second end face 104 , and the side face 105 connects the first end face 101 and the second end face 104 .
  • Fig. 4 shows a front view of a medical ultrasonic scalpel provided in an embodiment of the present application
  • Fig. 5 shows a cross-sectional view of the A-A plane of the medical ultrasonic scalpel in Fig. 4
  • Fig. 6 shows a top view of the medical ultrasonic scalpel in Fig. 4.
  • the cutting groove 102 is a through hole, one end of the through hole passes through the first end surface 101, and the other end of the through hole passes through the second end surface 104.
  • the cut bone blocks will enter the cutting groove 102 from the first end face 101.
  • the cutting groove 102 is arranged as a through hole. After the bone tissue is cut or crushed, a tool can be used to push the bone blocks in the through hole from the second end face 104 to facilitate cleaning of the blade.
  • the cutting groove 102 may not be a through hole, that is, the cutting groove 102 only passes through the first end surface 101. After cutting or crushing the bone tissue, a tool can be used to remove the bone block in the cutting groove 102 from the first end surface 101.
  • the annular cutting surface 103 is shaped like a runway, that is, the middle portion of the cutting surface 103 is a rectangle, and two ends of the rectangle are respectively connected to a semicircle.
  • the length L2 of the racetrack-shaped cutting surface 103 is greater than or equal to 4 mm and less than or equal to 6 mm, and the width L3 of the racetrack-shaped cutting surface 103 is greater than or equal to 2 mm and less than or equal to 4 mm.
  • the length L2 of the racetrack-shaped cutting surface 103 is equal to 5 mm, and the width L3 of the racetrack-shaped cutting surface 103 is equal to 2.9 mm.
  • the cutter head 10 has a through hole.
  • Figure 7 shows a schematic diagram of the structure of another medical ultrasonic scalpel provided in an embodiment of the present application.
  • Figure 8 shows a schematic diagram of the structure of a blade head provided in an embodiment of the present application.
  • Figure 9 shows a partial enlarged view of the blade head of the Chinese medical ultrasonic scalpel in Figure 7.
  • Figure 10 shows a front view of the blade head of the Chinese medical ultrasonic scalpel in Figure 7.
  • Figure 11 shows a top view of the blade head of the Chinese medical ultrasonic scalpel in Figure 7.
  • Figure 12 shows a front view of another medical ultrasonic scalpel provided in an embodiment of the present application.
  • Figure 13 shows a cross-sectional view of the B-B surface of the Chinese medical ultrasonic scalpel in Figure 12.
  • Figure 14 shows a right view of a blade head provided in an embodiment of the present application.
  • Figure 15 shows a left view of a blade head provided in an embodiment of the present application.
  • the cutter head 10 has two through holes. The other ends of the through holes pass through the side surface 105 , and the through holes form a chip discharge portion 106 on the side surface 105 .
  • the other end of the through hole passes through the side surface 105, that is, both ends of the through hole are not blocked, so that the cut or crushed bone blocks can be discharged through the chip discharge part 106, thereby realizing automatic cleaning of the bone blocks and being more convenient to use.
  • the annular cutting surface 103 is a rounded rectangle.
  • the length L4 of the rounded rectangular cutting surface 103 is greater than or equal to 4 mm and less than or equal to 6 mm
  • the width L5 of the rounded rectangular cutting surface 103 is greater than or equal to 2 mm and less than or equal to 4 mm.
  • the length L4 of the rounded rectangular cutting surface 103 is equal to 5 mm, and the width L5 of the rounded rectangular cutting surface 103 is equal to 2.9 mm.
  • the area of the first end surface 101 is greater than the area of the second end surface 104 , and the other end of the through hole passes through a portion of the side surface 105 close to the second end surface 104 .
  • the medical ultrasonic scalpel provided in the embodiment of the present disclosure is used to drill bone tissue, even if the drilling depth exceeds the height of the blade 10, drilling can continue until the required drilling depth is reached.
  • a scraping portion 107 is formed at the junction of the through hole and the side surface 105, that is, the scraping portion 107 is a part of the side surface 105.
  • bone tissue may need to be scraped.
  • the medical ultrasonic scalpel provided in the embodiment of the present application can scrape bone tissue through the scraping portion 107, which is more convenient.
  • the scraping portion 107 is serrated, which increases the friction of the scraping portion 107 and makes the medical ultrasonic scalpel stable and non-slip when used.
  • the scraping portion 107 has a chamfer.
  • the distance L1 between the axes of any two through holes first remains unchanged and then gradually increases.
  • the distance L1 between the axes of any two through holes remains unchanged, and from the middle of the first end face 101 and the second end face 104 to the second end face 104, the distance L1 between the axes of any two through holes gradually increases.
  • the end of the through hole away from the first end face 101 approaches the side face 105, that is, the portion of the through hole close to the second end face 104 is inclined outward, and the bone block in the through hole will also be inclined outward when moving, making it easier to discharge the bone block in the through hole.
  • the cutter head 10 has two through holes.
  • the two through holes form two annular cutting surfaces 103 on the first end surface 101 .
  • FIG16 is a schematic diagram showing the structure of another medical ultrasonic scalpel provided in an embodiment of the present application.
  • FIG17 is a schematic diagram showing the structure of a scalpel head provided in an embodiment of the present application.
  • FIG18 is a partial enlarged view of the scalpel head of the Chinese medical ultrasonic scalpel in FIG16.
  • FIG19 is a front view of the scalpel head of the Chinese medical ultrasonic scalpel in FIG16.
  • FIG20 is a schematic diagram showing the structure of the scalpel head of the present application.
  • Figure 21 shows a right view of a scalpel head provided in an embodiment of the present application.
  • Figure 22 shows a left view of a scalpel head provided in an embodiment of the present application.
  • the cutter head 10 has four through holes, and the four through holes form four annular cutting surfaces 103 on the first end surface 101 .
  • the cutter head 10 may have three through holes, five through holes, or a greater number of through holes, which is not limited in the present application.
  • the plurality of through holes may be symmetrically distributed around the central axis of the cutter head 10 .
  • the annular cutting surface 103 is a rounded square.
  • the side length L6 of the rounded square cutting surface 103 is greater than or equal to 4 mm and less than or equal to 6 mm.
  • the side length L6 of the rounded square cutting surface 103 is equal to 5 mm.
  • the annular cutting surface 103 is a polygon.
  • Figure 23 shows a schematic diagram of the structure of another medical ultrasonic scalpel provided in an embodiment of the present application.
  • Figure 24 shows a schematic diagram of the structure of a blade head provided in an embodiment of the present application.
  • Figure 25 shows a partial enlarged view of the blade head of the Chinese medical ultrasonic scalpel in Figure 23.
  • Figure 26 shows a front view of the blade head of the Chinese medical ultrasonic scalpel in Figure 23.
  • Figure 27 shows a front view of another medical ultrasonic scalpel provided in an embodiment of the present application.
  • Figure 28 shows a right view of a blade head provided in an embodiment of the present application.
  • Figure 29 shows a left view of a blade head provided in an embodiment of the present application.
  • the annular cutting surface 103 is circular.
  • the diameter R of the circular cutting surface 103 is greater than or equal to 4 mm and less than or equal to 8 mm.
  • the diameter R of the circular cutting surface 103 is equal to 6.2 mm.
  • the descriptions of the cutting surface 103 in the above embodiments are all descriptions of the overall shape of the cutting surface 103 .
  • the shape of the orthographic projection of the cutting groove 102 on the first end surface 101 is not limited and may include at least one of a circle, an ellipse, a rectangle, and a rounded rectangle.
  • the shape of the orthographic projection of the cutting groove 102 on the first end surface 101 may also be an irregular shape.
  • the medical ultrasonic knife further includes a knife rod 20 , which is connected to an end of the knife head 10 away from the first end surface 101 .
  • the knife rod 20 can be used to connect with other devices, so as to facilitate the connection of the medical ultrasonic knife with other devices.
  • the other device can be a vibration source.
  • one end of the cutter bar 20 away from the cutter head 10 is connected with an external thread 201, and the cutter bar 20 can be connected to other devices through threads.
  • the medical ultrasonic knife also includes a blade body 30, which connects the blade rod 20 and the blade head 10, and in a direction parallel to the first end face 101, the cross-sectional area of the blade body 30 is smaller than the area of the first end face 101.
  • the cross-sectional area of the blade body 30 is smaller than the area of the first end surface 101, and the cutting surface 103 is located at the first end surface 101, when the medical ultrasonic knife provided in the embodiment of the present disclosure is used to drill a hole in bone tissue, even if the drilling depth exceeds the height of the blade head 10, drilling can continue until the required drilling depth is reached.
  • the blade body 30 connects the vibration source and the blade head 10, and the small size of the blade body 30 facilitates the adjustment of the vibration of the blade head 10 through the blade body 30.
  • the central axis of the cutting groove 102 is parallel to the central axis of the blade body 30, which can reduce the resistance when using the medical ultrasonic knife.
  • the second end surface 104 of the cutter head 10 is connected to the cutter body 30 , and at this time, the second end surface 104 of the cutter head 10 is covered by the cutter body 30 .
  • the blade body 30 and the blade head 10 may be manufactured in one piece.
  • the embodiment of the present application also provides a medical ultrasonic scalpel system, which includes a vibration source and the medical ultrasonic scalpel in the above embodiment, wherein the vibration source is connected to the blade head 10 of the medical ultrasonic scalpel, and the vibration source is used to generate vibration.
  • the medical ultrasonic knife system provided in the embodiment of the present application has higher working efficiency.
  • the present application also provides a robot-assisted ultrasonic scalpel system.
  • the robot-assisted ultrasonic scalpel system includes a robot-assisted surgical device and the medical ultrasonic scalpel system in the above embodiment.
  • the robot-assisted surgical device is connected to the medical ultrasonic scalpel in the medical ultrasonic scalpel system to control the movement of the medical ultrasonic scalpel.
  • the robot-assisted ultrasonic bone power system provided in the embodiments of the present application improves the working efficiency of orthopedic surgery.
  • first”, “second”, “third”, etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features.
  • a feature defined as “first”, “second”, “third” may explicitly or implicitly include one or more of the feature.
  • the meaning of “plurality” is two or more, unless otherwise clearly and specifically defined.
  • the terms “installed”, “connected”, “connected”, “fixed” and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements.
  • installed can be a fixed connection, a detachable connection, or an integral connection
  • it can be a mechanical connection, an electrical connection, or a communication
  • it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements.
  • a first feature being “above” or “below” a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them.
  • a first feature being “above”, “above” and “above” a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature.
  • a first feature being “below”, “below” and “below” a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

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  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
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  • Orthopedic Medicine & Surgery (AREA)
  • Oral & Maxillofacial Surgery (AREA)
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  • Heart & Thoracic Surgery (AREA)
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  • Surgical Instruments (AREA)

Abstract

一种医用超声刀、医用超声刀***和机器人辅助超声刀***，属于医疗器械技术领域。医用超声刀包括刀头（10），刀头（10）具有第一端面（101）和切割槽（102），切割槽（102）穿过第一端面（101），切割槽（102）使得第一端面（101）形成至少一个环形的切割面（103）。在切割或破碎骨组织时，切割槽（102）所在的位置对应的骨组织不会与切割面（103）接触，即不用被切割或破碎，但切割槽（102）的周边对应的骨组织会与切割面（103）接触从而被切割或破碎，这样切割面（103）对骨组织的切割或破碎面较小，但是依然能切割或破碎出较大骨块，同时由于切割面（103）对骨组织的切割或破碎的面小，切割或破碎同样大小的骨块用时更短，工作效率更高。

Description

医用超声刀、医用超声刀***和机器人辅助超声刀***
交叉引用
本申请引用于2022年11月11日递交的名称为“医用超声刀、医用超声刀***和机器人辅助超声刀***”的第202211420752.4号中国专利申请，和2022年11月11日递交的名称为“医用超声刀、医用超声刀***和机器人辅助超声刀***”的第202223012938.4号中国专利申请，其通过引用被全部并入本申请。
技术领域
本申请涉及医疗器械技术领域，尤其涉及一种医用超声刀、医用超声刀***和机器人辅助超声刀***。
背景技术
随着超声技术的发展及其与现代医学的结合，医用超声刀也逐渐应用于外科手术中，例如，利用医用超声刀可以对骨组织进行切骨、钻骨或磨骨的操作，从而达到对骨组织进行处理的目的。
相关技术中，对骨组织进行切割或破碎时，利用医用超声刀对骨组织进行磨钻，将骨组织磨碎或者将骨组织处理为体积较小的骨块，实现对骨组织的处理。
但是相关技术中对骨组织处理的速度较慢，工作效率较低。
发明内容
本申请旨在至少解决背景技术中存在的技术问题之一。为此，本申请的一个目的在于提供一种医用超声刀、医用超声刀***和机器人辅助超声刀***，以改善相关技术中医用超声刀工作效率低的问题。
本申请第一方面的实施例提供一种医用超声刀，医用超声刀包括：刀头，刀头具有第一端面和切割槽，切割槽穿过第一端面，切割槽使得第一端面形成至少一个环形的切割面。
在一些实施例中，刀头还具有第二端面和侧面，第一端面与第二端面相对，侧面连接第一端面和第二端面，切割槽为通孔，通孔的一端穿过第一端面，通孔的另一端穿过第二端面和侧面中的一个。
在一些实施例中，刀头具有至少两个通孔，通孔的另一端穿过侧面，通孔使得侧面形成排屑部。
在一些实施例中，第一端面的面积大于第二端面的面积，通孔的另一端穿过侧面的靠近第二端面的部分。
在一些实施例中，沿第一端面到第二端面方向X，任意两个通孔的轴线之间的距离L1先不变再逐渐增大。
在一些实施例中，通孔与侧面的交界处形成刮削部。
在一些实施例中，刮削部呈锯齿状；或者刮削部具有倒角。
在一些实施例中，刀头具有一个通孔，通孔的另一端穿过第二端面。
在一些实施例中，切割面呈锯齿状；或者切割面为锉面；或者切割面的边缘具有倒角。
在一些实施例中，切割槽在第一端面上的正投影包括圆形、椭圆形、矩形、圆角矩形中的至少一种。
在一些实施例中，医用超声刀还包括：刀杆，刀杆与刀头的远离第一端面的一端连接。
在一些实施例中，医用超声刀还包括：刀身，刀身连接刀杆和刀头，平行于第一端面的方向上，刀身的横截面积小于第一端面的面积。
根据本申请第二方面的实施例，提供一种医用超声刀***，医用超声刀***包括振源和上述实施例中任一项的医用超声刀；振源与医用超声刀的刀头连接，振源用于产生振动。
根据本申请第三方面的实施例，提供一种机器人辅助超声刀***，机器人辅助超声刀***包括机器人辅助手术装置以及上述实施例中的医用超声刀***；机器人辅助手术装置与医用超声刀***中的医用超声刀连接，以控制医用超声刀的移动。
本申请实施例提供的医用超声刀的刀头中布置切割槽，切割槽穿过第一端面形成环形的切割面，该切割面对骨组织进行切割或破碎，切割面的中部是空心的，在切割或破碎骨组织时，切割槽所在的位置(也即切割面的中部)对应的骨组织不会与切割面接触，也即不用被切割或破碎，但切割槽的周边(也即环形的切割面)对应的骨组织会与切割面接触从而被切割或破碎，这样切割面对骨组织的切割面较小，但是依然能切割或破碎出较大骨块，同时由于切割面对骨组织的切割或破碎的面小，切割或破碎同样大小的骨块，本申请实施例提供的医用超声刀用时更短，工作效率更高。
附图说明
在附图中，除非另外规定，否则贯穿多个附图相同的附图标记表示相同或相似的部件或元素。这些附图不一定是按照比例绘制的。应该理解，这些附图仅描绘了根据本申请公开的一些实施方式，而不应将其视为是对本申请范围的限制。
图1示出了本申请实施例提供的一种医用超声刀的结构示意图；
图2示出了本申请实施例提供的一种刀头的结构示意图；
图3示出了本申请实施例提供的一种刀头的右视图；
图4示出了本申请实施例提供的一种医用超声刀的主视图；
图5示出了图4中医用超声刀的A-A面的截面图；
图6示出了图4中医用超声刀的俯视图；
图7示出了本申请实施例提供的另一种医用超声刀的结构示意图；
图8示出了本申请实施例提供的一种刀头的结构示意图；
图9示出了图7中医用超声刀的刀头处的局部放大图；
图10示出了图7中医用超声刀的刀头处的主视图；
图11示出了图7中医用超声刀的刀头处的俯视图；
图12示出了本申请实施例提供的另一种医用超声刀的主视图；
图13示出了图12中医用超声刀的B-B面的截面图；
图14示出了本申请实施例提供的一种刀头的右视图；
图15示出了本申请实施例提供的一种刀头的左视图；
图16示出了本申请实施例提供的另一种医用超声刀的结构示意图；
图17示出了本申请实施例提供的一种刀头的结构示意图；
图18示出了图16中医用超声刀的刀头处的局部放大图；
图19示出了图16中医用超声刀的刀头处的主视图；
图20示出了本申请实施例提供的另一种医用超声刀的主视图；
图21示出了本申请实施例提供的一种刀头的右视图；
图22示出了本申请实施例提供的一种刀头的左视图；
图23示出了本申请实施例提供的另一种医用超声刀的结构示意图；
图24示出了本申请实施例提供的一种刀头的结构示意图；
图25示出了图23中医用超声刀的刀头处的局部放大图；
图26示出了图23中医用超声刀的刀头处的主视图；
图27示出了本申请实施例提供的另一种医用超声刀的主视图；
图28示出了本申请实施例提供的一种刀头的右视图；
图29示出了本申请实施例提供的一种刀头的左视图；
附图标记说明：
10、刀头；20、刀杆；30、刀身；
101、第一端面；102、切割槽；103、切割面；104、第二端面；105、侧面；106、排屑部；107、刮削部；201、外螺纹。
具体实施方式
在下文中，仅简单地描述了某些示例性实施例。正如本领域技术人员可认识到的那样，在不脱离本申请的精神或范围的情况下，可通过各种不同方式修改所描述的实施例。因此，附图和描述被认为本质上是示例性的而非限制性的。
目前，从市场形势的发展来看，医用超声刀也逐渐应用于外科手术中，并且，由于超声的特性，当医用超声刀与硬度较高的骨组织接触时，骨组织不易变形，从而可以在接触位置产生切割或破碎，而当医用超声刀与软组织接触时，在软组织的弹性作用下，软组织会被弹开或变形，并随着医用超声刀的振动而进行微振动，从而抵消了刀头处的能量，避免了切割或破碎。因此，尤其是针对手术位置位于骨头与软组织交界面附近的外科手术，医用超声刀的切骨优势明显。
本申请人注意到，在相关技术中，利用医用超声刀对骨组织进行切割或破碎时，主要通过医用超声刀的刀头对骨组织进行钻骨，将需要切割或破碎处的骨组织磨碎或者切割为体积较小的骨块实现对骨组织的处理。但是骨组织的硬度较高，对骨组织进行切割或破碎的速度较慢，工作效率较低。
为了提高医用超声刀的工作效率，本申请实施例提供了一种医用超声刀，医用超声刀包括刀头，刀头具有第一端面和切割槽，切割槽穿过第一端面，切割槽使得第一端面形成至少一个环形的切割面。在切割或破碎骨组织时，切割槽所在的位置对应的骨组织不会与切割面接触，也即不用被切割或破碎，但切割槽的周边(也即环形的切割面)对应的骨组织会与切割面接触从而被切割或破碎，这样切割面对骨组织的切割面较小，但是依然能切割或破碎出较大骨块，同时由于切割面对骨组织的切割或破碎的面小，切割或 破碎同样大小的骨块，本申请实施例提供的医用超声刀用时更短，速度更快，工作效率更高。
本申请实施例提供了一种医用超声刀，图1示出了本申请实施例提供的一种医用超声刀的结构示意图。参见图1，医用超声刀包括刀头10。图2示出了本申请实施例提供的一种刀头的结构示意图，图3示出了本申请实施例提供的一种刀头的右视图。结合图2和图3，刀头10具有第一端面101和切割槽102，切割槽102穿过第一端面101，切割槽102使得第一端面101形成至少一个环形的切割面103。
在本申请实施例中，切割面103用于对骨组织进行切割或破碎，在实际的应用中，刀头10振动带动切割面103振动，在切割面103振动的过程中对骨组织进行切割或破碎。
在本申请实施例中，在刀头10中布置切割槽102，切割槽102穿过第一端面101形成环形的切割面103，该切割面103对骨组织进行切割或破碎，切割面103的中部是空心的，在切割或破碎骨组织时，切割槽102所在的位置(也即切割面103的中部)对应的骨组织不会与切割面103接触，也即不用被切割或破碎，但切割槽102的周边(也即环形的切割面103)对应的骨组织会与切割面103接触从而被切割或破碎，这样切割面103对骨组织的切割或破碎面较小，但是依然能切割或破碎出较大骨块，同时由于切割面103对骨组织的切割或破碎的面小，切割或破碎同样大小的骨块，本申请实施例提供的医用超声刀用时更短，工作效率更高。
本申请实施例提供的医用超声刀的切割面103较大，可以对骨组织进行宽槽切割或破碎。
在本申请的一种实现方式中，切割面103呈锯齿状，增大切割面103的摩擦力，使用该医用超声刀时稳定不打滑。
在本申请的另一种实现方式中，切割面103为锉面，同样可以增大切割面103的摩擦力，同时锉面的切割面103切割或破碎速度更快，提高医用超声刀的工作效率。
在本申请的另一种实现方式中，切割面103的边缘具有倒角。
在本申请的一种实现方式中，环形的切割面103的环宽D大于或等于0.3毫米(mm)且小于或等于0.6毫米，例如环形的切割面103的环宽D等于0.45毫米。一方面保证切割面103的强度，另一方面避免切割面103的尺寸太大造成医用超声刀的体积太大不变操作。
根据本申请的一些实施例，参见图2和图3，刀头10还具有第二端面104和侧面105，第一端面101与第二端面104相对，侧面105连接第一端面101和第二端面104，
图4示出了本申请实施例提供的一种医用超声刀的主视图，图5示出了图4中医用超声刀的A-A面的截面图，图6示出了图4中医用超声刀的俯视图。结合图2至图6，切割槽102为通孔，通孔的一端穿过第一端面101，通孔的另一端穿过第二端面104。
在对骨组织进行切割或破碎后，被切下来的骨块会从第一端面101进入到切割槽102中，在本申请实施例中，将切割槽102布置为通孔，在切割或破碎完骨组织后，可以使用工具从第二端面104将通孔中的骨块推出方便清洁刀头。
在本申请的另一种实施例中，切割槽102可以不为通孔，也即切割槽102仅穿过第一端面101，在切割或破碎完骨组织后，可以使用工具从第一端面101将切割槽102中的骨块掏出。
在图1至图6所示的刀头10中，环形的切割面103类似跑道的形状，也即切割面103的中部为矩形，矩形的两端分别连接一个半圆。
示例性地，跑道形状的切割面103的长L2大于或等于4毫米且小于或等于6毫米，跑道形状的切割面103的宽L3大于或等于2毫米且小于或等于4毫米。
例如，跑道形状的切割面103的长L2等于5毫米，跑道形状的切割面103的宽L3等于2.9毫米。
在图1至图6所示的刀头10中，刀头10具有一个通孔。
图7示出了本申请实施例提供的另一种医用超声刀的结构示意图。图8示出了本申请实施例提供的一种刀头的结构示意图。图9示出了图7中医用超声刀的刀头处的局部放大图。图10示出了图7中医用超声刀的刀头处的主视图。图11示出了图7中医用超声刀的刀头处的俯视图。图12示出了本申请实施例提供的另一种医用超声刀的主视图。图13示出了图12中医用超声刀的B-B面的截面图。图14示出了本申请实施例提供的一种刀头的右视图。图15示出了本申请实施例提供的一种刀头的左视图。
参见图7至图15，刀头10具有两个通孔。通孔的另一端穿过侧面105，通孔使得侧面105形成排屑部106。
由于切割或破碎完的骨块会进入在通孔中，在本申请实施例中，通孔的另一端穿过侧面105，也即通孔的两端均没有被遮挡，这样切割或破碎下来的骨块可以通过排屑部106排出，实现对骨块的自动清洁，使用更加方便。
在图7至图15所示的刀头10中，环形的切割面103为圆角矩形。示例性地，圆角矩形的切割面103的长L4大于或等于4毫米且小于或等于6毫米，圆角矩形的切割面103的宽L5大于或等于2毫米且小于或等于4毫米。
例如，圆角矩形的切割面103的长L4等于5毫米，圆角矩形的切割面103的宽L5等于2.9毫米。
在本申请的一种实施例中，第一端面101的面积大于第二端面104的面积，通孔的另一端穿过侧面105的靠近第二端面104的部分。
在本申请实施例中，由于第一端面101的面积大于第二端面104的面积，且切割面103位于第一端面101，使得在使用本公开实施例提供的医用超声刀对骨组织进行钻孔时时，即使钻孔的深度超过刀头10的高度还能继续钻孔，直到达到需求的钻孔深度。
在本申请实施例中，通孔与侧面105的交界处形成刮削部107，也即该刮削部107为侧面105的一部分。在使用医用超声刀时，可能需要对骨组织进行刮削，本申请实施例提供的医用超声刀可以通过刮削部107对骨组织进行刮削，更加方便。
在本申请的一种实现方式中，刮削部107呈锯齿状，增大刮削部107的摩擦力，使用该医用超声刀时稳定不打滑。
在本申请的另一种实现方式中，刮削部107具有倒角。
在本申请的一些实施例中，参见图13，沿第一端面101到第二端面104方向X，任意两个通孔的轴线之间的距离L1先不变再逐渐增大。
示例性地，从第一端面101到第一端面101和第二端面104的中部，任意两个通孔的轴线之间的距离L1不变，从第一端面101和第二端面104的中部到第二端面104，任意两个通孔的轴线之间的距离L1逐渐增大。
在本申请实施例中，通孔远离第一端面101的端部向侧面105靠近，也即通孔靠近第二端面104的部分向外侧倾斜，通孔内的骨块在移动时也会向外侧倾斜，使得通孔内的骨块更容易排出。
在图7至图15所示的刀头10中，刀头10具有两个通孔。
其中，两个通孔在第一端面101形成了两个环形的切割面103。
图16示出了本申请实施例提供的另一种医用超声刀的结构示意图。图17示出了本申请实施例提供的一种刀头的结构示意图。图18示出了图16中医用超声刀的刀头处的局部放大图。图19示出了图16中医用超声刀的刀头处的主视图。图20示出了本申请 实施例提供的另一种医用超声刀的主视图。图21示出了本申请实施例提供的一种刀头的右视图。图22示出了本申请实施例提供的一种刀头的左视图。
参见图16至图22，刀头10具有四个通孔，四个通孔在第一端面101形成了四个环形的切割面103。
在其他实现方式中，刀头10可以具有三个通孔、五个通孔或者更多数量的通孔，本申请对此不作限制。多个通孔可围绕刀头10的中心轴线对称分布。
在图16至图22所示的刀头10中，环形的切割面103为圆角正方形。示例性地，圆角正方形的切割面103的边长L6大于或等于4毫米且小于或等于6毫米。例如，圆角正方形的切割面103的边长L6等于5毫米。
在图7至图22所示的刀头10中，环形的切割面103为多边形。
图23示出了本申请实施例提供的另一种医用超声刀的结构示意图。图24示出了本申请实施例提供的一种刀头的结构示意图。图25示出了图23中医用超声刀的刀头处的局部放大图。图26示出了图23中医用超声刀的刀头处的主视图。图27示出了本申请实施例提供的另一种医用超声刀的主视图。图28示出了本申请实施例提供的一种刀头的右视图。图29示出了本申请实施例提供的一种刀头的左视图。
参见图23至图29，环形的切割面103为圆形。示例性地，圆形的切割面103的直径R大于或等于4毫米且小于或等于8毫米。例如，圆形的切割面103的直径R等于6.2毫米。
上述实施例中对切割面103的描述均是对切割面103整体形状的描述。
在本申请实施例中，切割槽102在第一端面101上的正投影的形状不限制，可以包括圆形、椭圆形、矩形、圆角矩形中的至少一种。
在其他实现方式中，切割槽102在第一端面101上的正投影的形状还可以为不规则的形状。
在本申请的一些实施例中，参见图7、图12、图13、图16、图20、图23和图27，医用超声刀还包括刀杆20，刀杆20与刀头10的远离第一端面101的一端连接。
在本申请实施例中，刀杆20可用于与其他装置连接，便于医用超声刀与其他装置连接。示例性地，其他装置可以为振源。
示例性地，刀杆20远离刀头10的一端连接具有外螺纹201，刀杆20可以与其他装置通过螺纹连接。
在本申请的一些实施例中，参见图7、图12、图13、图16、图20、图23和图27，医用超声刀还包括刀身30，刀身30连接刀杆20和刀头10，平行于第一端面101的方向上，刀身30的横截面积小于第一端面101的面积。
在本申请实施例中，由于刀身30的横截面积小于第一端面101的面积，且切割面103位于第一端面101，使得在使用本公开实施例提供的医用超声刀对骨组织进行钻孔时时，即使钻孔的深度超过刀头10的高度还能继续钻孔，直到达到需求的钻孔深度。同时刀身30连接振源和刀头10，刀身30的尺寸较小便于通过刀身30调节刀头10的振动。
在本申请实施例的一种实现方式中，切割槽102的中心轴线与刀身30的中心轴线平行，可减小使用医用超声刀时的阻力。
在本申请实施例中，刀头10的第二端面104与刀身30连接，此时刀头10的第二端面104被刀身30覆盖。
在其他实现方式中，刀身30和刀头10可以一体化制作。
本申请实施例还提供了一种医用超声刀***，医用超声刀***包括振源和上述实施例中的医用超声刀，振源与医用超声刀的刀头10连接，振源用于产生振动。
本申请实施例提供的医用超声刀***的工作效率更高。
本申请实施例还提供了一种机器人辅助超声刀***。机器人辅助超声刀***包括机器人辅助手术装置以及上述实施例中的医用超声刀***。机器人辅助手术装置与医用超声刀***中的医用超声刀连接，以控制医用超声刀的移动。
本申请实施例提供的机器人辅助超声骨动力***提高了骨科手术的工作效率。
应当理解的是，在本说明书中，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系或尺寸为基于附图所示的方位或位置关系或尺寸，使用这些术语仅是为了便于描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，并且因此不能理解为对本申请的保护范围的限制。
此外，术语“第一”、“第二”、“第三”等仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”、“第三”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本申请中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接，还可以是通信；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。
本说明书提供了能够用于实现本申请的许多不同的实施方式或例子。应当理解的是，这些不同的实施方式或例子完全是示例性的，并且不用于以任何方式限制本申请的保护范围。本领域技术人员在本申请的说明书的公开内容的基础上，能够想到各种变化或替换，这些都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所附权利要求所限定的保护范围为准。

Claims (14)

  1. 一种医用超声刀，所述医用超声刀包括：
    刀头(10)，所述刀头(10)具有第一端面(101)和切割槽(102)，所述切割槽(102)穿过所述第一端面(101)，所述切割槽(102)使得所述第一端面(101)形成至少一个环形的切割面(103)。
  2. 根据权利要求1所述的医用超声刀，其中，所述刀头(10)还具有第二端面(104)和侧面(105)，所述第一端面(101)与所述第二端面(104)相对，所述侧面(105)连接所述第一端面(101)和所述第二端面(104)，所述切割槽(102)为通孔，所述通孔的一端穿过所述第一端面(101)，所述通孔的另一端穿过所述第二端面(104)和所述侧面(105)中的一个。
  3. 根据权利要求2所述的医用超声刀，其中，所述刀头(10)具有至少两个所述通孔，所述通孔的另一端穿过所述侧面(105)，所述通孔使得所述侧面(105)形成排屑部(106)。
  4. 根据权利要求3所述的医用超声刀，其中，所述第一端面(101)的面积大于所述第二端面(104)的面积，所述通孔的另一端穿过所述侧面(105)的靠近所述第二端面(104)的部分。
  5. 根据权利要求3所述的医用超声刀，其中，沿所述第一端面(101)到所述第二端面(104)方向(X)，任意两个所述通孔的轴线之间的距离L1先不变再逐渐增大。
  6. 根据权利要求3所述的医用超声刀，其中，所述通孔与所述侧面(105)的交界处形成刮削部(107)。
  7. 根据权利要求6所述的医用超声刀，其中，所述刮削部(107)呈锯齿状；或者所述刮削部(107)具有倒角。
  8. 根据权利要求2所述的医用超声刀，其中，所述刀头(10)具有一个所述通孔，所述通孔的另一端穿过所述第二端面(104)。
  9. 根据权利要求1至8中任一项所述的医用超声刀，其中，所述切割面(103)呈锯齿状；或者所述切割面(103)为锉面；或者所述切割面(103)的边缘具有倒角。
  10. 根据权利要求1至8中任一项所述的医用超声刀，其中，所述切割槽(102)在所述第一端面(101)上的正投影包括圆形、椭圆形、矩形、圆角矩形中的至少一种。
  11. 根据权利要求10所述的医用超声刀，其中，所述医用超声刀还包括：
    刀杆(20)，所述刀杆(20)与所述刀头(10)的远离所述第一端面(101)的一端连接。
  12. 根据权利要求11所述的医用超声刀，其中，所述医用超声刀还包括：
    刀身(30)，所述刀身(30)连接所述刀杆(20)和所述刀头(10)，平行于所述第一端面(101)的方向上，所述刀身(30)的横截面积小于所述第一端面(101)的面积。
  13. 一种医用超声刀***，所述医用超声刀***包括振源和如权利要求1至12中任一项所述的医用超声刀；
    所述振源与所述医用超声刀的刀头(10)连接，所述振源用于产生振动。
  14. 一种机器人辅助超声刀***，所述机器人辅助超声刀***包括机器人辅助手术装置以及如权利要求13所述的医用超声刀***；
    所述机器人辅助手术装置与所述医用超声刀***中的医用超声刀连接，以控制所述医用超声刀的移动。
PCT/CN2023/119429 2022-11-11 2023-09-18 医用超声刀、医用超声刀***和机器人辅助超声刀*** WO2024098962A1 (zh)

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