ROBOTIC ULTRASONIC SURGICAL DEVICE WITH ARTICULATING END EFFECTOR Russian patent published in 2018 - IPC A61B17/295 A61B17/32 

FIELD: medicine.

SUBSTANCE: group of inventions refers to medical technology, namely to robotic ultrasound surgical devices with articulating end effector. Device for operating tissues comprises an end effector, a stem assembly and an interaction node. End effector comprises an ultrasonic blade and a clamping lever pivotable relative to the ultrasonic blade. End effector is located at the distal end of the stem assembly, with the stem assembly forming the longitudinal axis. Shaft assembly includes a hinge part configured to deflect the end effector from the longitudinal axis. Interaction node is configured to actuate the end effector, the interaction unit comprising a base and a plurality of drive rods. Base is made with the possibility of communication with the panel of the robotic control system. Plurality of driving rods are arranged perpendicular to the longitudinal axis. First drive rod of the plurality of driving rods is rotatably provided to rotate the clamping lever toward the ultrasonic blade. In a second variant, the above tissue handling device comprises an end effector, a stem assembly, and an interaction assembly. Interaction node comprises a base, a plurality of drive rods and a plurality of drive disks. Plurality of driving rods are arranged perpendicular to the longitudinal axis, wherein at least one drive shaft is configured to actuate the articulation section, and wherein the first drive rod of the plurality of driving rods is rotatably provided to rotate the clamping lever toward the ultrasonic blade. Plurality of drive disks are associated with a plurality of drive rods. Each drive disc contains a corresponding pair of pins. Pins are designed to communicate with the respective drive elements of the robotic control system. In a third variant, the above tissue handling device comprises an end effector, a shaft assembly, an interaction unit, and a robotic control system. Interaction assembly includes a base and a plurality of drive rods. Plurality of drive rods are rotatable with respect to the base and are arranged perpendicularly to the longitudinal axis. First drive rod of the plurality of driving rods is rotatably provided to rotate the clamping lever toward the ultrasonic blade. Robotic control system comprises a robotic arm and a user interaction node. Robotic arm includes a panel. Base is made with the possibility of communication with the panel. Panel includes drive elements configured to communicate with the drive rods. User interaction node is configured to provide remote control of the drive elements.

EFFECT: use of a group of inventions will allow the robotic control of a surgical instrument.

18 cl, 18 dwg