Surgical tool fixing device for surgical robot

Abstract

The present disclosure 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 holds and supports a sleeve for supporting a shaft of a surgical tool, thereby preventing deformation of related parts and improving durability. A surgical tool fixture for a surgical robot includes: a sleeve supporting a surgical tool having a shaft; the chuck device part comprises a sleeve connected with a chuck main body; a chuck disposed within the chuck body and selectively clamping the shaft to hold the surgical tool; and an operating force applying part for applying an operating force for clamping and loosening the chuck. And a holder member on which the chuck device member is mounted, the holder member being mounted to a distal end of the robot arm and including a sleeve support portion that holds and supports the sleeve without rocking, in which the sleeve includes a first sleeve fastening portion formed in a direction in which the hollow sleeve body faces the sleeve support portion, and a second sleeve fastening portion formed in a direction in which the hollow sleeve body faces the sleeve support portion. The hollow sleeve body is formed with a shaft insertion hole, and the sleeve support portion is formed with a second sleeve fastening portion to be coupled with the first sleeve fastening portion.

Description

Technical Field

[0001] The present disclosure relates to a surgical tool fixing device for a surgical robot, and more particularly to a surgical tool fixing device for a surgical robot that stably holds and supports a sleeve for supporting a shaft of a surgical tool, thereby preventing deformation of related components and improving durability. Background Art

[0002] Generally, surgical treatments for joint diseases include arthroscopic surgery, chondrocyte transplantation, etc., and artificial joint surgery is performed in the case of severe diseases. Representative artificial joint surgeries include manual artificial joint surgery performed by medical staff and artificial joint surgery using a robot.

[0003] Artificial joint surgery using a robot refers to a surgical process of cutting a patella and installing an artificial knee joint (implant) by rotating a cutter of a cutting device mounted at the distal end of a position-variable arm of the robot based on information input to a computer, and a cutting device including a cutting tool such as a drill (hereinafter referred to as a "drill") is employed.

[0004] Figure 1a is a perspective view showing an assembled state to show a conventional surgical tool fixing device for an orthopedic surgical robot, and, Figure 1b is an exploded perspective view showing a conventional surgical tool fixing device for an orthopedic surgical robot.

[0005] Referring to Figure 1a and Figure 1b , a conventional surgical tool fixing device A for an orthopedic surgical robot includes a sleeve (200) that supports a drill (100) that performs a cutting operation, a chuck device member (300) that holds the drill, a holder member (400) that is mounted with the chuck device member and mounted to the distal end of a position-variable arm (not shown) of the robot, an operation nut (500) that applies an operation force to clamp the drill to the chuck device member (300) or release it from the chuck device member (300), and a motor (not shown) that is mounted to a motor coupling member (600) connected to the rear of the holder member (400) to provide a rotational force to the drill.

[0006] In more detail, the drilling machine (100) includes a head (110) formed with a cutting blade and a shaft (120) formed to extend from the head (110) and shaped as a round bar. When the rear end of the shaft (120) is connected to a motor and rotated, the drilling machine (100) performs a cutting operation, the outer peripheral surface of the shaft (120) is rotatably supported by a sleeve (200) so that the shaft (120) is prevented from vibrating or bending during rotation, and the head (110) protrudes outward from the sleeve (200) so that a bone cutting operation can be performed by the rotation of the head (110).

[0007] The sleeve (200) includes a tube portion (210) having a small diameter and a fastening cap (220) formed on one end of the tube portion so as to be fastened to the chuck device component (300). In the sleeve, a bearing (230) rotatably supporting the shaft of the drilling machine, a spacer (240), etc. are inserted.

[0008] Furthermore, the fastening cap (220) of the sleeve (200) is formed with an internal thread (not shown) on the inner surface of the hollow portion thereof, and the internal thread of the fastening cap (220) is fastened to the external thread portion 311 formed on the chuck body (310).

[0009] The chuck device component (300) refers to a component that performs a clamping operation or a loosening operation by pressing the shaft of the cutter when the chuck (320) (also called a collet, a component for holding the shaft of the drilling machine, generally including 3 to 4 radially movable jaws) provided at the front of the chuck body (310) is gathered or separated, and a medical chuck device used for orthopedics, dentistry, etc. in a well-known chuck device can be adopted. In addition, the chuck body (310) is formed with an operating force applying portion (not shown), such as an adjustment screw portion, to which the operating nut (500) is fastened, so that when the operating nut (500) is rotated in a certain direction, the shaft is pressurized and held as the chuck is closed, and when the operating nut (500) is rotated in the opposite direction, the holding state of the shaft is released as the chuck is expanded.

[0010] The aforementioned conventional surgical tool fixing device for an orthopedic surgical robot performs a cutting operation while supporting a drilling machine (100), but has limitations that lead to the following problems.

[0011] In a conventional surgical tool fixing device A for an orthopedic surgical robot, during the cutting process, when the drill (100) moves left and right, large loads acting on the left and right sides are transmitted to the sleeve (200), and because the sleeve (200) has a long cantilever structure threadedly connected to the chuck body (310) at an interval distance d without a separate support device, when the sleeve (200) receives large loads on the left and right sides, the sleeve (200) is slightly deformed. The deformation of the sleeve (200) causes the shaft (120) of the drill (100) and related components (or bearings) to deform, thereby reducing durability. In addition, the chuck device components (300) that hold the shaft (120) also deform, thereby reducing durability. In particular, the internal threaded portion of the sleeve (200) is threadedly connected to the front external threaded portion (311) of the chuck body (310), and thus, there is a problem that the external force repeatedly transmitted from the sleeve (200) not only causes damage or shortened life of the chuck device components (300), but also causes the chuck device components (300) to malfunction. Therefore, there are the following disadvantages: increased maintenance costs due to frequent component replacement, inability to perform stable surgeries, increased concern about negligent accidents, and increased surgical downtime.

[0012] In addition, when disassembling the conventional surgical tool fixing device for an orthopedic surgical robot to clean or replace the drill (100), the operation nut (500) should be rotated to release the holding state of the shaft (120) from the chuck device components (300) or to apply a tightening force. However, for users with weak grip strength (such as female nurses), it is very difficult to manipulate the operation nut (500) or ensure the holding state, resulting in misoperation or negligent accidents.

[0013] In addition, the conventional surgical tool fixing device for an orthopedic surgical robot has problems of difficulty in preparation and use and increased medical costs due to increased manufacturing costs, because when changing the length or diameter of the cutter according to the method or type of artificial joint surgery, sleeves suitable for the cutter (or drill) should be manufactured separately.

[0014] Related Technical Literature

[0015] Patent Literature

[0016] (Patent Document 1) Korean Patent No. 10-2359592, titled "Holder for Easy Tightening of Cutting Tools"

[0017] (Patent Document 2) Japanese Patent No. 6385275, titled "Surgical Instrument Having a Cutting Attachment Extending from a Housing and an Actuator for Determining the Position of the Cutting Attachment Relative to the Housing" Summary of the Invention

[0018] Technical Problem

[0019] The present disclosure is made in view of the above, and an aspect of the present disclosure is to provide a surgical tool fixing device for a surgical robot, which stably holds and supports a sleeve for supporting a shaft of a surgical tool, thereby preventing deformation of related components and improving durability.

[0020] More specifically, an aspect of the present disclosure is to provide a surgical tool fixing device for a surgical robot, wherein the sleeve is not connected to a chuck device component, but is connected to a sleeve support portion extending from a holder component, thereby preventing damage or deformation of the chuck device component, improving durability, and improving the operating stability of the chuck device component.

[0021] In addition, the present disclosure provides a surgical tool fixing device for a surgical robot, which can perform the separation and installation operations of the surgical tool conveniently and stably with a small force.

[0022] In addition, the present disclosure provides a surgical tool fixing device for a surgical robot, which allows various medical tools to be interchangeably installed and used, and facilitates the installation of a calibration tool to perform accurate calibration.

[0023] Technical solution

[0024] According to an embodiment of the present disclosure, a surgical tool fixing device for a surgical robot includes: a sleeve that supports a surgical tool having a shaft; a chuck device component that includes a chuck body, a chuck, and an operating force application portion, and the sleeve is connected to the chuck body; the chuck is selectively disposed inside the chuck body and selectively clamps the shaft to hold the surgical tool; the operating force application portion applies an operating force for clamping and releasing operations of the chuck; and a holder component on which the chuck device component is mounted, the holder component is mounted to a distal end of a robot arm and includes a sleeve support portion that holds and supports the sleeve without shaking, wherein the sleeve includes a first sleeve fastening portion formed in a direction in which a hollow sleeve body faces the sleeve support portion, the hollow sleeve body is formed with a shaft insertion hole, and the sleeve support portion is formed with a second sleeve fastening portion to be connected to the first sleeve fastening portion.

[0025] The first sleeve fastening portion may include a sleeve external thread portion that includes a plurality of external threads formed on an outer peripheral surface of a hollow body formed with threads, and the hollow body formed with threads is integrally formed on a first side of the hollow sleeve body.

[0026] The sleeve support portion may include a support protrusion extending from the retainer member and a sleeve mounting portion formed at an end of the support protrusion.

[0027] The second sleeve fastening portion may include a retainer internal thread portion having a plurality of internal threads formed on the sleeve mounting portion for coupling with the sleeve external thread portion.

[0028] The support protrusion may protrude forward to provide an operation space within which the operation force application portion is positioned, and the sleeve mounting portion may have a retainer internal thread portion formed on an inner circumferential surface of a hollow hole of a cone having a small front outer diameter and a large rear outer diameter.

[0029] The hollow sleeve body may be configured to include a first hollow sleeve body and a second hollow sleeve body. The first hollow sleeve body has a first sleeve fastening portion formed at its end. The second hollow sleeve body extends in a rod-like structure having an outer diameter smaller than that of the first hollow sleeve body. And the surgical tool may include a reamer having a reamer basket-cup formed at an end of a shaft for insertion into a shaft insertion hole and performing a cutting operation.

[0030] The surgical tool fixing device may further include a calibration mounting member including a holding cover member and a calibration mounting member. The holding cover member is fastened to the hollow sleeve body to mount a calibration tool, and the calibration mounting member is mounted to the sleeve through the holding cover member.

[0031] The calibration mounting member may include a rod-shaped calibration shaft and a position setting member. A marker is installed in the calibration shaft, and the position setting member is formed in the calibration shaft and is disposed on the holding cover member.

[0032] The holding cover member may include a cover body similar in shape to a cover, a rod insertion hole formed in the cover body for inserting the calibration shaft therein, and a cover internal thread formed on an inner circumferential surface of the cover body for fastening to a cover coupling external thread formed on a second side of the hollow sleeve body. And the surgical tool fixing device may further include an installation member rotation blocking portion configured to block movement of the calibration mounting member.

[0033] The surgical tool may include a plurality of cutters, the cutters including cutter heads having a plurality of blades at outer ends of the shafts. Among them, a cutter having a head diameter of 3.2 mm and a cutter having a head diameter of 5.0 mm are formed to have a protruding length of 40 mm to 70 mm from a free end of the sleeve in an installed state, and a cutter having a head diameter of 6.2 mm is formed to have a protruding length of 70 mm to 85 mm.

[0034] The surgical tool fixing device may further include an operating handle, which is connected to the operating force applying portion and applies an operating force. Wherein, the operating handle includes an engaging portion and a handle unit, the engaging portion is placed in the operating space to engage with the operating force applying portion, and the handle unit extends from the engaging portion.

[0035] The handle unit may include: a first handle unit, a second handle unit, and a fastening member. The first handle unit includes a first engaging portion and a first handle. The first engaging portion is used to engage with the outer surface of the operating force applying portion on the first side. The first handle extends from both ends of the first engaging portion and is formed with fastening holes. The second handle unit includes a second engaging portion and a second handle. The second engaging portion is used to engage with the outer surface of the operating force applying portion on the second side. The second handle extends from both ends of the second engaging portion and is formed with fastening holes. The fastening member is fastened to the fastening holes of the first handle unit and the second handle unit so as to be placed and assembled in the operating space.

[0036] Beneficial effects

[0037] For the surgical tool fixing device for a surgical robot according to the present disclosure, the sleeve is generally not threadedly connected to the chuck device component, but the first sleeve fastening portion formed in the sleeve is directly threadedly connected to the retainer component, so that not only a firm holding state is maintained, but also external force is fundamentally prevented from being applied to the chuck device component. Therefore, deformation of the shaft of the cutter, the built-in bearing of the sleeve, etc. is prevented, and deformation of the chuck device component of the clamping shaft is also prevented, and durability is improved, thereby having the effects of reducing maintenance costs, stably performing surgery, reducing the risk of negligence accidents, and shortening surgical downtime.

[0038] In addition, by using the surgical tool fixing device for a surgical robot according to the present disclosure, when disassembling and assembling the surgical tool, the user can easily perform the clamping operation and the loosening operation of the surgical tool by rotating the operating handle forward and backward, and even a user with a weak grip can conveniently perform the operation without difficulty.

[0039] Furthermore, the surgical tool fixing device for a surgical robot according to the present disclosure has the effect of easily replacing and using various cutters, because the sleeve includes a hollow sleeve body with a relatively large outer diameter instead of a traditional slender tube, and therefore, when the type of cutter is changed each time, it can be interchangeably used without replacing the sleeve.

[0040] In addition, the surgical tool fixing device for a surgical robot according to the present disclosure has the effect of performing simple and accurate calibration by assembling the calibration mounting component to the sleeve via a fastening method. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1a is a perspective view showing an assembled state to show a conventional surgical tool fixing device for an orthopedic surgical robot.

[0042] Figure 1b is an exploded perspective view showing a conventional surgical tool fixing device for an orthopedic surgical robot.

[0043] Figure 2 is a perspective view of a surgical tool fixing device for a surgical robot according to a first embodiment of the present disclosure.

[0044] Figure 3 is an exploded perspective view of a surgical tool fixing device for a surgical robot according to a first embodiment of the present disclosure.

[0045] Figures 4a to 4d is a view showing main components of a surgical tool fixing device for a surgical robot according to a first embodiment of the present disclosure, wherein Figure 4a is a partial exploded perspective view of a chuck device component and a holder component, Figure 4b is a partial exploded perspective view of a sleeve and a sleeve support portion in the holder component, Figure 4c is a partial exploded perspective view of an operation handle, and Figure 4d is a perspective view of a motor connection member.

[0046] Figure 5 is a view showing an operation state of a surgical tool fixing device for a surgical robot according to a first embodiment of the present disclosure.

[0047] Figures 6a to 6c is a view showing a cutter as a surgical tool applied to a surgical tool fixing device for a surgical robot according to a first embodiment of the present disclosure, wherein Figure 6a shows a cutter having a head diameter of 3.2 mm, Figure 6b shows a cutter having a head diameter of 5.0 mm, and Figure 6c shows a cutter having a head diameter of 6.2 mm.

[0048] Figure 7a and Figure 7b is a perspective view showing a state where a cutter is applied as a surgical tool to a surgical tool fixing device for a surgical robot according to a first embodiment of the present disclosure, wherein Figure 7a shows an installation state of a cutter having a head diameter of 5.0 mm, and Figure 7b shows an installation state of a cutter having a head diameter of 6.2 mm.

[0049] Figures 8a to 8cis a view showing a calibration tool as a surgical tool mounted in a surgical tool fixing device for a surgical robot according to a first embodiment of the present disclosure, where, Figure 8a is a perspective view, Figure 8b is a schematic exploded perspective view, and, Figure 8c is an exploded perspective view of main components.

[0050] Figures 9a to 9c is a view showing a calibration mounting component mounted in a surgical tool fixing device for a surgical robot according to a first embodiment of the present disclosure, where, Figure 9a is a partial perspective view, Figure 9b is a partial exploded perspective view, and, Figure 9c is a partial cross-sectional view.

[0051] Figure 10a and Figure 10b is a view showing a surgical tool fixing device for a surgical robot according to a second embodiment of the present disclosure, where, Figure 10a is a perspective view, and, Figure 10b is an exploded perspective view.

[0052] Figure 11a and Figure 11b is a view showing a surgical tool fixing device for a surgical robot according to a third embodiment of the present disclosure, where, Figure 11a is a perspective view, and, Figure 11b is an exploded perspective view of a sleeve portion having different features.

[0053] Figure 11c is a view showing a state where a calibration tool is mounted to a sleeve of a surgical tool fixing device for a surgical robot according to a second embodiment of the present disclosure.

[0054] Best mode for carrying out the invention

[0055] Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the drawings, where the same reference numerals always denote the same components.

[0056] Meanwhile, detailed descriptions of configurations, operations, and effects that can be easily understood by those of ordinary skill in the art from general techniques in the drawings will be simplified or omitted. In addition, since the present disclosure features a surgical tool fixing device for a surgical robot, related components will be shown and described, and descriptions of the remaining components will be simplified or omitted.

[0057] Figure 2 is a perspective view of a surgical tool fixing device for a surgical robot according to a first embodiment of the present disclosure, Figure 3is an exploded perspective view of a surgical tool fixing device for a surgical robot according to a first embodiment of the present disclosure, and Figures 4a to 4d is a view showing main components of a surgical tool fixing device for a surgical robot according to a first embodiment of the present disclosure, wherein Figure 4a is a partial exploded perspective view of a chuck device component and a holder component, Figure 4b is a partial exploded perspective view of a sleeve and a sleeve support portion in the holder component, Figure 4c is a partial exploded perspective view of an operating handle, and Figure 4d is a perspective view of a motor connection member. Figure 5 is a view showing an operating state of a surgical tool fixing device for a surgical robot according to a first embodiment of the present disclosure.

[0058] Reference Figures 2 to 5 , a surgical tool fixing device for a surgical robot according to a first embodiment of the present disclosure includes a sleeve (1), a chuck device component (2), and a holder component (3). The holder component (3) is configured to hold and use a surgical tool, and is characterized in that the sleeve (1) is directly coupled to the holder component (3) serving as a support body, rather than coupling the sleeve (1) to the chuck device component (2) as in the prior art.

[0059] To this end, the sleeve (1) includes a first sleeve fastening portion (18) for coupling with the holder component (3), and the holder component (3) includes a sleeve support portion (35). The sleeve support portion (35) has a second sleeve fastening portion (38), and the first sleeve fastening portion (18) is coupled to the second sleeve fastening portion (38).

[0060] More specifically, the first sleeve fastening portion (18) is formed in a direction in which the hollow sleeve body (11) (described later) faces the sleeve support portion (35), and has a hollow body formed with threads, and a sleeve external thread portion (182). The hollow body formed with threads is integrally formed on one side of the hollow sleeve body, and the sleeve external thread portion (182) has a plurality of external threads formed on the outer peripheral surface of the hollow body formed with threads.

[0061] The second sleeve fastening portion (38) includes a holder internal thread portion (381) having a plurality of internal threads formed on the inner peripheral surface of a central hole of a sleeve mounting portion (352) to engage with the sleeve external thread portion (182).

[0062] The sleeve support portion (35) formed with the second sleeve fastening portion (38) is formed at an end of a support protrusion (351) extending from the holder component (3), which will be described in detail below.

[0063] The sleeve (1) refers to a component that supports various surgical tools (7) having shafts (71, 421), such as a cutter (7a) or a calibration tool (7b) (described later), and is characterized by interchangeably supporting various medical tools, which is different from a conventional slender tube that lacks compatibility and has weak bending stiffness.

[0064] The sleeve (1) includes a substantially round bar-shaped hollow sleeve body (11), and has a shaft insertion hole (12), the aforementioned first sleeve fastening portion (18), and a cap fastening screw portion (13). The shaft insertion hole (12) is formed to penetrate the hollow sleeve body (11) longitudinally. The aforementioned first sleeve fastening portion (18) is formed on one side of the hollow sleeve body (11), and the cap fastening screw portion (13) is formed on the outer peripheral surface of the other side.

[0065] In addition, the hollow sleeve body (11) is provided with a plurality of support bearings (not shown) and spacers (not shown). The plurality of support bearings are installed in the shaft insertion hole (12) to support the shaft, and the spacers are installed in contact with the support bearings and are formed in a cylindrical shape. For example, the support bearings (not shown) may include ball bearings, and the support bearings are inserted forward and backward with spacers therebetween to support the outer side and the inner side of the shaft (71).

[0066] The chuck device component (2) refers to a component that fastens the sleeve (1) having a shaft, and when the chuck (22) provided in the front portion of the chuck body (21) converges or separates, the chuck device component (2) performs a clamping operation or a loosening operation by pressing the shaft (71) of the surgical tool.

[0067] In addition, the chuck device component (2) includes a chuck body (21), a chuck (22), and an operating force application portion (23). The sleeve (1) is coupled to the chuck body (21). The chuck (22) is provided in the chuck body (21) and selectively clamps the shaft (71) of the cutter (7a) to clamp the surgical tool. The operating force application portion (23) applies an operating force for the clamping and loosening operations of the chuck (22), and its structure is different in that it omits an external thread portion (311) that is conventionally formed in the chuck body (21) for connection with the sleeve (see Figure 1b ).

[0068] In addition, a chuck moving member (24) is provided inside the chuck body (21). When the operating force application portion (23) rotates forward and backward in a substantially round bar-shaped body having a hollow portion, the chuck (22) appears and moves from the chuck moving member (24) by the force of an internal spring (not shown). More specifically, when the operating force application portion (23) rotates forward, the chuck (22) moves backward and converges to press and clamp the shaft. When the operating force application portion (23) rotates backward, the chuck moves forward and separates to loosen the shaft.

[0069] In addition, in addition to the external thread portion (311) that is usually formed in the chuck body (21) for connection with the sleeve (see Figure 1b ), the chuck device member (2) can adopt a medical chuck device used in well-known chuck devices for orthopedics, dentistry, etc., and therefore a detailed description of its specific structure will also be omitted.

[0070] The holder member (3) refers to a member that is mounted on the distal end of a robotic arm (not shown) and is used to mount the chuck device member (2) thereon, and includes a holder rod (31), a holder head (32), a connecting plate (33), an arm connecting member (34), a sleeve support portion (35), and an operation handle (36). The holder rod (31) is generally rod-shaped, the holder head (32) is formed below the first end of the holder rod (31), the connecting plate (33) is formed above the second end of the holder rod (31), the arm connecting member (34) is connected to the connecting plate (33) to be connected to the distal end of the robotic arm, the sleeve support portion (35) protrudes forward to perform the function of supporting the sleeve (1), and the operation handle (36) is provided inside the sleeve support portion (35).

[0071] The holder head (32) is formed as an annular body (321) having a connection hole (322), a motor connection member (37) (described later) is inserted into the connection hole (322), and the holder head (32) includes a screw hole (323) and a sleeve support portion (35). The screw hole (323) is perforated in the annular body (321) to communicate with the connection hole (322), and the sleeve support portion (35) is configured to protrude forward.

[0072] For example, the arm connecting member (34) is configured as a clamp member to be connected to a robot-side clamp member (not shown) mounted on the opposite robotic arm (not shown), and the clamp member has a disk-shaped clamp body (341) and a clamp protrusion (342). The disk-shaped clamp body (341) is formed with a plurality of fastening holes, and the clamp protrusion (342) is formed with a locking hole (343). The locking hole (343) is inserted into or coupled to the clamping shaft of the robot-side clamp member.

[0073] The sleeve support portion (35) refers to a member that is formed to extend from the holder member (3) and holds and supports the sleeve (1) without shaking, and includes a support protrusion (351) and a sleeve mounting portion (352). The support protrusion (351) extends from the holder member (3), and the sleeve external thread portion (182) of the first sleeve fastening portion (18) of the sleeve (1) is fastened to the sleeve mounting portion (352).

[0074] The support protrusion (351) is formed to protrude forward from the retainer head (32) so as to provide an operation space (353) inside which the operation force application part (23) is positioned. In order not to interfere with the forward rotation of the operation handle (36) for the clamping operation of the chuck device member (3) and the reverse rotation of the operation handle (36) for the loosening operation of the chuck device member (2), the two support protrusions (351) may be formed at an angle of approximately 180° (i.e., an angle of 180° excluding the thickness of the support protrusion).

[0075] The sleeve mounting part (352) is formed as a cone having a small front outer diameter and a large rear outer diameter, and on the inner peripheral surface of the hollow hole formed in the cone, a retainer internal thread part (381) configured as a second sleeve fastening part (38) is formed.

[0076] The operation handle (36) refers to a member that is placed in the operation space (353) so as to be connected to the operation force application part (23) and apply an operation force, and includes an engagement part that engages with the operation force application part (23) and a handle unit that protrudes from the engagement part.

[0077] More specifically, importantly, the operation handle (36) is configured to be set and assembled in the operation space (353), and the operation space (353) is provided inside the sleeve support part (35).

[0078] For this purpose, the operation handle (36) has a structure that can be separated into a first handle unit (361), a second handle unit (362), and a fastening member (363) for fastening the first handle unit (361) and the second handle unit (362).

[0079] The first handle unit (361) includes a first engagement part (3611) and a first handle (3612). The first engagement part (3611) has a substantially hemispherical body, and a serrated gear is formed on its inner surface to engage with the outer surface of the operation force application part (23) on one side. The first handle (3612) extends from both ends of the first engagement part (3611) and is formed with fastening holes.

[0080] The second handle unit (362) includes a second engagement part (3621) and a second handle (3622). The second engagement part (3621) has a substantially hemispherical body, and a serrated gear is formed on its inner surface to engage with the outer surface of the operation force application part (23) on the other side. The second handle (3622) extends from both ends of the second engagement part (3621) and is formed with fastening holes.

[0081] The fastening member (363) refers to a member to be fastened to the fastening holes of the first handle unit (361) and the second handle unit (362), and is generally realized by a screw.

[0082] Meanwhile, the above-mentioned chuck device member (2) includes a motor connection member (37) connected to its rear part and connected to the motor (9).

[0083] The motor connection member (37) includes a threaded portion (372), a fastening groove (373), and a threaded groove (374). The threaded portion (372) and the fastening groove (373) are formed on the outer surface of a round bar-shaped main body (371) having a hollow hole, and the shaft of the cutter is placed in the hollow hole. The threaded groove (374) is recessed in the threaded portion (372) to accommodate the end of a screw (376) inserted through a screw hole (323) of the holder head (32).

[0084] Figures 6a to 6c is a view showing a cutter applied as a surgical tool to a surgical tool fixing device for a surgical robot according to a first embodiment of the present disclosure, wherein, Figure 6a a cutter having a head diameter of 3.2 mm is shown, Figure 6b a cutter having a head diameter of 5.0 mm is shown, and, Figure 6c a cutter having a head diameter of 6.2 mm is shown. Figure 7a and Figure 7b is a perspective view showing a state where the cutter is applied as a surgical tool to a surgical tool fixing device for a surgical robot according to a first embodiment of the present disclosure, wherein, Figure 7a the mounting state of a cutter having a head diameter of 5.0 mm is shown, and, Figure 7b the mounting state of a cutter having a head diameter of 6.2 mm is shown.

[0085] Referring Figures 6a to 7b , according to the surgical method as Figures 6a to 6c shown, among a cutter (7a) having a head diameter of 3.2 mm, a cutter (7a') having a head diameter of 5.0 mm, and a cutter (7a”) having a head diameter of 6.2 mm, the cutter (7a) can be selected and used.

[0086] More specifically, in total knee arthroplasty (TKA) where both sides of the femur and tibia are cut during artificial knee joint surgery, a cutter (7a”) with a head diameter of 6.2 mm and a relatively long shaft is typically used. And in unicompartmental knee arthroplasty (UKA) where only one side of the femur and tibia is cut, a cutter (7a') with a head diameter of 5.0 mm and a relatively short shaft is used. Also, in guide hole resection (GHR), during the surgery, cutting (sawing) is performed by fixing a cutting block to the bone with a fixing pin, and a cutter (7a) with a head diameter of 3.2 mm is used to form an insertion hole for the fixing pin. The sleeve (1) according to the present disclosure allows the above various types of cutters to be interchangeably mounted thereon, thus having the advantages of facilitating and quickly performing surgical preparations, surgeries, etc.

[0087] Although the above cutters (7a, 7a', 7a”) are different in terms of the outer diameter and shape of the cutter head (714) and have the same or different total lengths of the shaft (71), the shafts of the cutters (7a, 7a, 7a”) include a small-diameter portion (711) having a shape similar to a round bar and a relatively small diameter so as to be commonly inserted into the chuck device member (2).

[0088] The cutter (7a) with a head diameter of 3.2 mm, the cutter (7a') with a head diameter of 5.0 mm, and the cutter (7a”) with a head diameter of 6.2 mm are formed with a mounting large-diameter portion (712) and a middle-diameter portion (713). The mounting large-diameter portion (712) contacts the small-diameter portion to be inserted into the sleeve (1) and has a relatively large outer diameter compared to the small-diameter portion. The middle-diameter portion (713) extends in contact with the mounting large-diameter portion (712), and a cutter head (714) is formed at its end, and has an outer diameter larger than the small-diameter portion and smaller than the mounting large-diameter portion.

[0089] In addition, the cutter heads (714) of the cutters (7a, 7a', 7a”) respectively have two, three, and four blades, and these blades have a helix angle of 20 to 40 degrees. And the aforementioned cutters can be appropriately used for each surgical technique in the following manner: the cutter with a head diameter of 3.2 mm and the cutter with a head diameter of 5.0 mm are formed to have a protruding length of 40 mm to 70 mm from the free end (i.e., the other end of the sleeve (1) in the mounted state), and the cutter with a head diameter of 6.2 mm is formed to have a protruding length of 70 mm to 85 mm.

[0090] In addition, two installation inspection bands (715) are marked on the mounting large-diameter portion (712) of the aforementioned cutter so as to check whether they are installed, without using a separate cutter gauge. In this case, the outer one of the two installation inspection bands (715) is marked to be exposed when the cutter (7a, 7a', 7a'') is normally installed. Therefore, when the outer one of the two installation inspection bands (715) is exposed, it is confirmed that the cutter (7a, 7a', 7a'') is normally installed. On the other hand, when both of the two installation inspection bands (715) are invisible or both are visible, it is confirmed that the cutter (7a, 7a', 7a'') is abnormally installed. Therefore, the installation state of the cutter should be adjusted to expose one installation inspection band before use.

[0091] As described above, the aforementioned cutter is provided with a mounting large-diameter portion (712) so as to be installed in the shaft insertion hole (12) of the sleeve (1), thereby being conveniently installed on a single surgical device and being interchangeably used, as Figure 7a and 7b shown.

[0092] The operation of the surgical tool fixing device for a surgical robot according to the first embodiment of the present disclosure will be briefly described below.

[0093] In the aforementioned surgical tool fixing device, a motor (9) is connected to a motor connection member (37) of a holder head (32), an arm connection member (34) is coupled to a clamping member (not shown) provided in a robot arm (not shown) of an orthopedic surgical robot, and then the robot arm of the surgical robot operated based on information input to a computer positions the surgical tool fixing device at a surgical position.

[0094] In this state, when the motor operates based on information input to the computer, a cutter (7a) that holds a surgical tool (7) to a chuck device member (3) rotates to cut a set surgical area of the patella. Using this cutting process, a surgery is performed by installing an artificial knee joint (implant) in a given order.

[0095] In addition, a shaft (71) is supported by a sleeve (1) and stably rotates while the cutter (7a) rotates according to the rotation of the motor. In this case, the sleeve (1) is not usually threadedly connected to the chuck body, but a first sleeve fastening portion (18) formed in the sleeve (1) is threadedly connected to a second sleeve fastening portion (38) formed on a holder member (3), thereby not only maintaining a firm holding state but also fundamentally preventing an external force from being applied to the chuck device member (2).

[0096] In addition, as Figure 5As shown, the end surface of the sleeve contacts the surface of the sleeve mounting portion (352), thus having a non-swinging close contact structure. Therefore, a conventional spacing distance d (see Figure 1a ) is not formed between the sleeve and the retainer head. Therefore, even if the surgical tool is forced to move left or right during the cutting process, slight left-right deformation will not occur.

[0097] Therefore, deformation of the shaft (71) of the cutter (7a, 7a', 7a"), the built-in bearing of the sleeve (1), etc. is prevented, and durability is improved. Also, deformation of the chuck device member (2) of the clamping shaft (71) is prevented, and durability is improved, thereby reducing maintenance costs, performing surgery stably, reducing the risk of negligent accidents, and shortening the downtime of the surgery.

[0098] Meanwhile, when disassembling and assembling the surgical tool fixing device for a surgical robot according to the present disclosure to clean or replace the cutter (i.e., the surgical tool), the user can easily perform the clamping operation and the loosening operation of the chuck device member (2) for the cutter shaft (71) by holding the first handle (3612) and the second handle (3622) protruding from the operation handle (36) and rotating them 180° forward and 180° backward, and even a female nurse with a weak grip can conveniently perform the surgery without difficulty.

[0099] Figures 8a to 8c is a view showing a state where a calibration tool is installed as a surgical tool in a surgical tool fixing device for a surgical robot according to a first embodiment of the present disclosure, where Figure 8a is a perspective view, Figure 8b is a schematic exploded perspective view, and Figure 8c is an exploded perspective view of main components. Figures 9a to 9c is a view showing a calibration mounting member installed in a surgical tool fixing device for a surgical robot according to a first embodiment of the present disclosure, where Figure 9a is a partial perspective view, Figure 9b is a partial exploded perspective view, and Figure 9c is a partial cross-sectional view.

[0100] Referring to Figures 9a to 9c , the calibration mounting member (4) is detachably provided in the sleeve (1) such that a calibration tool (7b) (such as a marker for calibrating the tip of a cutter (or drill)) can be installed during an artificial joint surgery using the robot.

[0101] More specifically, the calibration mounting member (4) includes a retaining cover member (41) and a calibration mounting member (42). The retaining cover member (41) is fastened to the sleeve (1), and the calibration mounting member (42) is installed in the sleeve (1) through the retaining cover member (41).

[0102] The calibration mounting member (42) includes a calibration shaft (421) and a position setting member (422). A marker is installed in the calibration shaft (421), and the position setting member (422) is formed in the calibration shaft (421) and placed on the holding cover member (41).

[0103] The calibration shaft (421) is formed as a rod-shaped structure with a preset length, such as a round rod. According to this embodiment, it is possible to easily perform calibration using one calibration shaft (421) because cutters with a head diameter of 5.0 mm for unicompartmental knee arthroplasty (UKA) and cutters with a head diameter of 3.2 mm for guide hole resection (GHR) have the same total length of 115.85 mm. However, cutters with a head diameter of 6.2 mm for total knee arthroplasty (TKA) have a longer length of 135.65 mm. By pre-entering the value of the compensated length difference into the robotic system to correct the calibration data of the 6.2 mm cutter, it is possible to use the same calibration shaft to perform calibration.

[0104] The position setting member (422) is formed on the outer peripheral surface of the calibration shaft (421) and is shaped like a disk to be inserted and placed inside the holding cover member (41).

[0105] As Figure 9b shown, the holding cover member (41) includes a cover body (411), a rod insertion hole (412), and internal threads in the cover (413). The cover body (411) is shaped like a cover and has anti-slip grooves (416) recessed therefrom, and is connected to the hollow sleeve body (11). The rod insertion hole (412) is formed to penetrate the cover body to insert the calibration shaft (421) therein. The internal threads in the cover (413) are formed on the inner peripheral surface of the cover body to be fastened to the coupling external thread portion (13) of the sleeve (1).

[0106] In addition, the holding cover member (41) may be formed with an inspection opening (415) to check for the introduction of foreign objects by checking the alignment state between the sleeve (1) and the cover body (411).

[0107] For example, the inspection opening (415) is formed by cutting out approximately 1 / 4 from the cover body (411) and shows the inside to check the alignment state of the calibration mounting member (42). In other words, when a foreign object is introduced between the inner surface of the position setting member (422) and the end of the sleeve (1), a gap is formed, which can be visually confirmed through the inspection opening (415). When the gap is visually confirmed, the holding cover member (41) is separated from the sleeve, cleaned, and then reassembled, thereby accurately performing calibration.

[0108] In addition, the calibration mounting member (42) includes a cover separation prevention device (43) to prevent the holding cover member (41) from separating from the calibration shaft (421).

[0109] The cover separation prevention device (43) can be constructed in various ways without any specific limitation as long as it can prevent the separation of the holding cover member (41). According to this embodiment, the cover separation prevention device (43) includes a separation prevention groove (431) and a separation prevention member (432). The separation prevention groove (431) is recessed in the calibration shaft (421), and the separation prevention member (432) (such as a C-ring) is press-fitted into the separation prevention groove for assembly.

[0110] Meanwhile, the calibration mounting component (4) includes a mounting member rotation blocking portion (44), and the mounting member rotation blocking portion (44) is configured to block the movement of the calibration mounting member (42) for accurate and stable calibration.

[0111] The mounting member rotation blocking portion (44) includes a pin insertion groove (441) and a rotation blocking pin (442). The pin insertion groove (441) is formed in the sleeve (1), and the rotation blocking pin (442) is formed in the position setting member and inserted into the pin insertion groove (441).

[0112] Here, the rotation blocking pin (442) includes two rod-shaped pins protruding and installed from the position setting member (422) at an angle of 180°.

[0113] In addition, the pin insertion groove (441) is formed in the sleeve (1) at a position corresponding to the rotation blocking pin (442), and is configured to have a foreign object discharge portion on one side to facilitate the discharge of foreign objects. Here, the foreign object discharge portion refers to a portion exposed to the outside by cutting out the outside from the pin insertion groove (441).

[0114] Meanwhile, the calibration tool (7b) refers to an optical marker that is detachably provided in the sleeve (1) and applied to an Optical Tracking System (OTS). It includes a marker body (75) and a fastening device (76). The marker body (75) is formed with a shaft holding hole (not shown), and the calibration shaft (421) is inserted into the shaft holding hole. The fastening device (76) is such as a fastening bolt to fix the calibration shaft (421) inserted into the shaft holding hole. In addition, the marker body (75) includes a plurality of position transmitting units (77) having a substantially spherical shape to reflect or transmit position signals to the OTS. For reference, the OTS refers to a system that tracks the marker with multiple infrared cameras and converts distances through triangulation to track the position and pose in a three-dimensional space in real time. The tracking principle of the OTS is widely known, so its detailed description will be omitted for the simplicity of the specification.

[0115] Next, reference will be made toFigure 8a and Figure 8b Briefly describe the process of installing and using a calibration tool as a surgical tool in a surgical tool fixing device for a surgical robot according to the present disclosure.

[0116] As described above, according to the surgical method, a cutter with a head diameter of 3.2 mm, a cutter with a head diameter of 5.0 mm, or a cutter with a head diameter of 6.2 mm can be selectively installed, and then a calibration installation component (4) can be used to easily install a calibration tool (7b) (such as a marker for calibrating the tip of the cutter during artificial joint surgery using a robot).

[0117] More specifically, the calibration installation component (4) is assembled in the following manner: First, the cutter (7a) is separated from the chuck device component (2), the calibration installation member (42) is inserted into the holding cover member (41), and the holding cover member (41) is fastened to the coupling external thread portion (13) of the sleeve (1). During this assembly process, when the rotation blocking pin (442) formed in the position setting member (422) is inserted into the pin insertion groove (441) formed in the sleeve (1), the rotational movement of components such as the calibration installation member (42) is substantially blocked, and the calibration tool (7b) is installed in the calibration installation member (42), thus having the advantage of being able to perform precise calibration.

[0118] In addition, the foreign object discharge portion, that is, the exposed portion, is formed by cutting out the outside from the pin insertion groove (441) formed in the sleeve (1), thus having the advantage of easily discharging foreign objects to the outside, even if the foreign objects are introduced due to the operation of the cutter during surgery.

[0119] In addition, an inspection opening (415) is formed in the holding cover member (41). Therefore, when the gap formed by foreign objects introduced between the inner surface of the position setting member (422) and the end of the sleeve (1) is visually confirmed, the holding cover member (41) is separated from the sleeve, cleaned, and then reassembled, so as to perform calibration precisely.

[0120] Embodiments of the Invention

[0121] Next, other embodiments of the present disclosure will be described. Among them, the detailed description of components similar to those shown in the first embodiment will be omitted, and the components with differences will be described in detail. In addition, the embodiments described herein can selectively adopt the components of the first embodiment or the components of other embodiments (if their structures are applicable thereto), and their detailed descriptions or drawings will be omitted.

[0122] Figure 10a and Figure 10bis a view showing a surgical tool fixing device for a surgical robot according to a second embodiment of the present disclosure, wherein, Figure 10a is a perspective view, and, Figure 10b is an exploded perspective view.

[0123] Referring Figure 10a and 10b A surgical tool (fixing) device for a surgical robot according to a second embodiment of the present disclosure includes a sleeve (1') and a holder member (3). The sleeve (1') has a first sleeve fastening portion (18), and the holder member (3) has a second sleeve fastening portion (38) such that the sleeve (1') can be directly coupled to the holder member (3). The sleeve (1') is configured to be mounted with a reamer for cutting the acetabulum of the hip joint during hip arthroplasty.

[0124] To this end, the sleeve (1') includes a hollow sleeve body (11'), which has an axis insertion hole formed therethrough longitudinally. The hollow sleeve body (11') includes a first hollow sleeve body (111) and a second hollow sleeve body (112). The first hollow sleeve body (111) has a first sleeve fastening portion (18) formed at its end. The second hollow sleeve body (112) extends in a rod-like structure with an outer diameter smaller than that of the first hollow sleeve body (111). The first hollow sleeve body (111) and the second hollow sleeve body (112) are formed as a single body.

[0125] The surgical tool (7) is provided as a reamer (7c), which includes a reamer basket-cup (73) formed at the end of the shaft (71) to be inserted into the axis insertion hole and perform a cutting operation.

[0126] The reamer basket-cup (73) has two or more blades, whose shape is approximately similar to a hemispherical shape suitable for cutting the acetabulum and is formed with a diameter ranging from 10 mm to 40 mm.

[0127] In addition, the reamer (7c) is configured to have a protruding length of 2 cm to 10 cm protruding from the free end of the sleeve (1) in the mounted state.

[0128] Meanwhile, a surgical tool fixing device for a surgical robot according to a second embodiment of the present disclosure is mounted with a reamer (7c) as a surgical tool, positions the reamer (7c) at the surgical position, and then drives the motor (9) so that the reamer basket-cup (73) rotates and cuts the acetabulum of the hip joint.

[0129] When a preprocessing program such as cutting is completed, the reamer (7c) is separated, and an artificial acetabular cup is pressed into the cut acetabulum and fixed using an impactor (not shown), and the artificial femoral head is connected according to a typical artificial hip joint surgery method.

[0130] Figure 11a and Figure 11b are views showing a surgical tool fixing device for a surgical robot according to a third embodiment of the present disclosure, wherein, Figure 11a is a perspective view, and, Figure 11b is an exploded perspective view of a sleeve portion having different features.

[0131] Referring to Figure 11a and Figure 11b a surgical tool fixing device for a surgical robot according to a third embodiment of the present disclosure includes a sleeve (1”) and a retainer member (3), the sleeve (1”) having a first sleeve fastening portion (18), the retainer member (3) having a second sleeve fastening portion (38) such that the sleeve (1”) can be directly coupled to the retainer member (3), wherein the sleeve (1”) includes a tube portion (114) and a fastening cap portion (116), the tube portion (114) being shaped like a tube and having a small diameter, the fastening cap portion (116) being formed at one end of the tube portion to fasten to a chuck device member (2).

[0132] The tube portion (114) includes a bearing (not shown) and a spacer (not shown) inserted therein, etc., to rotatably support the shaft of the drill.

[0133] The fastening cap portion (116) is shaped like a cap formed with a shaft insertion hole along its longitudinal direction and includes a first sleeve fastening portion (18) formed at its end facing the second sleeve fastening portion.

[0134] The cutter (7a”') includes a cutting head (716) and a shaft (717), the cutting head (716) being formed with cutting blades, the shaft (717) being shaped like a round bar and formed to extend from the cutting head (716).

[0135] Meanwhile, in the surgical tool fixing device for a surgical robot according to a third embodiment of the present disclosure, as Figure 11a shown, when the motor operates based on information input to the computer, similar to the first embodiment, the cutter (7a”') clamped to the chuck device member (3) as a surgical tool (7) rotates to cut a set surgical area of the patella. Using this cutting process, the surgery is performed by installing an artificial knee joint (implant) in a given order.

[0136] Figure 11cIt is a view showing a state in which a calibration tool is attached to a sleeve of a surgical tool fixing device for a surgical robot according to a second embodiment of the present disclosure. As shown in the figure, when calibrating the tip of a robotic calibration cutter (7a”') during an artificial joint surgery, calibration can be easily performed by attaching the calibration tool (7b) to the end of the tube portion (114) of the sleeve (1”).

[0137] The terms “comprising,” “configured,” and / or “having” specify the presence of the components, unless there is a clearly different meaning in the present disclosure, but do not exclude their presence and should be construed as further including other components. Unless otherwise defined, all terms (including technical or scientific terms) used herein have the same meaning as commonly understood by those skilled in the art to which the present disclosure pertains. General terms defined in a dictionary should be construed as having a meaning consistent with the context in the relevant field and will not be construed as having an idealized or overly formal meaning unless clearly defined in the present disclosure.

[0138] Although the construction and operation of the surgical tool fixing device for a surgical robot according to the first embodiment of the present disclosure have been described above, those of ordinary skill in the art will understand that the embodiments are merely illustrative and partial substitution and modification can be made without departing from the scope of the present disclosure.

[0139] Therefore, the scope of the present disclosure should be understood to extend to the appended claims and their equivalents.

[0140] Industrial Applicability

[0141] The present disclosure relates to a surgical tool fixing device for a surgical robot to stably hold and support a sleeve for supporting a shaft of a surgical tool during an artificial joint surgery using a robot. The surgical tool fixing device can even be applied to surgeries without using a robot and can be used to hold and support a surgical tool in various surgeries other than artificial joint surgeries.

Claims

1. A surgical tool fixing device for a surgical robot, comprising: a sleeve that supports a surgical tool having a shaft; a chuck device component including a chuck body, a chuck, and an operating force applying portion, the sleeve being coupled to the chuck body; the chuck being selectively disposed inside the chuck body and selectively clamping the shaft to hold the surgical tool; and the operating force applying portion applying an operating force for clamping and releasing operations of the chuck; and a retainer component on which the chuck device component is mounted, the retainer component being mounted to the distal end of a robot arm and including a sleeve support portion that holds and supports the sleeve without wobbling, wherein the sleeve includes a first sleeve fastening portion formed in a direction in which the hollow sleeve body faces the sleeve support portion, the hollow sleeve body being formed with a shaft insertion hole, and the sleeve support portion is formed with a second sleeve fastening portion to be coupled to the first sleeve fastening portion.

2. The surgical tool fixing device according to claim 1, wherein the first sleeve fastening portion includes a sleeve external thread portion including a plurality of external threads formed on an outer peripheral surface of a hollow body formed with threads, the hollow body formed with threads being integrally formed on a first side of the hollow sleeve body, the sleeve support portion includes a support protrusion extending from the retainer component and a sleeve mounting portion formed at an end of the support protrusion, and the second sleeve fastening portion includes a retainer internal thread portion formed with a plurality of internal threads on the sleeve mounting portion to be coupled to the sleeve external thread portion.

3. The surgical tool fixing device according to claim 2, wherein the support protrusion protrudes forward to provide an operating space, the operating force applying portion being positioned within the operating space, and the sleeve mounting portion is formed with the retainer internal thread portion on an inner peripheral surface of a hollow hole of a cone having a small front outer diameter and a large rear outer diameter.

4. The surgical tool fixing device according to claim 2, wherein the hollow sleeve body is configured to include a first hollow sleeve body and a second hollow sleeve body, the first hollow sleeve body being formed with the first sleeve fastening portion at its end, the second hollow sleeve body extending in a rod-like structure having an outer diameter smaller than that of the first hollow sleeve body, and the surgical tool includes a reamer having a basket cup reamer formed at an end of the shaft to be inserted into the shaft insertion hole and perform a cutting operation.

5. The surgical tool fixing device according to claim 2, further comprising a calibration mounting component including a holding cover member and a calibration mounting member, the holding cover member being fastened to the hollow sleeve body to mount a calibration tool, and the calibration mounting member being mounted to the sleeve through the holding cover member.

6. The surgical tool fixing device according to claim 5, wherein The calibration and installation member includes a rod-shaped calibration shaft and a position setting member. A marker is installed in the calibration shaft. The position setting member is formed in the calibration shaft and is placed on the holding cover member. The holding cover member includes a cover body similar in shape to a cover, a rod insertion hole, and an internal thread in the cover. The rod insertion hole is formed in the cover body to insert the calibration shaft. Wherein, The internal thread in the cover is formed on the inner circumferential surface of the cover body to be fastened to an external thread for cover connection formed on the second side of the hollow sleeve body. And The surgical tool fixing device further includes a rotation blocking portion for the installation member, which is configured to block the movement of the calibration and installation member.

7. The surgical tool fixing device according to claim 2, Wherein, The surgical tool includes a plurality of cutters. The cutter includes a cutter head, and the cutter head has a plurality of blades at the outer end of the shaft. Among them, the cutter with a head diameter of 3.2 mm and the cutter with a head diameter of 5.0 mm are formed to have a protruding length of 40 mm to 70 mm from the free end of the sleeve in the installed state, and the cutter with a head diameter of 6.2 mm is formed to have a protruding length of 70 mm to 85 mm.

8. The surgical tool fixing device according to any one of claims 1 to 7 further includes an operation handle, which is connected to the operation force application portion and applies an operation force. Wherein, The operation handle includes an engagement portion and a handle unit. The engagement portion is placed in the operation space to engage with the operation force application portion, and the handle unit extends from the engagement portion.

9. The surgical tool fixing device according to claim 8, Wherein, The handle unit includes a first handle unit, a second handle unit, and a fastening member. The first handle unit includes a first engagement portion and a first handle. The first engagement portion is used to engage with the outer surface of the operation force application portion on the first side. The first handle extends from both ends of the first engagement portion and is formed with fastening holes. The second handle unit includes a second engagement portion and a second handle. The second engagement portion is used to engage with the outer surface of the operation force application portion on the second side. The second handle extends from both ends of the second engagement portion and is formed with fastening holes. The fastening member is fastened to the fastening holes of the first handle unit and the second handle unit so as to be placed and assembled in the operation space.

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