Connector fixture for connection to surgical tool control device

Abstract

In one embodiment, a connector fixture connected to a surgical tool control device includes: a base plate; a connector holder located at a distal end of the base plate to hold a surgical tool connector; and a surgical tool guide located at a proximal end of the base plate to guide a path of a surgical tool through the surgical tool connector.

Description

Technical Field

[0001] The following embodiments relate to a connector fixture that is connected to a surgical tool control device. Background Art

[0002] As for the existing percutaneous coronary intervention (PCI), the operator will be continuously exposed to radiation risks, and it takes a lot of time and money to train skilled doctors with stable surgical skills. In addition, the quality of surgery varies greatly depending on the surgeon, region, and hospital, making it difficult to provide high-quality medical services universally. In order to make up for the above shortcomings, interventional therapy assisting robots have been introduced. For example, interventional therapy assisting robots can be configured to move surgical tools forward, backward, or rotate when the user inputs a command.

[0003] The above background technology is mastered or learned by the inventor in the process of developing the present invention, and should not be understood as necessarily being known technology disclosed before applying for the present invention.

[0004] Korean Patent Publication No. 10-2019-0121928 (published on October 29, 2019) proposes a driving device for a medical robot and a medical robot. Summary of the invention

[0005] Technical issues to be solved

[0006] One embodiment aims to provide a surgical tool control device that can conveniently and firmly clamp connector fixtures of multiple surgical tools when a surgical tool control device that controls multiple surgical tools separately is needed in complex percutaneous coronary intervention (Complex PCI).

[0007] One embodiment is intended to allow anyone to easily clamp a surgical tool to a connector fixture of a surgical tool control device.

[0008] Technical methods to solve problems

[0009] In one embodiment, a connector fixture connected to a surgical tool control device may include: a base plate; a connector retainer located at the distal end of the base plate to retain a surgical tool connector; and a surgical tool guide located at the proximal end of the base plate to guide the path of a surgical tool passing through the surgical tool connector.

[0010] In one embodiment, the connector holder may include: a holding plate hinged to a distal end of the base plate; and a proximal holding member located at a proximal end of the holding plate to hold the surgical tool connector.

[0011] In one embodiment, the connector holder may further include: a distal holder located at the distal end of the holding plate to hold the distal end of the surgical tool connector or a surgical tool connected to the distal end of the surgical tool connector.

[0012] In one embodiment, the distal retaining member is detachable relative to the retaining plate.

[0013] In one embodiment, the connector retainer may further include a support link hinged on the retaining plate, and when the retaining plate is lifted upward relative to the base plate, an end of the support link is clamped in a support protrusion formed on the base plate to maintain the retaining plate in a lifted state.

[0014] In one embodiment, the surgical tool guide may include: a lower guide located at a proximal end of the base plate; and an upper guide hinged to the lower guide.

[0015] In one embodiment, the lower guide member may include: a lower body located at the proximal end of the base plate; and a valley recessed in the lower body for inserting and positioning the surgical tool, and the upper guide member may include: an upper body hinged to the lower body; and a blade protruding from the lower part of the upper body to close the open upper part of the valley.

[0016] In one embodiment, the upper guide member may further include at least one rib-shaped member protruding from both sides of the blade so as to protrude downward further away from the blade, and the lower guide member may further include at least one rib-shaped member insertion groove formed in the lower body for insertion of the at least one rib-shaped member.

[0017] In one embodiment, a shape of the at least one rib formed at the proximal end of the upper guide may correspond to a shape of the proximal end of the lower body.

[0018] In one embodiment, the valley may include: a plurality of independent valleys formed independently of each other; and a converging valley formed at a distal end of the lower body to converge the plurality of independent valleys into one.

[0019] In one embodiment, any one of the plurality of independent valleys may be located on the same straight line as the converging valley.

[0020] In one embodiment, the valley may include: a first space whose width gradually narrows toward the bottom; and a second space located at the bottom of the first space and maintaining the same width.

[0021] In one embodiment, the lower body may further include a clamping guide formed by a recess of at least a portion of the distal end of the lower body.

[0022] In one embodiment, the lower guide may further include a protruding wall formed to protrude upward from the lower body at a position where the valley is bent.

[0023] In one embodiment, the bottom plate may include a discharge guide formed on an upper surface of the bottom plate so that foreign matter dropped from the surgical tool onto the bottom plate is discharged in at least one direction.

[0024] In one embodiment, the surgical tool guide may include a plurality of concave valleys for inserting and positioning the surgical tool, and at least any one of the plurality of valleys is formed in a straight line shape so that the surgical tool is arranged in a straight line.

[0025] In one embodiment, the shape of the proximal ends of the upper guide and the lower guide may correspond to a roller module connected to the surgical tool control device.

[0026] In one embodiment, at least any one of the multiple independent valleys may include: a first section, which is bent 60 to 70 degrees in one direction with a curvature radius of 25 mm to 35 mm from the proximal end of the converging valley; a second section, which extends 25 mm to 35 mm in the length direction from the proximal end of the first section; and a third section, which is bent 45 to 55 degrees in another direction with a curvature radius of 25 mm to 35 mm from the proximal end of the second section.

[0027] In one embodiment, at least any one of the multiple independent valleys may include: a first interval, which is bent 35 to 45 degrees in one direction with a curvature radius of 40 mm to 50 mm from the proximal end of the converging valley; a second interval, which extends 15 mm to 25 mm in the length direction from the proximal end of the first interval; and a third interval, which is bent 25 to 35 degrees in another direction with a curvature radius of 40 mm to 50 mm from the proximal end of the second interval.

[0028] Effects of the Invention

[0029] According to an embodiment, the connector fixture can be used to easily and reliably clamp multiple surgical tools on a surgical tool control device when the surgical tool control device is used to perform a vascular interventional surgery.

[0030] A connector fixture according to an embodiment can prevent a mounted surgical tool from falling off a surgical tool control device during surgery.

[0031] The effects of the connector fixing member according to an embodiment are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by ordinary technicians in this field through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a perspective view of a surgical tool control device according to one embodiment.

[0033] Figure 2 is a top view of a surgical tool control device according to one embodiment.

[0034] Figure 3 is an example usage state diagram of a surgical tool control device according to one embodiment.

[0035] Figure 4 4 is a front view of a portion of a roller module of a surgical tool control device according to one embodiment.

[0036] Figure 5 is a perspective view of a connector fixing member according to an embodiment.

[0037] Figure 6 is a perspective view of each component of a connector fixture in an open state according to an embodiment.

[0038] Figure 7 is a perspective view of a lower guide according to an embodiment.

[0039] Figure 8 is a top view of a lower guide according to an embodiment.

[0040] Fig. 9 is a bottom perspective view of an upper guide according to an embodiment.

[0041] Fig.10 is a bottom view of an upper guide according to an embodiment.

[0042] Fig.11 1 is a front view of a valley observed in a state where an upper guide covers a lower guide according to an embodiment. DETAILED DESCRIPTION

[0043] This patent application claims priority to patent application number 10-2022-0136004 filed on October 20, 2022, the entire contents of which are incorporated herein by reference.

[0044] Below, the embodiments will be described in detail with reference to the accompanying drawings. It should be understood that various changes can be made to the embodiments, and the scope of the rights of this application is not limited to the following embodiments. All changes made to the embodiments, their equivalents and even their substitutes belong to the scope of the rights of the present invention.

[0045] The terms used in the embodiments are not intended to limit the present invention, but are for illustrative purposes only. In the absence of special instructions in the content, singular expressions include plural meanings. In this specification, the terms "including" or "having" are used to express the existence of features, numbers, steps, operations, constituent elements, accessories or combinations thereof recorded in the specification, and do not exclude the possibility of the existence or additional addition of one or more other features, numbers, steps, operations, constituent elements, accessories or combinations thereof.

[0046] In the absence of other definitions, all terms used herein, including technical or scientific terms, have the common meanings understood by those of ordinary skill in the art. Commonly used terms as defined in dictionaries should be understood as having the meanings in the relevant technical content and should not be interpreted as idealized or overly formalized meanings if not clearly defined in this specification.

[0047] In addition, in the process of describing with reference to the drawings, the same components are denoted by the same reference numerals, and repeated descriptions are omitted. In the process of describing the embodiments, when it is determined that the detailed description of the related known technology will unnecessarily confuse the embodiments, its detailed description is omitted.

[0048] Furthermore, when describing the components of the embodiments with reference to the accompanying drawings, terms such as first, second, A, B, (a), and (b) may be used. These terms are only used to distinguish one component from other components and are not used to limit the nature or order of the corresponding components. When the specification states that one component is "connected," "coupled," or "contacting" another component, the third component may be "connected," "coupled," or "contacting" between the first component and the second component, even though the first component can be directly connected, coupled, or contacting the second component.

[0049] When a component has a common function with a component of a certain embodiment, the same name is used to describe the component in the other embodiment. If the description of a certain embodiment is applicable to other embodiments without mentioning a counterexample, the repeated description is omitted.

[0050] Figure 1 is a perspective view of a surgical tool control device according to one embodiment. Figure 2 is a top view of a surgical tool control device according to one embodiment. Figure 3 is an example usage state diagram of a surgical tool control device according to one embodiment. Figure 4 4 is a front view of a portion of a roller module of a surgical tool control device according to one embodiment.

[0051] Reference Figures 1 to 4, the surgical tool control device 100 can independently control at least one surgical tool T. The surgical tool control device 100 can clamp or release the surgical tool T between the roller modules 21 by moving the roller module 21 in the horizontal direction (e.g., y direction) described below. The surgical tool control device 100 can realize the forward and backward movement and / or rotation of the surgical tool T by rotating the roller module 21 and / or moving in the vertical direction (e.g., z direction). For example, the surgical tool control device 100 can be used for vascular intervention surgery. However, this is only an example, and the use of the surgical tool control device 100 is not limited to this. The surgical tool T may refer to a surgical tool extending in the length direction. For example, the surgical tool T may include at least any one of a guidewire, a balloon catheter, and a guide catheter extending in the length direction. However, this is only an example, and the type of surgical tool T is not limited to this.

[0052] When the surgical tool control device 100 is described below, the proximal end may be understood as the −x direction side, and the distal end may be understood as the +x direction side.

[0053] A surgical tool control device 100 according to an embodiment may include a housing 1 , a drive assembly 2 , a connector fixture 3 , a surgical tool proximal guide 4 , and a rear retainer 5 .

[0054] In one embodiment, the housing 1 may form the appearance of the surgical tool control device 100. The housing 1 may provide an area for supporting the drive assembly 2, the connector fixture 3, the surgical tool proximal guide 4 and / or the rear retainer 5. For example, the housing 1 may be connected to a robotic arm of a driven base. The surgical tool control device 100 may be used as an end effector on a robotic arm connected to a driven base. Switches and / or handles for adjusting the position of the housing 1 and swinging the housing 1 may be configured on the housing 1. A display panel may be configured on the housing 1 to display information such as the method of using the device and / or the status of the device to the user.

[0055] In one embodiment, the driving assembly 2 can clamp or release the surgical tool T. The driving assembly 2 can move or rotate the clamped surgical tool T along the length direction.

[0056] In one embodiment, the drive assembly 2 may include a plurality of roller modules 21. At least one pair of roller modules 21 may be provided. As shown in the figure, the roller module 21 may include a first roller module 21a, a second roller module 21b, a third roller module 21c, a fourth roller module 21d and a fifth roller module 21e. The plurality of roller modules 21 may be arranged in parallel. For example, the drive assembly 2 may independently control four surgical tools Ta, Tb, Tc and Td through five roller modules 21a, 21b, 21c, 21d and 21e. However, this is only an example, and the number of roller modules 21 is not limited thereto.

[0057] In one embodiment, the surgical tool T can be clamped between two adjacent roller modules 21. To this end, at least any one of the roller modules 21 should be able to move horizontally toward the other roller modules 21. For example, the second roller module 21b can move horizontally toward the first roller module 21a, thereby clamping the first surgical tool Ta between the first roller module 21a and the second roller module 21b. At this time, the second surgical tool Tb located between the second roller module 21b and the third roller module 21c is released. On the contrary, the second roller module 21b can move horizontally toward the third roller module 21c, thereby clamping the second surgical tool Tb between the second roller module 21b and the third roller module 21c. At this time, the first surgical tool Ta located between the first roller module 21a and the second roller module 21b is released.

[0058] Similarly, the fourth roller module 21d can move horizontally toward the third roller module 21c, thereby clamping the third surgical tool Tc between the third roller module 21c and the fourth roller module 21d. At this time, the fourth surgical tool Td between the fourth roller module 21d and the fifth roller module 21e is released. Conversely, the fourth roller module 21d can move horizontally toward the fifth roller module 21e, thereby clamping the fourth surgical tool Td between the fourth roller module 21d and the fifth roller module 21e. At this time, the third surgical tool Tc between the third roller module 21c and the fourth roller module 21d is released.

[0059] In one embodiment, the driving component 2 can realize the forward and backward movement and / or rotation of the surgical tool T by rotating and / or vertically moving the roller module 21. For example, when the first roller module 21a and the second roller module 21b are arranged adjacent to each other to clamp the first surgical tool Ta, the first roller module 21a and the second roller module 21b can rotate in one direction or the other direction respectively, so that the first surgical tool Ta clamped therebetween can move forward or backward along the length direction. In addition, if Figure 4 As shown, when the first roller module 21a and the second roller module 21b are arranged adjacent to each other to clamp the first surgical tool Ta, at least any one of the roller modules 21a and 21b moves in the horizontal direction to rotate the first surgical tool Ta clamped therebetween.

[0060] In one embodiment, the connector fixture 3 can be connected to the housing 1 in a manner of being located at the far end of the housing 1 (e.g., the +x direction side). The connector fixture 3 is detachably mounted on the housing 1. The connector fixture 3 can be replaced as a consumable. For example, the connector fixture 3 may include a polycarbonate material. However, this is only an example, and the material of the connector fixture 3 is not limited thereto.

[0061] In one embodiment, the connector fixture 3 can hold the surgical tool connector C. For example, the surgical tool connector C can be configured as a structure that gathers at least one surgical tool T and guides the path of at least one surgical tool T. For example, the surgical tool connector C may include a Y-type connector. However, this is only an example, and the type of surgical tool connector C is not limited thereto. The connector fixture 3 can guide the surgical tool T through the path of the surgical tool connector C.

[0062] In one embodiment, the surgical tool proximal guide 4 can be connected to the housing 1 at a position closer to the proximal end (e.g., in the -x direction) than the connector fixture 3. The surgical tool proximal guide 4 is detachably connected to the housing 1. The surgical tool proximal guide 4 can be replaced as a consumable. For example, the surgical tool proximal guide 4 may include a polycarbonate material. However, this is only an example, and the material of the surgical tool proximal guide 4 is not limited thereto.

[0063] In one embodiment, the surgical tool proximal guide 4 can guide the path of the surgical tool T clamped by the drive assembly 2. For example, the surgical tool proximal guide 4 can be connected to the housing 1 in a manner that covers at least a portion (e.g., the proximal portion) of the drive assembly 2 from above. The surgical tool proximal guide 4 may include at least one channel to insert and configure the surgical tool T. Each channel may be formed between two adjacent roller modules 21 of the drive assembly 2.

[0064] In one embodiment, the rear retainer 5 can be connected to the housing 1 in a manner of being located at the proximal end (e.g., the -x direction side) of the housing 1. The rear retainer 5 can maintain the position of the surgical tool T. For example, the rear retainer 5 can include a clamp structure. For example, one or more rear retainers 5 can be configured. The rear retainer 5 can be replaced as a consumable. For example, the rear retainer 5 can include a polycarbonate material. However, this is only an example, and the material of the rear retainer 5 is not limited thereto.

[0065] In one embodiment, the connector fixture 3, the surgical tool proximal guide 4 and / or the rear retainer 5 can be sterilized and sealed and provided as disposable items. The connector fixture 3, the surgical tool proximal guide 4 and / or the rear retainer 5 can be opened at each surgical site and combined with the housing 1 to clamp multiple surgical tools T or guide their paths. After the operation is completed, the connector fixture 3, the surgical tool proximal guide 4 and / or the rear retainer 5 can be separated from the housing 1 and discarded.

[0066] Figure 5 is a perspective view of a connector fixing member according to an embodiment. Figure 6 is a perspective view of each component of a connector fixture in an open state according to an embodiment.

[0067] Reference below Figures 1 to 6 The connector fixture 3 for connecting to the surgical tool control device 100 will be described. When the connector fixture 3 is described below, the proximal end may be understood as the -x direction side, and the distal end may be understood as the +x direction side.

[0068] The connector fixture 3 according to an embodiment may include a base plate 30 , a connector holder 31 , and a surgical tool guide 32 .

[0069] In one embodiment, the bottom plate 30 may form the base of the connector fixture 3. The bottom plate 30 is substantially formed in a plate shape. The bottom plate 30 may be formed in a shape that is long along a length direction extending from a proximal end (e.g., the -x direction side) to a distal end (e.g., the +x direction side). However, this is only an example, and the shape of the bottom plate 30 is not limited thereto. The bottom plate 30 may be connected to the housing 1 of the surgical tool control device 100. The bottom plate 30 may be detachably connected to the housing 1.

[0070] In one embodiment, the connector holder 31 may be configured as a structure for holding the surgical tool connector C. The connector holder 31 may be located at the distal end (e.g., +x direction side) of the base plate 30. For example, the connector holder 31 may be hinged to the distal end (e.g., +x direction end) of the base plate 30.

[0071] In one embodiment, the connector holder 31 may include a holding plate 310 , a proximal connector holder 311 , a distal connector holder 315 , and a support link 319 .

[0072] In one embodiment, the retaining plate 310 may form a base of the connector retainer 31. The retaining plate 310 may be substantially formed in a plate shape. The retaining plate 310 may be formed in a shape that is long along a length direction from a proximal end (e.g., -x direction side) to a distal end (e.g., +x direction side). However, this is only an example, and the shape of the retaining plate 310 is not limited thereto.

[0073] In one embodiment, the proximal connector holder 311 may be configured to hold a structure of the surgical tool connector C. The proximal connector holder 311 may be located at the proximal end (e.g., the −x direction side) of the holding plate 310. For example, the proximal connector holder 311 may be fixedly connected to the holding plate 310. However, this is only an example, and the proximal connector holder 311 may also be detachable from the holding plate 310.

[0074] In one embodiment, the proximal connector holder 311 may include a lower proximal connector holder 312, an upper proximal connector holder 313, and a fastening hook 314. The lower proximal connector holder 312 may be connected to the holding plate 310. For example, the lower proximal connector holder 312 may be formed as one piece with the holding plate 310. The upper proximal connector holder 313 may be hinged to the lower proximal connector holder 312. The upper proximal connector holder 313 may rotate between a state of covering the upper side (e.g., +z direction side) of the lower proximal connector holder 312 and a state of opening the upper side (e.g., +z direction side) of the lower proximal connector holder 312 based on the hinge structure. The lower proximal connector holder 312 and the upper proximal connector holder 313 may have grooves 3121, 3131 for inserting and positioning the surgical tool connector C. The shapes of the grooves 3121, 3131 may substantially correspond to the shape of the surgical tool connector C. When the surgical tool connector C is positioned in the groove 3121 of the lower proximal connector holder 312, the upper proximal connector holder 313 can be rotated to cover the lower proximal connector holder 312. When the upper proximal connector holder 313 covers the lower proximal connector holder 312, the upper proximal connector holder 313 and the lower proximal connector holder 312 can be fastened to each other by the fastening hook 314. Through this structure, the surgical tool connector C can be stably held between the lower proximal connector holder 312 and the upper proximal connector holder 313. However, this is only an example, and the fastening method of the lower proximal connector holder 312 and the upper proximal connector holder 313 is not limited to this. For example, the lower proximal connector holder 312 and the upper proximal connector holder 313 can be combined by a magnet.

[0075] In one embodiment, the distal connector holder 315 may be configured as a structure for holding the surgical tool connector C and / or the surgical tool T (e.g., a guide wire) connected to the distal end (e.g., the end in the +x direction) of the surgical tool connector C. The distal connector holder 315 may be located at the distal end (e.g., the +x direction side) of the retaining plate 310. For example, the distal connector holder 315 may be detachably connected to the retaining plate 310. For example, the distal connector holder 315 may be detachably attached to the retaining plate 310 by a magnet. Through such a structure, the attachment position and / or direction of the distal connector holder 315 may be changed according to the type of the surgical tool connector C and / or the surgical tool T, the distal connector holder 315 may be removed for use, or different types of distal connector holders 315 may be attached and used, thereby improving versatility. However, this is only an example, and the distal connector holder 315 may also be fixedly connected to the retaining plate 310.

[0076] In one embodiment, the distal connector holder 315 may include a lower distal connector holder 316 and an upper distal connector holder 317. The lower distal connector holder 316 may be connected to the holding plate 310. For example, the lower distal connector holder 316 may be detachably attached to the holding plate 310 by a magnet. The upper distal connector holder 317 may be hinged to the lower distal connector holder 316. The upper distal connector holder 317 may rotate between a state of covering the upper side (e.g., +z direction side) of the lower distal connector holder 316 and a state of opening the upper side (e.g., +z direction side) of the lower distal connector holder 316 based on the hinge structure. The lower distal connector holder 316 and the upper distal connector holder 317 may have grooves 3161, 3171 for inserting and positioning the surgical tool connector C and / or the surgical tool T. The shapes of the grooves 3161, 3171 may substantially correspond to the shapes of the surgical tool connector C and / or the surgical tool T. When the surgical tool connector C and / or the surgical tool T are positioned in the groove 3161 of the lower distal connector holder 316, the upper distal connector holder 317 may be rotated to cover the lower distal connector holder 316. For example, when the upper distal connector holder 317 covers the lower distal connector holder 316, the magnet built into the upper distal connector holder 317 is attached to the magnet built into the holding plate 310 (or the magnet built into the lower distal connector holder 316), thereby maintaining the state in which the upper distal connector holder 317 covers the lower distal connector holder 316. With this structure, the surgical tool connector C and / or the surgical tool T can be stably held between the lower distal connector holder 316 and the upper distal connector holder 317. However, this is only an example, and the fastening method of the lower distal connector holder 316 and the upper distal connector holder 317 is not limited thereto. For example, the lower distal connector holder 316 and the upper distal connector holder 317 may be fastened to each other by a fastening hook.

[0077] In one embodiment, the retaining plate 310 can be hinged to the distal end (e.g., the end in the +x direction) of the bottom plate 30. For example, the distal end (e.g., the end in the +x direction) of the retaining plate 310 and the distal end (e.g., the end in the +x direction) of the bottom plate 30 can be connected to each other by a hinge. With the distal end (e.g., the end in the +x direction) of the bottom plate 30 as a reference, the proximal end (e.g., the end in the -x direction) of the retaining plate 310 can be lifted upward (e.g., in the +z direction) relative to the bottom plate 30. For example, the retaining plate 310 can be raised in a range of 0 to 6 degrees. However, this is only an example, and the lifting angle of the retaining plate 310 is not limited thereto. This structure allows the user to lift the connector retainer 31 upward (e.g., the +z direction side) to a predetermined angle relative to the bottom plate 30.

[0078] In one embodiment, the support link 319 may be hinged to the retaining plate 310. For example, the support link 319 may be hinged to the distal end (eg, +x direction side) of the retaining plate 310 so as to be adjacent to the distal connector retainer 315. Figure 6 As shown, when the holding plate 310 is lifted upward (e.g., +z direction side) relative to the base plate 30, the end of the support link 319 can be stuck on the support protrusion 301 formed on the base plate 30, so that the holding plate 310 remains in the lifted state. This structure allows the user to keep the lifted state when the connector holder 31 is lifted upward (e.g., +z direction side) relative to the base plate 30. The user can perform operations such as inserting the surgical tool T into the proximal end (e.g., the end in the -x direction) of the surgical tool connector C in this state. When the operation is completed, the user can restore the connector holder 31 to the original position by lifting the support link 319 stuck on the support protrusion 301 from the support protrusion 301. This structure allows the user to lift the surgical tool connector C to insert the surgical tool T into the surgical tool connector C even when the surgical tool connector C is held in the proximal connector holder 311 and / or the distal connector holder 315, which can improve the user's convenience of use. The support protrusion 301 shown in the figure is only an example, and a plurality of support protrusions 301 may be formed at different positions to fix the holding plate 310 at different angles.

[0079] In one embodiment, the bottom plate 30 may include a discharge guide 302. The discharge guide 302 may be formed on the upper surface of the bottom plate 30 (e.g., the surface in the +x direction) so that foreign matter (e.g., blood) dropped from the surgical tool T onto the bottom plate 30 is discharged in at least one direction. For example, the discharge guide 302 may be formed between the proximal connector holder 311 and the surgical tool guide 32. The discharge guide 302 may protrude from the upper surface of the bottom plate 30 (e.g., the surface in the +x direction) to form a dam-shaped member 3021 with at least one side open. A separate waste treatment box may be arranged at the open end of the dam-shaped member 3021. For example, when the surgical tool T inserted into the blood vessel is removed from the blood vessel, foreign matter such as blood may adhere to the surgical tool T. At this time, the foreign matter adhered to the surgical tool T may fall into the dam-shaped member 3021 formed on the upper surface of the bottom plate 30 (e.g., the surface in the +x direction). For example, during surgery, foreign matter such as blood may flow out from the inlet of the surgical tool connector C and fall on the dam-shaped member 3021 on the upper surface (e.g., the surface in the +x direction) of the bottom plate 30. The foreign matter such as blood that falls into the dam-shaped member 3021 can be discharged by flowing in one direction through the discharge guide 302.

[0080] This structure can prevent the surgical tool control device 100 from being contaminated by foreign matter (eg, blood) generated during surgery.

[0081] Figure 7 is a perspective view of a lower guide according to an embodiment. Figure 8 is a top view of a lower guide according to an embodiment. Fig. 9 is a bottom perspective view of an upper guide according to an embodiment. Fig.10 is a bottom view of an upper guide according to an embodiment. Fig.11 1 is a front view of a valley observed in a state where an upper guide covers a lower guide according to an embodiment.

[0082] Below, refer to Figures 1 to 11 The surgical tool guide 32 according to one embodiment will be described. Hereinafter, when describing the surgical tool guide 32, the proximal end may be understood as the -x direction side, and the distal end may be understood as the +x direction side.

[0083] In an embodiment, the surgical tool guide 32 may be configured as a structure that guides the surgical tool T through the path of the surgical tool connector C. The surgical tool guide 32 may be positioned at the proximal end (eg, −x direction side) of the base plate 30 .

[0084] In one embodiment, the surgical tool guide 32 may include a lower guide 33 , an upper guide 34 , and a fastening hook 35 .

[0085] In one embodiment, the lower guide member 33 may be positioned at the proximal end (e.g., the -x direction side) of the bottom plate 30. For example, the lower guide member 33 may be fixedly connected to the proximal end (e.g., the end in the -x direction) of the bottom plate 30. For example, the lower guide member 33 may be formed integrally with the bottom plate 30.

[0086] In one embodiment, the upper guide 34 may be hinged to the lower guide 33. The upper guide 34 may rotate between a state of covering the upper side (e.g., +z direction side) of the lower guide 33 and a state of opening the upper side (e.g., +z direction side) of the lower guide 33 based on the hinge structure.

[0087] In one embodiment, the fastening hook 35 can fasten the lower guide 33 and the upper guide 34 to each other. The fastening hook 35 can fasten the lower guide 33 and the upper guide 34 to each other in a state where the upper guide 34 covers the upper side (e.g., +z direction side) of the lower guide 33. The fastening hook 35 can maintain the state where the upper guide 34 covers the upper side (e.g., +z direction side) of the lower guide 33. However, this is only an example, and the state where the upper guide 34 covers the upper side (e.g., +z direction side) of the lower guide 33 can also be maintained by a magnet.

[0088] In an embodiment, the lower guide 33 may include a lower body 330 , a valley 331 , a rib insertion groove 332 , a protruding wall 333 , an alignment groove 334 , and a clamping guide 335 .

[0089] In one embodiment, the lower body 330 may form the appearance of the lower guide 33. The lower body 330 may be positioned at the proximal end (e.g., the -x direction side) of the bottom plate 30. For example, the lower body 330 may be fixedly connected to the proximal end (e.g., the end in the -x direction) of the bottom plate 30. For example, the lower body 330 may be formed as one piece with the bottom plate 30. The lower body 330 may be connected in a stepped manner upward (e.g., the +z direction) relative to the bottom plate 30, so that the lower body 330 is located at a higher side (e.g., the +z direction) position than the bottom plate 30. The proximal end (e.g., the end in the -x direction) of the lower body 330 may be formed in a shape that does not interfere with the drive assembly 2. For example, the shape of the proximal end (e.g., the end in the -x direction) of the lower body 330 may correspond to the roller module 21 so that the roller module 21 of the drive assembly 2 is inserted and positioned.

[0090] In one embodiment, the valley 331 may be a space where the surgical tool T is inserted and positioned. The valley 331 may be formed by being recessed from the upper surface (e.g., the surface in the +z direction) of the lower body 330. The valley 331 may include a plurality of valleys. For example, the valley 331 may include a plurality of independent valleys 3311 and a convergent valley 3312. The plurality of independent valleys 3311 are separated from each other and independent. The plurality of independent valleys 3311 may extend from the proximal end (e.g., the end in the -x direction) of the lower body 330 to the distal end (e.g., the +x direction side). For example, the plurality of independent valleys 3311 may include a first independent valley 3311a, a second independent valley 3311b, a third independent valley 3311c, and a fourth independent valley 3311d. However, this is only an example, and the number 3311 of independent valleys is not limited thereto. The convergent valley 3312 may be a valley where a plurality of independent valleys 3311 converge into one. The converging valley 3312 may be formed at the distal end (eg, +x direction side) of the lower body 330. For example, the converging valley 3312 may communicate with the plurality of independent valleys 3311 and extend to the distal end (eg, +x direction end) of the lower body 330.

[0091] In one embodiment, any one of the plurality of independent valleys 3311 may be located in the same straight line as the converging valley 3312. Figure 8As shown, the second independent valley 3311b may be located on the same straight line as the convergent valley 3312. This structure enables the surgical tool T to be arranged in a straight line in at least any one of the plurality of valleys 331. However, this is only an example, and the independent valley 3311 located on the same straight line as the convergent valley 3312 is not limited thereto. The remaining independent valleys 3311 (e.g., the first independent valley 3311a, the third independent valley 3311c, and / or the fourth independent valley 3311d) may be curved to converge toward the convergent valley 3312. For example, the first independent valley 3311a, the third independent valley 3311c, and / or the fourth independent valley 3311d may be curved once or twice. For example, the fourth independent valley 3311d may include a first interval, a second interval, and a third interval in a direction extending from the converging valley 3312 toward the proximal direction (e.g., the -x direction), wherein the first interval is bent 60 to 70 degrees from the converging valley 3312 toward one direction (e.g., the +y direction) with a curvature radius of 25 to 35 mm; the second interval extends 25 to 35 mm from the first interval along the length direction; and the third interval is bent 45 to 55 degrees from the second interval toward another direction (e.g., the -y direction) with a curvature radius of 25 to 35 mm. For example, the third independent valley 3311c may include a first section, a second section, and a third section in a direction extending from the convergent valley 3312 toward the proximal direction (e.g., the -x direction), wherein the first section is bent 35 to 45 degrees from the convergent valley 3312 to one direction (e.g., the +y direction) with a radius of curvature of 40 mm to 50 mm; the second section extends 15 mm to 25 mm from the first section along the length direction; and the third section is bent 25 to 35 degrees from the second section to another direction (e.g., the -y direction) with a radius of curvature of 40 mm to 50 mm. For example, the first independent valley 3311a is substantially symmetrical with the third independent valley 3311c with the second independent valley 3311b as the center. This shape allows the surgical tool T inserted into the independent valley 3311 to smoothly receive the driving force along the length direction without tilting in the bending direction, even if part of the independent valley 3311 is bent. However, this is only an example, and the shape of each independent valley 3311 is not limited thereto.

[0092] In one embodiment, the valley 331 (eg, Fig. 9The independent valleys 3311 and / or the converging valleys 3312) may include a first space 331a and a second space 331b. The first space 331a is a space whose width gradually narrows toward the lower side (e.g., -z direction). For example, the first space 331a may have a substantially triangular cross-section whose width gradually narrows toward the lower side (e.g., -z direction). The second space 331b is located at a lower side (e.g., -z direction) than the first space 331a and is connected to the first space 331a. The second space 331b may be a space whose width remains unchanged. For example, the second space 331b may have a substantially rectangular cross-section.

[0093] In one embodiment, since the upper part (e.g., the +z direction part) of the first space 331a is relatively wide, the convenience of use can be improved when the user inserts the surgical tool T into the concave valley 331. In addition, since the first space 331a gradually narrows toward the lower side (e.g., the -z direction), the surgical tool T inserted into the upper part (e.g., in the +z direction) of the first space 331a can be naturally guided to the second space 331b and fixed. During the operation, the surgical tool T can move forward, backward, and / or rotate in the second space 331b. Since the width of the second space 331b is the same, the frequency of the surgical tool T contacting the inner wall of the concave valley 331 when moving forward, backward, and / or rotating in the second space 331b can be reduced.

[0094] In one embodiment, the protruding wall 333 may be formed to protrude upward (e.g., in the +z direction) from the lower body 330 at the bend of the valley 331. For example, the protruding wall 333 may be formed at the inner portion of the curve at the bend of the valley 331. For example, the protruding wall 333 may be formed along the curved shape of the valley 331. For example, a plurality of protruding walls 333 may be formed. When the user inserts the surgical tool T into the curved valley 331, the protruding wall 333 may guide the surgical tool T to bend to adapt to the curved shape of the valley 331. For example, since the protruding wall 333 is formed on the inner side of the curve of the valley 331, the user may limit the surgical tool T on the protruding wall 333 and bend the surgical tool T to adapt to the shape of the valley 331. The protruding wall 333 may prevent the surgical tool T inserted into the valley 331 from popping out of the valley 331 at the curved portion due to its own elasticity. Meanwhile, in order to prevent the upper guide 34 from interfering with the protruding wall 333 of the lower guide 33 in a state where the upper guide 34 covers the upper side (e.g., +z direction side) of the lower guide 33, a wall through hole 343 may be formed in the upper body 340 of the upper guide 34. However, this is only an example, and the wall through hole 343 may be omitted depending on the height and / or position of the protruding wall 333.

[0095] In one embodiment, the clamping guide 335 may be formed by at least a portion of the distal end (e.g., the end in the +x direction) of the lower body 330 being recessed. The clamping guide 335 may be formed on both sides (e.g., the +y direction side and the -y direction side) of the converging valley 3312 and separated from the converging valley 3312. Figure 7 As shown, the clamping guide 335 can be formed by an angular depression at the upper part (e.g., the +z direction side) of the distal end (e.g., the end in the +x direction) of the lower body 330. The clamping guide 335 can be formed to be substantially inclined in a diagonal direction. When the user attempts to lift the surgical tool connector C while the surgical tool connector C is clamped in the connector holder 31, the clamping guide 335 can reduce the interference between the user's fingers and the lower body 330. For example, in order to lift the surgical tool connector C while the surgical tool connector C is clamped in the connector holder 31, the user can insert the finger into the space formed by the clamping guide 335 and hold the proximal end (e.g., the end in the -x direction) of the surgical tool connector C. This structure can improve the user's convenience of use.

[0096] In an embodiment, the upper guide 34 may include an upper body 340 , blades 341 , ribs 342 , wall through holes 343 , and alignment protrusions 344 .

[0097] In one embodiment, the upper body 340 may form the appearance of the upper guide 34. The upper body 340 may be hinged to the lower body 330. The proximal end portion (e.g., the end portion in the -x direction) of the upper body 340 may be formed in a shape that does not interfere with the drive assembly 2. For example, the proximal end portion (e.g., the end portion in the -x direction) of the upper body 340 may be formed in a shape corresponding to the roller module 21 so that the roller module 21 of the drive assembly 2 can be inserted and positioned. For example, the upper body 340 may be formed in a shape substantially corresponding to the lower body 330.

[0098] In one embodiment, the blade 341 may be configured as a structure that closes the open upper portion (e.g., +z direction portion) of the valley 331. The blade 341 may be formed to protrude from the lower portion (e.g., -z direction portion) of the upper body 340. The shape of the blade 341 may substantially correspond to the shape of the valley 331. The protruding length of the blade 341 may be less than the depth of the valley 331. For example, the protruding length of the blade 341 may be greater than the depth of the first space 331a and less than the entire depth of the valley 331. For example, the width of the blade 341 may be less than the second space 331b. In a state where the upper guide 34 covers the upper side (e.g., +z direction side) of the lower guide 33, the blade 341 may close the open upper portion (e.g., +z direction portion) of the valley 331. This structure may allow the valley 331 and the blade 341 to form a channel for arranging the surgical tool T in a state where the upper guide 34 covers the upper side (e.g., +z direction side) of the lower guide 33. The surgical tool T is arranged in the channel formed by the valley 331 and the blades 341 so that its path is guided along the channel.

[0099] In one embodiment, the ribs 342 may be formed to protrude from both sides of the blade 341. For example, the ribs 342 may be formed in a direction perpendicular to the length direction of the blade 341. Fig.11 As shown, the rib 342 further protrudes downward (e.g., in the -z direction) as it moves away from the blade 341. At least one rib 342 may be formed. A plurality of ribs 342 may be positioned at intervals along the length direction of the blade 341. In a state where the upper guide 34 covers the upper side (e.g., the +z direction side) of the lower guide 33, the rib 342 may be inserted into the rib insertion groove 332 formed in the lower body 330. The rib insertion groove 332 may be formed in a position, shape, and / or number corresponding to the rib 342. When the user covers the upper side (e.g., the +z direction side) of the lower guide 33 with the upper guide 34 when the surgical tool T is positioned in the valley 331, the rib 342 may prevent the surgical tool T from being caught between the blade 341 and the valley 331. Since the rib 342 protrudes further downward (eg, −z direction) away from the blade 341 , when the user covers the upper side (eg, +z direction side) of the lower guide 33 with the upper guide 34 , the rib 342 can guide the surgical tool T to converge toward the blade 341 .

[0100] In one embodiment, the shape of the proximal rib 342a formed at the proximal end (e.g., the end in the -x direction) of the upper guide 34 among the at least one rib 342 may correspond to the shape of the proximal end (e.g., the end in the -x direction) of the lower body 330. For example, when viewed from a plane (e.g., the +z direction), the shape of the proximal rib 342a may correspond to the outer contour of the proximal end (e.g., the end in the -x direction) of the lower body 330. This structure allows the user to cover the upper side (e.g., the +z direction side) of the lower guide 33 with the upper guide 34, thereby preventing the surgical tool T from protruding outward from the proximal end (e.g., the end in the -x direction) of the valley 331 and getting stuck in the blade 341.

[0101] In one embodiment, the alignment protrusion 344 may be formed to protrude from the lower portion (e.g., the -z direction portion) of the upper body 340. In a state where the upper guide 34 covers the upper side (e.g., the +z direction side) of the lower guide 33, the alignment protrusion 344 may be inserted into the alignment groove 334 formed in the lower body 330. The alignment groove 334 may be formed in a position, shape, and / or number corresponding to the alignment protrusion 344. When the user covers the upper side (e.g., the +z direction side) of the lower guide 33 with the upper guide 34, the alignment protrusion 344 may be inserted into the alignment groove 334, thereby achieving alignment of the upper guide 34 and the lower guide 33.

[0102] In summary, the embodiments are described through limited drawings, and a person skilled in the art can make various changes and modifications based on the description. For example, the described techniques are performed in a different order from the described method, and / or the described constituent elements are combined or combined in a different form from the described method, or replaced or substituted by other constituent elements or equivalents, and appropriate results can also be obtained.

[0103] Accordingly, other embodiments, other examples, and equivalents thereof are within the scope of the appended claims.

Claims

1. A connector fixture connected to a surgical tool control device, characterized in that: The connector fixing member comprises: Base plate; a connector holder located at a distal end of the base plate to hold a surgical tool connector; and A surgical tool guide is located at the proximal end of the base plate to guide the path of the surgical tool passing through the surgical tool connector.

2. The connector fixing member according to claim 1, characterized in that: The connector holder comprises: a retaining plate hinged to the distal end of the base plate; and A proximal retaining member is located at the proximal end of the retaining plate to retain the surgical tool connector.

3. The connector fixing member according to claim 2, characterized in that: The connector holder also includes: A distal retaining member is located at the distal end of the retaining plate to retain the distal end of the surgical tool connector or a surgical tool connected to the distal end of the surgical tool connector.

4. The connector fixing member according to claim 3, characterized in that: The distal end retaining member can be detachably mounted relative to the retaining plate.

5. The connector fixing member according to claim 2, characterized in that: The connector holder also includes a support link hinged to the holding plate, When the holding plate is lifted upward relative to the bottom plate, the end of the support link is caught by the support protrusion formed on the bottom plate to maintain the holding plate in a lifted state.

6. The connector fixing member according to claim 1, characterized in that: The surgical tool guide comprises: a lower guide located at a proximal end of the base plate; and An upper guide member is hinged to the lower guide member.

7. The connector fixing member according to claim 6, characterized in that: The lower guide member comprises: a lower body located proximal to the bottom plate; and A valley is formed in the lower body for inserting and positioning the surgical tool. The upper guide member comprises: an upper body hinged to the lower body; and A blade is protrudingly formed at a lower portion of the upper body to close an open upper portion of the valley.

8. The connector fixing member according to claim 7, characterized in that: The upper guide member further includes at least one rib-shaped member, the at least one rib-shaped member being formed to protrude from both sides of the blade so as to protrude downward as it moves away from the blade. The lower guide member further includes at least one rib-shaped member insertion groove formed in the lower body for insertion of the at least one rib-shaped member.

9. The connector fixing member according to claim 8, characterized in that: A shape of a rib of the at least one rib formed at a proximal end portion of the upper guide corresponds to a shape of a proximal end portion of the lower body.

10. The connector fixing member according to claim 7, characterized in that: The valley comprises: A plurality of independent valleys formed independently of each other; and A converging valley is formed at the distal end of the lower body to converge the plurality of independent valleys into one.

11. The connector fixing member according to claim 10, characterized in that: Any independent valley among the plurality of independent valleys is located on the same straight line as the converging valley.

12. The connector fixing member according to claim 7, characterized in that: The valley comprises: The first space gradually narrows in width toward the bottom; and The second space is located below the first space and has the same width.

13. The connector fixing member according to claim 7, characterized in that: The lower body further includes a clamping guide formed by recessing at least a portion of a distal end portion of the lower body.

14. The connector fixing member according to claim 7, characterized in that: The lower guide further includes a protruding wall formed to protrude upward from the lower body at a position where the valley is bent.

15. The connector fixing member according to claim 1, characterized in that: The bottom plate includes a discharge guide formed on an upper surface of the bottom plate so that foreign matter dropped from the surgical tool onto the bottom plate is discharged in at least one direction.

16. The connector fixing member according to claim 1, characterized in that: The surgical tool guide comprises a plurality of concave valleys formed by concavity, wherein the plurality of concave valleys are used for inserting and positioning the surgical tool. At least any one of the plurality of valleys is formed in a straight line shape so that the surgical tools are arranged in a straight line.

17. The connector fixing member according to claim 6, characterized in that: The shape of the proximal end of each of the upper guide and the lower guide corresponds to a roller module connected to the surgical tool control device.

18. The connector fixing member according to claim 10, characterized in that: At least any one of the plurality of independent valleys comprises: The first section is bent 60 to 70 degrees in one direction with a curvature radius of 25 to 35 mm from the proximal end of the converging valley; a second section extending from the proximal end of the first section by 25 mm to 35 mm in the length direction; and The third section is bent from the proximal end of the second section in the other direction at a curvature radius of 25 mm to 35 mm at 45 to 55 degrees.

19. The connector fixing member according to claim 10, characterized in that: At least any one of the plurality of independent valleys comprises: The first section is bent 35 to 45 degrees in one direction with a curvature radius of 40 to 50 mm from the proximal end of the converging valley; a second section extending from the proximal end of the first section by 15 mm to 25 mm in the length direction; and The third section is bent from the proximal end of the second section at a curvature radius of 40 mm to 50 mm at 25 to 35 degrees in another direction.

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