Surgical tool fixing device for surgical robot

Abstract

The present invention relates to a surgical tool fixing device for a surgical robot, and more particularly, to a surgical tool fixing device for a surgical robot, which stably fixes and supports a shaft support sleeve of a surgical tool having a shaft, to prevent deformation of related parts, to improve durability, and to a surgical robot. Separation and assembly operations of surgical tools, such as drilling machines, can be conveniently and stably performed without difficulty. The surgical tool fixing device for a surgical robot according to the present invention comprises: a sleeve for supporting a surgical instrument having a shaft; a chuck device unit including a chuck body to which the sleeve is fastened, a chuck embedded in the chuck body to fix the surgical tool and selectively fix the shaft, and an operating force application unit for applying an operating force to engage and disengage the chuck operation; a holder unit on which the chuck device unit is mounted, the holder unit being mounted at a distal end of the robot arm; a sleeve support unit formed to extend from the holder unit and to be seated and supported so as to prevent the sleeve from shaking; and an operating handle connected to the operating force applying unit to apply the operating force.

Description

Technical Field

[0001] The present disclosure relates to a surgical tool fixing device for a surgical robot, and more specifically to a surgical tool fixing device for a surgical robot that stably fixes and supports an axis support sleeve for a surgical tool having an axis such as a drill, so that deformation of related parts can be prevented and durability is improved, and the surgical tool can be separated and installed conveniently and stably without difficulty. Background Art

[0002] Generally, surgical treatment of joint diseases includes arthroscopic surgery, chondrocyte transplantation, etc., and includes artificial joint surgery for severe cases. As representative artificial joint surgeries, there are manual artificial joint surgeries performed manually by medical staff and robotic artificial joint surgeries performed by robots.

[0003] Robotic artificial joint surgery refers to a surgical procedure in which an artificial knee joint (implant) is placed by rotating a cutter of a cutting device mounted to the distal end of a position-variable arm of a robot based on information input into a computer after cutting the patella. And the robotic artificial joint surgery employs a cutting device including a drill or similar cutting tool (hereinafter referred to as a drill).

[0004] Figure 1a is a perspective view showing an installation state of a conventional surgical tool fixture for describing an orthopedic surgical robot, and Figure 1b is a perspective view showing a separated state of a conventional surgical tool fixture for describing an orthopedic surgical robot.

[0005] Reference Figure 1a and Figure 1b A conventional surgical tool fixture A for an orthopedic surgical robot includes a sleeve 200 for supporting a drill 100 for performing a cutting operation, a chuck device 300 for holding the drill 100, a retaining member 400 mounted on the chuck device 300 and mounted at the distal end of a position-variable arm (not shown) of the robot, an operating nut 500 for applying an operating force to lock the drill 100 to the chuck device 300 or release it from the chuck device 300, and a motor (not shown) mounted to a motor connecting member 600, the motor connecting member 600 being connected to the retaining member 400 so as to provide a rotational force to the drill 100.

[0006] The details of the above-mentioned components are as follows. The drill 100 includes a head 110 formed with a cutting edge and a shaft 120 extending from the head 110 and shaped as a round rod. When the rear end of the shaft 120 connected to the motor rotates, the drill 100 performs a cutting operation, wherein the outer peripheral surface of the shaft 120 is rotatably supported by the sleeve 200 and prevented from shaking or bending when rotating, and the head 110 protruding from the sleeve 200 rotates to cut the bone.

[0007] The sleeve 200 includes a pipe portion 210 having a small diameter and a fastening cap 220 formed at one end of the pipe portion 210 and fastened to the chuck device 300 , and includes a bearing 230 inserted into the sleeve 200 to rotatably support the shaft 120 of the drill 100 , a spacer 240 , etc.

[0008] The chuck device 300 is configured to perform a clamping operation or a loosening operation by pressing or releasing the shaft 120 of the drill 100 when a chuck 320 (generally referred to as a collet having three or four jaws that moves radially to hold the shaft of the drill or the like) provided in front of the chuck body 310 is closed or opened. Among well-known chuck devices, a medical chuck device used for plastic surgery, dentistry, etc. can be used as the chuck device 300. In addition, the chuck body 310 is formed with an operating force applying portion (not shown) such as an adjusting screw portion to which the operating nut 500 is fastened, so that when the operating nut 500 is rotated in a specific direction, the chuck 320 can be closed to press and lock the shaft, and when the operating nut 500 is rotated in the opposite direction, the chuck 320 can be opened to release the shaft.

[0009] The above-described conventional surgical tool fixture for an orthopedic surgical robot supports the drill 100 to perform a cutting operation, but has limitations that lead to the following problems.

[0010] In the conventional surgical tool fixture A for an orthopedic surgical robot, during a cutting operation, when the drill 100 moves left and right, a large load acting left and right is applied to the sleeve 200. When a large load is applied to the sleeve 200 left and right, the sleeve 200 is slightly deformed left and right because the sleeve 200 has a long cantilever structure and is screwed to the front of the chuck body 310 with a spacing distance d therebetween without any separate support structure. The deformation of the sleeve 200 causes the shaft 120 and related parts (such as bearings) of the drill 100 to deform and reduce durability, and also causes the chuck device 200 in which the shaft 120 is locked to deform and reduce durability. Due to these limitations, there are disadvantages in that frequent parts replacement increases maintenance costs, surgery is performed unstably, there is a high risk of negligent accidents, and downtime of surgery increases.

[0011] Furthermore, in the conventional surgical tool fixture A for an orthopedic surgical robot, when the drill 100 is to be cleaned or replaced, the operating nut 500 needs to be rotated to release or lock the shaft 120 from or to the chuck device 300. However, it is very difficult for a female nurse or similar user with a weak grip to rotate the operating nut 500 or tightly lock the shaft 120, resulting in erroneous operation or negligent accidents.

[0012] public Technical issues The present disclosure is intended to solve the aforementioned problems, and one aspect of the present disclosure is to provide a surgical tool fixture for a surgical robot, which stably fixes and supports a shaft support sleeve for a surgical tool having a shaft, so that deformation of related parts can be prevented and durability can be improved.

[0013] Another aspect of the present disclosure is to provide a surgical tool fixing device for a surgical robot, which allows convenient and stable separation and installation of surgical tools with a small force.

[0014] Technical Solution According to one aspect of the present disclosure, a surgical tool fixing device for a surgical robot includes: a sleeve, which is configured to support a surgical tool including a shaft; a chuck device, the chuck device including a chuck body, a chuck and an operating force applying part, the chuck body is connected to the sleeve, the chuck is arranged inside the chuck body and selectively holds the shaft to fix the surgical tool, the operating force applying part is configured to apply operating force for clamping and releasing operations of the chuck; a retaining member, the retaining member is provided with the chuck device and is mounted to the distal end of a robot arm; a sleeve support member, the sleeve support member is formed to extend from the retaining member and is configured to place and support the sleeve thereon without shaking; and an operating handle, the operating handle is connected to the operating force applying part and is configured to apply an operating force.

[0015] The sleeve may include a tube portion accommodating the shaft, and a fastening cap formed at an inner end portion of the tube portion and coupled to the chuck body.

[0016] The sleeve support may include a support protrusion extending from the holder, and a sleeve seat portion formed at an end of the support protrusion to closely contact the fastening cap.

[0017] The support protrusion may protrude forward to form an operating space, the operating force applying portion is placed in the operating space, and the sleeve seat portion may be constructed as a ring formed with a chuck hole and a contact surface, the chuck body is inserted into the chuck hole, and the contact surface is formed to correspond to the end face of the fastening cap and is in close contact with the end face of the fastening cap.

[0018] The operating handle may include an engaging portion provided in the operating space to engage with the operating force applying portion and a handle portion extending from the engaging portion.

[0019] The operating handle may include: a first handle, the first handle including a first engaging portion and a first handle unit, the first engaging portion being configured to engage with a first outer surface of the operating force applying portion so as to be placed and installed in the operating space, the first handle unit extending from opposite ends of the first engaging portion and formed with a fastening hole; a second handle, the second handle including a second engaging portion and a second handle unit, the second engaging portion being configured to engage with a second outer surface of the operating force applying portion, the second handle unit extending from opposite ends of the second engaging portion and formed with a fastening hole; and a fastening member, the fastening member being configured to be fastened to the fastening holes of the first handle and the fastening holes of the second handle.

[0020] According to the present disclosure, the surgical tool fixing device for the surgical robot may also include a motor connecting component, which is configured to be connected to the rear of the chuck device and to the motor, wherein the retaining member includes a retaining rod, a retaining head arranged at a first end of the retaining rod and forming the sleeve support and a connecting hole connected to the motor connecting component, a connecting plate arranged at a second end of the retaining rod, and an arm connecting member, which is engaged to the connecting plate to be connected to the distal end of the robot arm.

[0021] Beneficial Effects In the surgical tool fixing device for a surgical robot according to the present disclosure, the fastening cap of the sleeve is fixed by the sleeve support without shaking and can be prevented from being deformed even when the drill moves left and right when a large load is applied during surgery, so that the shaft of the drill, the built-in bearing of the sleeve and the chuck device for holding the shaft can be prevented from being deformed and thus the durability is improved, which has the effect of reducing maintenance costs, stably performing surgery, reducing the risk of negligent accidents and shortening the downtime of surgery.

[0022] In addition, the surgical tool fixing device for a surgical robot according to the present disclosure is easy to operate and use even by users with relatively weak grips, because the operating handle can be easily rotated forward and backward with a small force to perform clamping and releasing operations when the surgical tool is to be separated or installed. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1a is a perspective view showing an installation state of a conventional surgical tool fixture for an orthopedic surgical robot, Figure 1b is a perspective view showing a separated state of a conventional surgical tool fixture for an orthopedic surgical robot, Figure 2 is a perspective view showing a surgical tool fixing device for a surgical robot according to an embodiment of the present disclosure, Figure 3is a perspective view showing a separation of a surgical tool fixing device for a surgical robot according to an embodiment of the present disclosure, Figures 4a to 4d is a partial enlarged view of a surgical tool fixing device for a surgical robot according to an embodiment of the present disclosure, wherein: Figure 4a The main components are shown separately, Figure 4b The holder and sleeve support are shown, Figure 4c An operating handle is shown, and Figure 4d The motor connection member is shown, and Figure 5 2 is a view for describing the operation of a surgical tool fixing device for a surgical robot according to an embodiment of the present disclosure.

[0024] Best Mode Next, we will refer to Figures 2 to 5 The exemplary embodiments of the present disclosure are described in detail. Figures 2 to 5 , the same reference numerals represent the same components.

[0025] At the same time, detailed descriptions of the components and their operations and effects that are easily understood by ordinary technicians in the field from general technology in the drawings will be simplified or omitted. In addition, the present disclosure is characterized by a surgical tool fixing device for a surgical robot, so the description and instructions will focus on the relevant components, while simplifying or omitting other components.

[0026] Figure 2 is a perspective view showing a surgical tool fixing device for a surgical robot according to an embodiment of the present disclosure, Figure 3 4A to 4D are partial enlarged views of the surgical tool fixing device for a surgical robot according to an embodiment of the present disclosure, wherein FIG. 4A shows the main components separately, FIG. 4B shows a retaining member and a sleeve support member, FIG. 4C shows an operating handle, and FIG. 4D shows a motor connecting member. Figure 5 2 is a view for describing the operation of a surgical tool fixing device for a surgical robot according to an embodiment of the present disclosure.

[0027] Reference Figures 2 to 5 According to an embodiment of the present disclosure, a surgical tool fixing device for a surgical robot is used to stably fix and support an axis supporting sleeve of a surgical tool 1 having an axis, and allows the surgical tool 1 to be easily separated and installed. The surgical tool fixing device includes a sleeve 2, a chuck device 3, a retaining member 4, a sleeve support member 5 and an operating handle 6.

[0028] The surgical tool 1 refers to a tool used in surgery, and any structure can be applied thereto as long as it has a shaft 11. According to one embodiment, an explanation will be made based on an example of a device for fixing a drill used as a cutting tool for cutting the patella during an artificial knee joint (implant) procedure. Here, the drill used as the surgical tool 1 is fixed to the chuck device 3, and a cutting operation is performed when a motor connector (not shown) provided in the chuck device 3 is connected to a motor (not shown) and rotated. The outer peripheral surface of the shaft 11 is rotatably supported in the sleeve 2 so that the shaft 11 can rotate without shaking or bending. The head 12 protrudes outward from the sleeve 2 and rotates to perform a bone cutting operation.

[0029] The sleeve 2 includes a pipe portion 21 having a smaller diameter and a fastening cap 22 formed on one end of the pipe portion 21 and fastened to a chuck body 31 (described later), thereby being coupled with the chuck device 3. In order to rotatably support the shaft 11 of the drill, a bearing 13, a spacer 14, etc. are inserted into the sleeve 2.

[0030] Meanwhile, the chuck device 3 is configured to perform a clamping operation by pressing the drill shaft 11 or a loosening operation by releasing the drill shaft 11 when the chuck 32 provided in the front portion of the chuck body 31 is closed or opened. Among well-known chuck devices, a medical chuck adjusting device applied to plastic surgery, dentistry, etc. may be used as the chuck device 3, and thus a detailed description thereof will be omitted.

[0031] For example, Figure 4a As shown, the chuck device 3 includes a chuck body 31 engaged with the sleeve 2, a chuck 32 disposed inside the chuck body 31 and selectively holding the shaft 11 to fix the surgical tool 1, and an operating force applying portion 33 that applies an operating force for clamping and releasing operations of the chuck 32.

[0032] In addition, the chuck body 31 includes a chuck moving member 34, etc., which is placed in a substantially hollow portion of the round bar-shaped body to move the chuck 32 outward and inward by the force of an internal spring when the operating force applying portion 33 rotates forward and backward. In more detail, when the operating force applying portion 33 rotates in the forward direction, the chuck 32 moves backward and becomes closed to press and lock the shaft 11, and when the operating force applying portion 33 rotates in the backward direction, the chuck 32 moves forward and becomes open to release the shaft 11.

[0033] The operation force applying portion 33 is provided as a sawtooth gear formed on the chuck body 31 , and rotates forward and backward by a rotation force applied from the operation handle 6 connected thereto.

[0034] Reference Figure 3 and Figure 4bThe retaining member 4 refers to a component to be mounted to the distal end of a robot arm (not shown), and includes a retaining rod 41 roughly shaped like a rod, a retaining head 42 formed at one end (i.e., the lower portion of the retaining rod 41), a connecting plate 43 formed at the other end (i.e., the upper portion of the retaining rod 41), and an arm connecting member 44 joined to the connecting plate 43 to be connected to the distal end of the robot arm.

[0035] The retaining head 42 includes a ring body 421 formed with an engagement hole 422 into which a motor engagement member 7 (described later) is inserted. The ring body 421 is formed with a screw hole 423 communicating with the engagement hole 422, and the above-mentioned sleeve support 5 protrudes forward from the ring body 421.

[0036] For example, Figure 3 As shown, the arm connecting member 44 is configured as a clamping member to connect with a robot clamping member (not shown) mounted to an opposite robot arm (not shown), and the clamping member includes a clamping body 441 shaped like a disk and formed with a plurality of fastening holes, and a clamping protrusion 442 formed with a locking hole 443, which is placed on the clamping axis of the robot clamping member or connected to the clamping axis of the robot clamping member.

[0037] Meanwhile, the sleeve support 5 refers to a component formed to extend from the retaining member 4 and support the sleeve 2 placed thereon without shaking, and the sleeve support 5 includes a support protrusion 51 extending from the retaining member 4 and a sleeve seat portion 52 formed at the end of the support protrusion 51 and supporting the fastening cap 22 of the sleeve 2 to contact therewith.

[0038] The support protrusions 51 protrude forward from the retaining head 42 to form an operation space 53 in which the operation force applying portion 33 is placed. According to this embodiment, the two support protrusions 51 are formed at an angle of approximately 180 degrees (at an angle obtained by subtracting an angle corresponding to the thickness of the support protrusions 51 from 180 degrees) without interfering with the forward rotation of the operating handle 6 for the clamping operation of the clamping device 3 and the backward rotation of the operating handle 6 for the loosening operation of the clamping device 3.

[0039] The sleeve seat portion 52 is formed on the protruding end of the support protrusion 51 and is configured as a ring formed with a chuck hole 54, and the chuck body 31 is inserted into the chuck hole 54. Here, the ring is configured to have a contact surface having a shape corresponding to the end surface of the fastening cap 22 and in close contact with the end surface of the fastening cap 22.

[0040] The operating handle 6 refers to a member placed in the operating space 53 , engaged to the operating force applying portion 33 , and applies an operating force, and includes an engaging portion engaged with the operating force applying portion 33 and a handle portion protruding from the engaging portion.

[0041] In more detail, Figure 4a and 4c As shown, it is important that the operating handle 6 is configured to be placed and assembled in the operating space 53 provided inside the sleeve support 5 .

[0042] To this end, the operating handle 6 is configured to have a structure that can be separated into a first handle 61 , a second handle 62 , and a fastening member 63 for fastening the first handle 61 and the second handle 62 .

[0043] The first handle 61 is configured to engage with an outer surface of the operating force applying portion 33, and includes a first engaging portion 611 and a first handle unit 612, the first engaging portion 611 having an approximately semicircular body formed with a sawtooth gear to engage with the operating force applying portion 33 (i.e., the sawtooth gear), and the first handle unit 612 extends from the opposite end of the first engaging portion 611 and is formed with a fastening hole.

[0044] The second handle 62 is configured to engage with another outer surface of the operating force applying portion 33, and includes a second engaging portion 621 and a second handle unit 622, the second engaging portion 621 having an approximately semicircular body formed with a sawtooth gear to engage with the operating force applying portion 33 (i.e., the sawtooth gear), and the second handle unit 622 extends from the opposite end of the second engaging portion 621 and is formed with a fastening hole.

[0045] The fastening member 63 refers to a member to be fastened to the fastening holes of the first handle 61 and the second handle 62 , and includes a typical screw.

[0046] Meanwhile, the motor connecting member 7 is configured to be connected to the rear of the chuck device 3 and to be connected to a motor (not shown).

[0047] like Figure 4a and 4d As shown, the motor connecting member 7 includes a threaded portion 72, a connecting groove 73 and a screw groove 74. The connecting groove 73 is formed on the outer peripheral surface of a round rod-shaped body 71, and the round rod-shaped body 71 is formed with a hollow hole, and the shaft 11 of the drill is inserted into the hollow hole. The screw groove 74 is recessed in the threaded portion 72 to accommodate the end of the screw 65 inserted through the screw hole 423 of the retaining head 42.

[0048] Hereinafter, the operation of the surgical tool fixing device for a surgical robot according to an embodiment of the present disclosure will be briefly described.

[0049] The motor M is coupled to the motor coupling member 7 of the aforementioned surgical tool fixture, and the arm connecting member 44 is coupled to a clamping member provided in a robot arm (not shown) of the orthopedic surgical robot. The robot arm of the surgical robot, which operates based on information input to the computer, positions the surgical tool fixture A' at the surgical site.

[0050] In this state, when the motor operates based on the information input to the computer, the surgical tool 1 (e.g., a drill) fixed to the chuck device 3 rotates and cuts the set surgical site of the patella. Once such a cutting operation is performed, the artificial knee joint (implant) can be installed in a given order to perform the procedure.

[0051] Furthermore, when the surgical tool 1 rotates based on the rotation of the motor, the shaft 11 is supported in the tube portion 21 of the sleeve 2 and thus rotates stably. In this case, the fastening cap 22 of the sleeve 2 is connected to the front portion of the chuck body 31, and the end surface of the fastening cap 22 is in surface contact with the sleeve seat portion 52, thereby achieving a close contact structure without shaking. Therefore, the spacing distance d (see FIG. 2 ) between the conventional sleeve and the clamp head is not formed. Figure 1a ), so even when the surgical tool is moved with a left or right force during a cutting operation, a slight left or right deformation does not occur.

[0052] In this way, when the fastening cap 22 is fixed to the sleeve support 5 without shaking, the sleeve 2 can be prevented from being deformed, so that the shaft 11 of the drill and the built-in bearing of the sleeve 2 can be prevented from being deformed and the durability can be improved. In addition, the chuck device 3 to which the shaft 11 is fixed is prevented from being deformed, thereby improving the durability. Therefore, it is possible to reduce maintenance costs, reliably perform surgery, reduce the risk of negligent accidents, and reduce downtime of surgery.

[0053] At the same time, the surgical tool fixing device for a surgical robot according to the present disclosure facilitates female nurses or similar users with weak grip to perform clamping and releasing operations of the axis of the surgical tool 1 without difficulty by rotating the first handle unit 612 and the second handle unit 622 protruding from the operating handle 6 180 degrees in the forward direction and 180 degrees in the backward direction when the surgical tool (i.e., drill) is to be separated or installed for cleaning or replacement.

[0054] The terms "including", "configuration" and / or "having" specify the presence of the components, unless there is an obviously different meaning in the present disclosure, but do not exclude their presence, and should be interpreted as further including other components. Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as those generally understood by those skilled in the art to which the present disclosure belongs. Common terms defined in dictionaries should be interpreted as having a consistent meaning in the context of the relevant field, and will not be interpreted as having an idealized or overly formal meaning unless clearly defined in the present disclosure.

[0055] Although the configuration and operation of the surgical tool fixture for a surgical robot according to the embodiments of the present disclosure have been described so far, those skilled in the art will understand that all or part of the embodiments of the present disclosure may be modified or replaced without departing from the technical spirit of the present disclosure.

[0056] Therefore, it should be understood that the scope of the present disclosure falls within the appended claims and their equivalents.

[0057] Industrial Applicability Although the surgical tool fixing device for a surgical robot according to the present disclosure has been described focusing on an example of fixing surgical tools of an orthopedic surgical robot used for artificial joint surgery, the surgical tool fixing device for a surgical robot is not limited to this example and can be used to stably fix and support various surgical tools using an axis.

Claims

1. A surgical tool fixing device for a surgical robot, comprising: a sleeve configured to support a surgical tool including a shaft; A chuck device, comprising a chuck body, a chuck, and an operating force applying portion, wherein the chuck body is coupled to the sleeve, the chuck is disposed inside the chuck body and selectively holds the shaft to fix the surgical tool, and the operating force applying portion is configured to apply an operating force for a clamping operation and a loosening operation of the chuck; a retaining member, disposed on the chuck device and mounted to the distal end of the robot arm; a sleeve support formed to extend from the holder and configured to seat and support the sleeve thereon without shaking; as well as An operating handle is connected to the operating force applying portion and is configured to apply an operating force.

2. The surgical tool fixing device according to claim 1, wherein: The sleeve includes a tube portion, the tube portion accommodating the shaft, and a fastening cap formed at an inner end portion of the tube portion and coupled to the chuck body, and, The sleeve support includes a support protrusion extending from the holder and a sleeve seat portion formed at an end of the support protrusion to be in close contact with the fastening cap.

3. The surgical tool fixing device according to claim 2, wherein: The support protrusion protrudes forward to form an operation space, and the operation force applying portion is placed in the operation space. The sleeve seat is configured as a ring, the ring is formed with a chuck hole, the chuck body is inserted into the chuck hole, and the contact surface is shaped to correspond to and closely contact the end surface of the fastening cap, and The operating handle includes an engaging portion provided in the operating space to engage with the operating force applying portion and a handle portion extending from the engaging portion.

4. The surgical tool fixing device according to claim 3, wherein: The operating handle includes: a first handle, a second handle and a fastening member, the first handle includes a first engaging portion and a first handle unit, the first engaging portion is configured to engage with the first outer surface of the operating force applying portion so as to be placed and installed in the operating space, the first handle unit extends from the opposite end of the first engaging portion and is formed with a fastening hole, the second handle includes a second engaging portion and a second handle unit, the second engaging portion is configured to engage with the second outer surface of the operating force applying portion, the second handle unit extends from the opposite end of the second engaging portion and is formed with a fastening hole, and the fastening member is configured to be fastened to the fastening holes of the first handle and the second handle.

5. The surgical tool fixture of claim 4, further comprising a motor engaging member configured to be connected to a rear portion of the chuck device and to engage with a motor, in, The retaining member includes a retaining rod, a retaining head, a connecting plate and an arm connecting member, the retaining head is arranged at the first end of the retaining rod and is formed with the sleeve support and the connecting hole, the connecting hole is connected to the motor connecting member, the connecting plate is arranged at the second end of the retaining rod, and the arm connecting member is connected to the connecting plate to connect with the distal end of the robot arm.

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