Trocar holder for surgical robot

Abstract

The invention relates to a trocar holder for a surgical robot. An embodiment of the present invention provides a trocar holder for a surgical robot, comprising: a clamping unit including a first clamping portion and a second clamping portion disposed facing each other and moving so as to be adjacent to or away from each other; a holder body unit, at least a part of which is connected to the holder body unit; the power generation unit comprises a driving motor for generating power for driving the clamping unit; and a power transmission unit disposed in the holder body unit and configured to transmit the power generated by the driving motor to the clamping unit.

Description

Technical Field

[0001] This invention relates to a trocar holder for a surgical robot. Background Technology

[0002] In medicine, surgery refers to the process of cutting, dissecting, or manipulating the skin, mucous membranes, or other tissues using medical devices to treat diseases. In particular, open surgery, which involves cutting the skin at the surgical site to treat, reshape, or remove internal organs, can cause bleeding, side effects, patient pain, and scarring. Therefore, in recent years, surgeries performed through predetermined incisions in the skin and the insertion of medical devices such as laparoscopes, surgical instruments, and minimally invasive surgical microscopes, or surgeries using robots, have been considered an increasingly popular alternative.

[0003] Surgical robots are robots capable of performing surgical procedures that would otherwise be done by a surgeon. Compared to humans, these surgical robots can perform more accurate and precise movements and have the advantage of enabling remote surgery.

[0004] Currently, surgical robots under development globally include orthopedic surgical robots, laparoscopic surgical robots, and stereotactic surgical robots. Among them, laparoscopic surgical robots refer to robots that perform minimally invasive surgeries using laparoscopes and small surgical tools.

[0005] On the other hand, surgical robots typically consist of a master robot and slave robots. When the surgeon operates a joystick (such as a handle) mounted on the master robot, the robotic arm attached to the slave robot or the surgical instruments gripped by the robotic arm are manipulated to perform the surgery.

[0006] Laparoscopic surgery is an advanced surgical technique that involves making a small incision in the navel, inserting a laparoscope (an endoscope used to visualize the inside of the abdominal cavity) to perform surgery. This field is expected to see significant development in the future. In recent years, laparoscopes have been equipped with computer chips, enabling them to obtain clearer and magnified images than those seen with the naked eye. Furthermore, laparoscopes have evolved to the point where, by viewing images on a monitor and using specially designed laparoscopic surgical instruments, almost any surgical procedure can be performed.

[0007] On the other hand, laparoscopic surgery uses a surgical instrument called a trocar to create a channel in the patient's abdomen. Through the trocar, surgical instruments such as laparoscopes are inserted into the abdominal cavity to perform surgery while observing the abdominal surgical site.

[0008] The aforementioned background technology is technical information that the inventors possessed in order to derive this invention, or that they obtained during the derivation of this invention. It is not necessarily publicly known technology that was disclosed to the general public before the application for this invention. Summary of the Invention

[0009] The problem the invention aims to solve

[0010] The purpose of this invention is to provide a cannula holder for a surgical robot, which is applied to surgical robots used in laparoscopic surgery or various other surgeries. The cannula fastening method is automated, which can facilitate the fastening of the cannula and reduce possible errors during operation.

[0011] means for solving problems

[0012] An embodiment of the present invention provides a cannula retainer for a surgical robot, comprising: a clamping unit including a first clamping portion and a second clamping portion disposed opposite to each other and moving in a manner adjacent to or away from each other; a retainer body unit, at least a portion of the clamping unit being connected to the retainer body unit; a power generating unit including a drive motor for generating power for driving the clamping unit; and a power transmission unit disposed within the retainer body unit and for transmitting the power generated by the drive motor to the clamping unit.

[0013] In one embodiment of the present invention, when the drive shaft of the drive motor rotates along a first direction, the first clamping part and the second clamping part can rotate toward each other in a direction close to each other, and when the drive shaft rotates along a second direction opposite to the first direction, the first clamping part and the second clamping part can rotate toward each other in a direction far away from each other.

[0014] In one embodiment of the present invention, the power transmission unit can cause the first clamping part and the second clamping part to rotate in opposite directions in a symmetrical configuration.

[0015] In one embodiment of the present invention, the first clamping part and the second clamping part can rotate about the same axis.

[0016] In one embodiment of the present invention, the first clamping part can rotate about a first rotation axis, and the second clamping part can rotate about a second rotation axis that is spaced apart from the first rotation axis.

[0017] In one embodiment of the present invention, the first rotating shaft may be coupled to the proximal end of the first clamping portion and the retainer body unit shaft, and the second rotating shaft may be coupled to the proximal end of the second clamping portion and the retainer body unit shaft.

[0018] In one embodiment of the present invention, the cannula holder of the surgical robot may further include: a cannula detection unit for detecting cannulas installed in the cannula holder.

[0019] In one embodiment of the present invention, the drive motor can be configured to automatically run by means of a signal provided by the cannula detection unit when the cannula detection unit detects a cannula.

[0020] In one embodiment of the present invention, the cannula detection unit may be disposed between the rotation axis of the first clamping part and the rotation axis of the second clamping part.

[0021] In one embodiment of the present invention, the first clamping portion may include: a first force point portion extending from the rotation center of the first clamping portion and receiving a force for rotating the first clamping portion at a position spaced apart from the rotation center of the first clamping portion; the second clamping portion may include: a second force point portion extending from the rotation center of the second clamping portion and receiving a force for rotating the second clamping portion at a position spaced apart from the rotation center of the second clamping portion.

[0022] In one embodiment of the present invention, the power transmission unit may include: a first connecting member connected to the first force point portion; and a second connecting member connected to the second force point portion.

[0023] In one embodiment of the present invention, the first connecting member and the second connecting member can receive power from the power generating unit and apply force to the first force point and the second force point respectively, thereby causing the first clamping part and the second clamping part to rotate outward or inward.

[0024] In one embodiment of the present invention, the clamping unit may include: a third rotating shaft that is inserted through the first connecting member and the first force point to form a rotation center of the first connecting member; and a fourth rotating shaft that is inserted through the second connecting member and the second force point to form a rotation center of the second connecting member.

[0025] In one embodiment of the present invention, the first clamping part can rotate about a first rotation axis, the second clamping part can rotate about a second rotation axis, the third rotation axis can be arranged parallel to the first rotation axis, and the fourth rotation axis can be arranged parallel to the second rotation axis.

[0026] In one embodiment of the present invention, the first force point portion may include an upper end portion and a lower end portion of the first force point as protruding regions, and the first connecting member may be at least partially accommodated between the upper end portion and the lower end portion of the first force point.

[0027] In one embodiment of the present invention, a region on the proximal side of the first clamping portion and the second clamping portion may be formed with a movable engagement hole, and a protrusion is formed on the upper plate of the retainer body unit, the protrusion being able to move relative to the movable engagement hole when embedded in the movable engagement hole.

[0028] In one embodiment of the present invention, the power transmission unit may include: a shaft connected to the power generation unit and defining a power transmission shaft; a linear motion part that translates along the power transmission shaft between a proximal end and a distal end; a first connecting member that connects the linear motion part to the first clamping part; and a second connecting member that connects the linear motion part to the second clamping part.

[0029] In one embodiment of the present invention, when the linear motion part moves towards the proximal side, the first clamping part and the second clamping part can perform opening actions that are spaced apart from each other; when the linear motion part moves towards the distal side, the first clamping part and the second clamping part can perform closing actions that are adjacent to each other.

[0030] In one embodiment of the present invention, the linear motion unit may be configured to perform translational motion when the shaft rotates about the power transmission shaft.

[0031] In one embodiment of the present invention, the linear motion part may include: a nut portion for through which the shaft is inserted; and a first hinge portion and a second hinge portion disposed on both sides of the nut portion. The first connecting member may be configured such that one end of the first connecting member is rotatably coupled to the first hinge portion, and the other end of the first connecting member is rotatably coupled to the first clamping portion; the second connecting member may be configured such that one end of the second connecting member is rotatably coupled to the second hinge portion, and the other end of the second connecting member is rotatably coupled to the second clamping portion.

[0032] In one embodiment of the present invention, the power transmission unit may include: a shaft having a pinion gear and being connected to the power generating unit, the shaft defining a power transmission shaft; a first rack and a second rack having the pinion gear positioned in the middle and facing each other, and having a gear meshing with the pinion gear; a first lever member connected to the first rack; a second lever member connected to the second rack; a first connecting member connecting the first lever member and the first clamping portion; and a second connecting member connecting the second lever member and the second clamping portion.

[0033] In one embodiment of the present invention, the first lever member may be configured such that: one end of the first lever member extends from the rotation center of the first lever member and is connected to the first rack, and the other end of the first lever member extends from the rotation center of the first lever member and is hinged to the first connecting member; the second lever member may be configured such that: one end of the second lever member extends from the rotation center of the second lever member and is connected to the second rack, and the other end of the second lever member extends from the rotation center of the second lever member and is hinged to the second connecting member.

[0034] In one embodiment of the present invention, a first elongated hole is formed at one end of the first lever member, a first protrusion is formed at one end of the first rack, and the first protrusion is able to move to a certain extent within the first elongated hole when it is embedded in the first elongated hole. A second elongated hole is formed at one end of the second lever member, a second protrusion is formed at one end of the second rack, and the second protrusion is able to move to a certain extent within the second elongated hole when it is embedded in the second elongated hole.

[0035] In one embodiment of the invention, the first rack and the second rack may be configured to intersect the power transmission axis of the shaft. When the shaft rotates in a certain direction, the first rack may move along its length, the second rack may move along its length, and one end of the first rack and one end of the second rack may move adjacent to or away from each other.

[0036] In one embodiment of the present invention, when the shaft rotates in a certain direction and one end of the first rack connected to the first lever member and one end of the second rack connected to the second lever member are adjacent to each other, the first clamping part and the second clamping part can perform opening actions that are spaced apart from each other.

[0037] In one embodiment of the present invention, when the first lever member rotates, if one end of the first lever member is close to the shaft and the other end of the first lever member is far from the shaft, then the first connecting member connected to the other end of the first lever member can cause the first clamping portion to rotate outward.

[0038] Other aspects, features, and advantages beyond the foregoing description will become clear from the following drawings, claims, and detailed description of the invention.

[0039] Invention Effects

[0040] The present invention, as described above, has the following effects: it can automate the cannula fastening method of the cannula retainer in the surgical robot, thereby facilitating cannula fastening and reducing possible errors during operation. Attached Figure Description

[0041] Figure 1 This is a conceptual diagram illustrating a surgical robot system equipped with a surgical robot according to an embodiment of the present invention.

[0042] Figure 2 yes Figure 1 A 3D view of the surgical robot.

[0043] Figure 3 It is shown in magnification Figure 2 A three-dimensional diagram consisting of a portion of the first arm unit.

[0044] Figure 4 This is a schematic diagram illustrating a cannula holder according to an embodiment of the present invention.

[0045] Figure 5 This is a schematic diagram illustrating a cannula holder according to another embodiment of the present invention.

[0046] Figure 6 This is a perspective view showing a cannula holder and a cannula mounted on the cannula holder according to an embodiment of the present invention.

[0047] Figure 7 It is shown in magnification Figure 6 A three-dimensional view of the cannula holder.

[0048] Figure 8 It is shown Figure 7 A three-dimensional view of the cannula holder with the upper end plate removed.

[0049] Figure 9 It is shown Figure 7 The diagram shows the clamping unit and the upper end plate.

[0050] Figure 10It is shown Figure 8 A plan view of the cannula needle retainer.

[0051] Figure 11 It is used for explanation Figure 10 A plan view of the opening action of the cannula holder.

[0052] Figure 12 This is a perspective view showing a cannula holder according to another embodiment of the present invention.

[0053] Figure 13 It is shown Figure 12 A three-dimensional view of the cannula holder with the upper end plate removed.

[0054] Figure 14 It is shown from another angle Figure 13 A three-dimensional view of the portion of the cannula holder.

[0055] Figure 15 It is shown Figure 13 A plan view of the cannula needle retainer.

[0056] Figure 16 It is used for explanation Figure 15 A plan view of the opening action of the cannula holder. Detailed Implementation

[0057] The following embodiments will be described in detail with reference to the accompanying drawings. When describing the embodiments with reference to the accompanying drawings, the same or corresponding constituent elements will be given the same reference numerals, and repeated descriptions thereof will be omitted.

[0058] Various modifications can be made to this embodiment. Specific embodiments will be shown in the accompanying drawings and described in detail below. The effects and features of this embodiment, as well as the methods for implementing them, will become clear with reference to the detailed description and accompanying drawings that follow. However, this embodiment is not limited to the embodiments disclosed below, but can be implemented in many other forms.

[0059] In describing this invention, detailed descriptions will be omitted if it is determined that specific descriptions of known technologies may obscure the essence of this invention.

[0060] Unless the context explicitly states otherwise, in the following embodiments, a single quantitative expression includes multiple quantitative expressions. While terms such as "first" and "second" may be used to describe multiple constituent elements, the constituent elements should not be limited by these terms. The terms serve only to distinguish one constituent element from another.

[0061] In the following embodiments, terms such as "comprising" or "having" mean that the features or constituent elements described in the specification are present, but do not preclude the possibility of adding more than one other feature or constituent element.

[0062] In the following embodiments, when a unit, region, constituent element, or other part is located above or on top of another part, this includes not only the case where it is directly above another part, but also the case where another unit, region, constituent element, or other part exists in between.

[0063] In the following embodiments, terms such as "below," "lower side," "above," and "upper side" are used to describe the relationships between the constituent elements shown in the figures. These terms are relative concepts and are described based on the directions shown in the figures.

[0064] In the following embodiments, it should be understood that terms such as “connection” or “combination” do not necessarily mean that two components are “directly and / or fixedly connected or combined”, and this does not exclude the presence of other components between the two components unless the context clearly indicates otherwise.

[0065] In the accompanying drawings, the dimensions of the constituent elements may be exaggerated or reduced for ease of description. For example, the dimensions and thicknesses of each component shown in the figures are arbitrarily illustrated for ease of description, and therefore the embodiments described below are not necessarily limited to the figures shown.

[0066] First, a surgical robot 10 that can employ a cannula retainer according to an embodiment of the present invention will be described.

[0067] Figure 1 This is a conceptual diagram illustrating a surgical robot system equipped with a surgical robot according to an embodiment of the present invention. Figure 2 yes Figure 1 A 3D view of the surgical robot.

[0068] Reference Figure 1 and Figure 2 The surgical robot system 1 includes a main robot 2 and a surgical robot 10.

[0069] The main robot 2 includes an operating component and a display component, and the surgical robot 10 includes one or more robotic arm units 100 and 200.

[0070] In detail, the main robot 2 is equipped with an operating component 2a, which the surgeon can grasp and operate with both hands. Furthermore, the display component 2b of the main robot 2 displays images taken via laparoscopy in image form. In addition, the display component 2b can display a predetermined virtual operating panel together with the images taken via laparoscopy, or display the predetermined virtual operating panel separately. Detailed descriptions of the configuration and structure of the virtual operating panel as described above will be omitted.

[0071] On the other hand, the surgical robot 10 may include at least two robotic arm units 100 and 200. Each robotic arm unit 100 and 200 may be configured as an independently operable module, and algorithms for preventing collisions between the robotic arm units 100 and 200 may also be applied to the surgical robot system 1.

[0072] The surgical robot system 1 may have one or more surgical robots 10. Figure 1 The surgical robot system 1 shown has two surgical robots 10a and 10b, each of which has two robotic arm units 100 and 200. Figure 1 An embodiment is shown with a total configuration of four robotic arm units 100a, 200a, 100b, and 200b.

[0073] As one embodiment, surgical instruments SI can be attached to two or more robotic arm units 100, 200, and a laparoscope can be attached to one or more robotic arm units 100, 200. Furthermore, the surgeon can select the robotic arm units 100a, 200a, 100b, 200b that they wish to control via the main robot 2. As described above, the surgeon can directly operate a total of three or more surgical instruments via the main robot 2, thus enabling precise and free manipulation of various instruments on the operating table 5 according to the surgeon's intentions without the need for a surgical assistant.

[0074] The following will describe in detail the specific structure and driving principle of the surgical robot 10.

[0075] Reference Figure 2 The surgical robot 10 may be provided with a main body 50, a first arm unit 100 and a second arm unit 200. Figure 2 An embodiment of the surgical robot 10 is shown, which has two robotic arm units, and the robotic arm units are referred to below as the first arm unit 100 and the second arm unit 200, respectively.

[0076] The body portion 50 serves as the main body of the surgical robot 10 and may be configured with a first arm unit 100 and a second arm unit 200. Furthermore, the body portion 50 can provide a reference point for the drive of the first arm unit 100 and the second arm unit 200.

[0077] The main body 50 may include a first main body 51 and a second main body 52. ​​A first arm unit 100 and a second arm unit 200 are disposed on the first main body 51, and the second main body 52 can support the first main body 51. Furthermore, as... Figure 2 As shown, the second main body 52 may be equipped with wheels, and the surgical robot 10 can move by means of the wheels.

[0078] The main body 50 may have a lifting guide 53. The lifting guide 53 may be provided in accordance with the number of robotic arm units disposed on the main body 50. The lifting guide 53 may be recessed on one side of the main body 50, and each robotic arm unit 100, 200 may engage with the lifting guide 53 and slide along a first direction.

[0079] In describing this invention, the portion adjacent to the body portion 50 is referred to as the proximal end, and the portion distant from the body portion 50 is referred to as the distal end. For example, in the first arm unit 100, the portion adjacent to the body portion 50 is defined as the proximal end 101 of the first arm unit 100, and the portion distant from the body portion 50 is defined as the distal end 102 of the first arm unit 100. Similarly, in the second arm unit 200, the portion adjacent to the body portion 50 is defined as the proximal end 201 of the second arm unit 200, and the portion distant from the body portion 50 is defined as the distal end 202 of the second arm unit 200.

[0080] The first arm unit 100 is disposed on one side of the main body 50, and the first surgical instrument SI1 can be mounted on the first arm unit 100. The surgical robot 10 can adjust the position and orientation of the first surgical instrument SI1 by driving the first arm unit 100.

[0081] The first arm connector (not shown) may have multiple connecting links, and the orientation of the first arm connector can be determined according to the actuation of each connecting link. The remote center of motion (RCM) point RCM1 of the first surgical instrument SI1 can be determined according to the orientation of the first arm connector. At this time, the remote center of motion point of the first surgical instrument SI1 represents a virtual center point serving as the reference for the rotation of the first surgical instrument SI1. The first surgical instrument SI1 can rotate around the RCM point, thereby performing yaw and pitch movements.

[0082] The second arm unit 200 is disposed on the other side of the main body 50, and the second surgical instrument SI2 can be mounted on the second arm unit 200. The surgical robot 10 can adjust the position and orientation of the second surgical instrument SI2 by driving the second arm unit 200.

[0083] The second arm connector (not shown) may have multiple connecting links, and the orientation of the second arm connector can be determined according to the drive of each connecting link. The RCM point (not shown) of the second surgical instrument SI2 can be determined according to the orientation of the second arm connector. In this case, the RCM point of the second surgical instrument SI2 represents a virtual center point that serves as the reference for the rotation of the second surgical instrument SI2. The second surgical instrument SI2 can rotate around the RCM point, thereby performing yaw and pitch movements.

[0084] Each arm unit may be equipped with multiple arm connecting links and arm extension links. The arm connecting links and arm extension links can rotate around their respective reference axes. Through this rotational movement, the arm unit can adjust the posture and configuration of the surgical instruments within its range of motion.

[0085] Detailed descriptions of the arm connecting link and the arm extension link will be omitted here.

[0086] Figure 3 It is shown in magnification Figure 2 A three-dimensional view of the first arm unit 100.

[0087] Reference Figures 2 to 3 According to one embodiment, a first arm sliding link 1340 may be provided on the distal end 102 side of the first arm unit 100.

[0088] The first arm sliding link 1340 enables the first surgical instrument SI1 to slide.

[0089] The first arm sliding link 1340 can be coupled to the other end (i.e., the distal side) of the first arm third extension link 1330, and the first surgical instrument SI1 can be disposed on the first arm sliding link 1340.

[0090] The first arm sliding link 1340 may be equipped with a translation arm 1341, a slide motor pack 1343, a sliding drive unit 1344, and a cannula needle retainer 1400.

[0091] The translation arm 1341 can be connected to the other end of the third extension link 1330 of the first arm to move together with the third extension link 1330 of the first arm. That is, when the third extension link 1330 of the first arm is driven, the attitude of the translation arm 1341 can also change accordingly.

[0092] The sliding motor assembly 1343 can provide the driving force for the sliding movement of the first surgical instrument SI1. The sliding motor assembly 1343 may be provided with various components for generating and transmitting power, such as including more than one first motor.

[0093] The sliding drive unit 1344 can receive driving force from the sliding motor package 1343 to cause the first surgical instrument SI1 to slide. One end of the first surgical instrument SI1 is connected to the sliding drive unit 1344, so that it can move linearly through the sliding drive unit 1344.

[0094] A cannula holder 1400 is disposed in a region of the translation arm 1341, and a cannula 1500 can be mounted on the cannula holder 1400. Specifically, the cannula holder 1400 can be disposed adjacent to the distal end of the third connecting link 1330 of the first arm.

[0095] A cannula 1500 can be mounted on a cannula holder 1400, and a first surgical instrument SI1 can be attached to the cannula 1500. The first surgical instrument SI1 can pass through the cannula 1500. Furthermore, a portion of the first surgical instrument SI1 can be supported by the cannula 1500 and can slide.

[0096] One side of the cannula 1500 can form the RCM point (RCM1) of the first surgical instrument SI1. That is, the cannula 1500 can provide the RCM point of the first surgical instrument SI1 (as a rotation reference point including yaw and pitch movements) on one side. When the attitude of the first arm connector is determined, the position of the RCM point disposed on the cannula 1500 is also determined, and the position of the RCM point can be fixed even if the first surgical instrument SI1 slides.

[0097] The following will describe in detail a cannula retainer according to an embodiment of the present invention.

[0098] Figure 4 This is a schematic diagram illustrating a cannula holder 400 according to an embodiment of the present invention.

[0099] Reference Figure 4 According to an embodiment of the present invention, a cannula holder 400 may include a clamping unit 420, a holder body unit 410, a power generating unit 450, and a power transmission unit 440.

[0100] The retainer body unit 410 may be integrated into a region of the aforementioned arm unit. Specifically, the retainer body unit 410 may be integrated into a region of the sliding arm.

[0101] The retainer body unit 410 serves as the main body of the cannula retainer 400, and multiple components or devices constituting the cannula retainer 400 may be configured in the retainer body unit 410.

[0102] In other words, the retainer body unit 410 can be a housing for accommodating various components or devices that constitute the cannula retainer 400.

[0103] Specifically, the retainer body unit 410 can accommodate at least a part of the clamping unit 420 to be described below. Also, a power transmission unit 440 to be described below can be configured inside the retainer body unit 410. In addition, at least a part of the power generation unit 450 to be described below can be configured outside or inside the retainer body unit 410.

[0104] When describing the present invention, the part adjacent to the arm unit is called the proximal end, and the part away from the arm unit is called the distal end. For example, in the retainer body unit 410, the part adjacent to the arm unit is defined as the proximal end of the retainer body unit 410, and the part away from the arm unit is defined as the distal end of the retainer body unit 410 for the purpose of description. Similarly, in the clamping unit 420, the part adjacent to the arm unit is defined as the proximal end of the clamping unit 420, and the part away from the arm unit is defined as the distal end of the clamping unit 420 for the purpose of description.

[0105] The clamping unit 420 according to an embodiment of the present invention can be a structure capable of clamping a trocar mounted on the trocar retainer 400. For example, the clamping unit can be called a clamp.

[0106] The clamping unit 420 can include more than one clamping part. However, when describing the present invention, the following will describe the case where the clamping unit 420 includes two clamping parts as an example. For example, the clamping unit 420 can include a first clamping part 421 and a second clamping part 423.

[0107] The clamping unit 420 according to an embodiment of the present invention can be configured at the distal end of the retainer body unit 410.

[0108] Specifically, the first clamping part 421 and the second clamping part 423 can be at least partially accommodated in the above-mentioned retainer body unit 410.

[0109] Also, the first clamping part 421 and the second clamping part 423 can be arranged facing each other and move in a manner of approaching or separating from each other. That is, the first clamping part 421 and the second clamping part 423 can be rotatable members respectively. Specifically, the first clamping part 421 can rotate around the first rotation axis 425, and the second clamping part 423 can rotate around the second rotation axis 427.

[0110] Among them, the first rotation axis 425 and the second rotation axis 427 can be axially coupled with the retainer body unit 410. In other words, the rotation centers of the first clamping part 421 and the second clamping part 423 can be formed in an area of the retainer body unit 410.

[0111] Specifically, the first rotating shaft 425 can be coupled to the proximal shaft of the first clamping part 421, the second rotating shaft 427 can be coupled to the proximal shaft of the second clamping part 423, and the first rotating shaft 425 and the second rotating shaft 427 can be coupled to the shaft of the retainer body unit 410.

[0112] In one embodiment, the first rotation axis 425 and the second rotation axis 427 may be configured spaced apart from each other. Furthermore, the first rotation axis 425 and the second rotation axis 427 may be configured parallel to each other.

[0113] However, the idea of ​​the present invention is not limited to this, and the first rotating shaft 425 and the second rotating shaft 427 can of course be configured in a non-parallel manner.

[0114] On the other hand, the first clamping part 421 may include a first force point part 422, which extends from the rotation center of the first clamping part 421 and receives a force for rotating the first clamping part 421 at a position spaced apart from the rotation center of the first clamping part 421.

[0115] Similarly, the second clamping portion 423 may include a second force point portion 424, which extends from the rotation center of the second clamping portion 423 and receives a force for rotating the second clamping portion 423 at a position spaced apart from the rotation center of the second clamping portion 423.

[0116] From another perspective, the force point can be the part that applies force to the clamping part, causing the clamping part (which is configured to rotate about the rotation axis) to rotate.

[0117] For example, the first force point 422 of the first clamping portion 421 may be connected to a first connecting member 443, which will be described below, and the second force point 424 of the second clamping portion 423 may be connected to a second connecting member 444, which will be described below. Furthermore, the first connecting member 443 can rotate the first clamping portion 421 by applying a pushing or pulling force to the first force point 422, and the second connecting member 444 can rotate the second clamping portion 423 by applying a pushing or pulling force to the second force point 424.

[0118] The rotation of the first clamping part 421 and the second clamping part 423 toward each other is defined as internal rotation, and the rotation of the first clamping part 421 and the second clamping part 423 toward each other is defined as external rotation.

[0119] That is, the first connecting member 443 and the second connecting member 444 apply force to the first force point 422 and the second force point 424 respectively, so that the first clamping part 421 and the second clamping part 423 can rotate outward or inward.

[0120] Refer again Figure 4Trajectory 422t represents a portion of the trajectory of the first force point 422, and trajectory 424t represents a portion of the trajectory of the second force point 424.

[0121] In other words, when the first clamping part 421 rotates around the first rotation axis 425, the first force point part 422 can move along the trajectory 422t, and when the second clamping part 423 rotates around the second rotation axis 427, the second force point part 424 can move along the trajectory 424t.

[0122] On the other hand, the first force point 422 and the second force point 424 may be combined with a rotating shaft. For example, the clamping unit 420 may also include a third rotating shaft 426 and a fourth rotating shaft 428.

[0123] The third rotating shaft 426 can penetrate and be inserted through the first connecting member 443 and the first force point 422, forming the rotation center of the first connecting member 443. Furthermore, the fourth rotating shaft 428 can penetrate and be inserted through the second connecting member 444 and the second force point 424, forming the rotation center of the second connecting member 444.

[0124] From another perspective, the first connecting member 443 can rotate around the third rotation axis 426, and the second connecting member 444 can rotate around the fourth rotation axis 428.

[0125] On the other hand, the power generation unit 450 may be configured in a region of the retainer body unit 410. For example, as shown, a portion of the power generation unit 450 may be coupled to the outside of the retainer body unit 410.

[0126] The power generation unit 450 includes a drive motor 451, which generates power for driving the clamping unit 420. Although not shown in the figure, the power generation unit 450 may also include a drive linkage or the like that connecting the drive motor 451 to the power transmission unit 440.

[0127] On the other hand, the power transmission unit 440 is disposed in the retainer body unit 410 and can transmit the power generated by the drive motor 451 to the clamping unit 420.

[0128] The power transmission unit 440 may include multiple wires, pulleys, linkages, joints, gears, etc.

[0129] Specifically, the power transmission unit 440 may include a first connecting member 443 and a second connecting member 444.

[0130] The first connecting member 443 may be a connecting member connected to the first force point 422, and the second connecting member 444 may be a connecting member connected to the second force point 424.

[0131] As described above, the first connecting member 443 and the second connecting member 444 can receive power from the power generating unit 450 and apply force to the first force point 422 and the second force point 424 respectively.

[0132] Specifically, when the first connecting member 443 moves proximally while connected to the first force point 422, the first connecting member 443 applies a pulling force to the first force point 422, thereby causing the first clamping part 421 to rotate outward. Conversely, when the first connecting member 443 moves distally, the first connecting member 443 can apply a pushing force to the first force point 422, thereby causing the first clamping part 421 to rotate inward.

[0133] Similarly, when the second connecting member 444 moves proximally while connected to the second force point 424, it applies a pulling force to the second force point 424, causing the second clamping portion 423 to rotate outward. Conversely, when the second connecting member 444 moves distally, it applies a pushing force to the second force point 424, causing the second clamping portion 423 to rotate inward.

[0134] The power transmission unit 440 may further include a third connecting member 441 and a fourth connecting member 442. The third connecting member 441 can be connected to the drive motor 451, and the fourth connecting member 442 can be connected to the third connecting member 441. Furthermore, the first connecting member 443 and the second connecting member 444 can be connected to the fourth connecting member 442. Ultimately, the power generated by the drive motor 451 can be transmitted to the clamping unit 420 through the power transmission mechanism of the power transmission unit 400.

[0135] The cannula holder 400' according to another embodiment of the present invention will now be described.

[0136] In another embodiment of the present invention, the cannula holder 400' is characterized in that it is... Figure 4 The rotation axis of the clamping unit 420 differs from that of the cannula holder 400 according to one embodiment. The different configuration from the embodiment described above will be explained in detail below.

[0137] Figure 5 This is a schematic diagram illustrating a cannula holder 400' according to another embodiment of the present invention.

[0138] Reference Figure 5According to another embodiment of the present invention, the cannula holder 400' may include a clamping unit 420', a holder body unit 410', a power generating unit 450', and a power transmission unit 440'. Furthermore, the clamping unit 420' may include a first clamping portion 421' and a second clamping portion 423'. The power transmission unit 440' may include a first connecting member 443', a second connecting member 444', a third connecting member 441', and a fourth connecting member 442'.

[0139] In this embodiment, the retainer body unit 410', power generation unit 450', first connecting member 443', second connecting member 444', third connecting member 441', and fourth connecting member 442' are... Figure 4 The retainer body unit 410, power generation unit 450, first connecting member 443, second connecting member 444, third connecting member 441 and fourth connecting member 442 are substantially the same, therefore, their detailed descriptions will be omitted.

[0140] On the other hand, the clamping unit 420' according to this embodiment may include a first force point 422', a first rotation axis 425', and a third rotation axis 426' related to the rotational movement of the first clamping part 421'. In addition, it may include a second force point 424', a first rotation axis 425', and a fourth rotation axis 428' related to the rotational movement of the second clamping part 423'.

[0141] The clamping unit 420' of the cannula holder 400' according to this embodiment is characterized in that the rotation axis of the first clamping part 421' is the same as the rotation axis of the second clamping part 423'.

[0142] In detail, the first clamping part 421' can rotate around the first rotation axis 425', and the second clamping part 423' can also rotate around the first rotation axis 425'.

[0143] That is, the second clamping part 423' can rotate around a rotation axis that is coaxial with the rotation axis of the first clamping part 421'.

[0144] The first clamping part 421' and the second clamping part 423' can be arranged facing each other and move in a manner that is close to or far from each other. That is, the first clamping part 421' and the second clamping part 423' can each be a rotatable component.

[0145] The first rotation axis 425' can be coupled to the retainer body unit 410'. In other words, the rotation center of the first clamping part 421' and the second clamping part 423' can be formed in a region of the retainer body unit 410'.

[0146] Specifically, the first rotating shaft 425' can be simultaneously coupled to the proximal end of the first clamping part 421' and the proximal end of the second clamping part 423', and the first rotating shaft 425' can be coupled to the retainer body unit 410'.

[0147] So far, a first clamping portion and a second clamping portion of the clamping unit provided in the cannula holder, and a first connecting member and a second connecting member of the power transmission unit have been described. The first clamping portion and the second clamping portion can rotate by the force transmitted by the first connecting member and the second connecting member.

[0148] The power transmission mechanism of the power transmission unit will be explained in detail below.

[0149] Figure 6 This is a perspective view showing a cannula holder 1400 and a cannula mounted on the cannula holder 1400 according to an embodiment of the present invention. Figure 7 It is shown in magnification Figure 6 A three-dimensional view of the 1400 cannula needle retainer. Figure 8 It is shown Figure 7 A perspective view of the upper plate 1413 of the cannula holder 1400 in the removed state. Figure 9 It is shown Figure 7 Figure of clamping unit 1420 and upper plate 1413.

[0150] Reference Figures 6 to 9 According to an embodiment of the present invention, a cannula holder 1400 may include a clamping unit 1420, a holder body unit 1410, a power generating unit 1450, and a power transmission unit 1440.

[0151] The retainer body unit 1410 may be incorporated into a region of the aforementioned arm unit. Specifically, the retainer body unit 1410 may be incorporated into a region of the sliding arm.

[0152] The retainer body unit 1410 serves as the main body of the cannula retainer 1400, and multiple components or devices constituting the cannula retainer 1400 may be configured in the retainer body unit 1410.

[0153] In other words, the retainer body unit 1410 may be a housing for accommodating various components or devices that constitute the cannula retainer 1400.

[0154] Specifically, the retainer body unit 1410 may accommodate at least a portion of the clamping unit 1420. Furthermore, a power transmission unit 1440 may be disposed inside the retainer body unit 1410. Additionally, at least a portion of a power generation unit 1450 may be disposed outside or inside the retainer body unit 1410.

[0155] The retainer body unit 1410 may include a main plate 1411, an upper plate 1413, and a lower plate 1412. Furthermore, although not shown in the figures, it may also include an outer housing surrounding the sides of the retainer body unit 1410.

[0156] The main body plate 1411 can form the sidewall of the proximal side of the retainer body unit 1410. Furthermore, the upper plate 1413 and the lower plate 1412 can be coupled to one side of the main body plate 1411. In one embodiment, the lower plate 1412 or the upper plate 1413 can also be integrally formed with the main body plate 1411.

[0157] The main body plate 1411 may be equipped with a drive motor 1451, which will be described below. That is, the main body plate 1411 serves as a joint for the drive motor 1451 and can support the drive motor 1451.

[0158] The upper plate 1413 and the lower plate 1412 are the parts that will be joined together by the rotation axis described below. The clamping unit 1420 and the power transmission unit 1440 can be supported or fixed to the upper plate 1413 or the lower plate 1412.

[0159] According to an embodiment of the present invention, the clamping unit 1420 may be a structure capable of clamping a trocar mounted on the trocar holder 1400. Specifically, the clamping unit 1420 may clamp the mounting portion of the trocar.

[0160] According to an embodiment of the present invention, the clamping unit 1420 may include a first clamping part 1421 and a second clamping part 1423.

[0161] The inner surfaces of the first clamping portion 1421 and the second clamping portion 1423 can be formed as curved surfaces to more easily clamp the cannula needle. For example, viewed from a flat surface, the clamping portion can be formed as a hook. However, the idea of ​​the present invention is not limited to this, and the clamping portion can of course have various shapes and sizes.

[0162] The first clamping portion 1421 and the second clamping portion 1423 may be disposed at the distal end of the retainer body unit 1410. Specifically, the first clamping portion 1421 and the second clamping portion 1423 may be at least partially accommodated in the retainer body unit 1410.

[0163] Furthermore, the first clamping part 1421 and the second clamping part 1423 can be arranged facing each other and move in a manner that is close to or far from each other. That is, the first clamping part 1421 and the second clamping part 1423 can each be a rotatable component. Specifically, the first clamping part 1421 can rotate about the first rotation axis 1425, and the second clamping part 1423 can rotate about the second rotation axis 1427.

[0164] The first rotation axis 1425 and the second rotation axis 1427 can be coupled to the retainer body unit 1410. In other words, the rotation center of the first clamping part 1421 and the second clamping part 1423 can be formed in a region of the retainer body unit 1410.

[0165] Specifically, the first rotating shaft 1425 can be coupled to the proximal shaft of the first clamping part 1421, the second rotating shaft 1427 can be coupled to the proximal shaft of the second clamping part 1423, and the first rotating shaft 1425 and the second rotating shaft 1427 can be coupled to the lower plate 1412 and the upper plate 1413.

[0166] In one embodiment, the first rotation axis 1425 and the second rotation axis 1427 may be configured spaced apart from each other. Furthermore, the first rotation axis 1425 and the second rotation axis 1427 may be configured parallel to each other.

[0167] According to an embodiment of the present invention, the first clamping part 1421 and the second clamping part 1423 are in contact with... Figure 4 The first clamping part 1421 and the second clamping part 1423 are substantially the same in the corresponding ranges.

[0168] For example, the first clamping part 1421 may include a first force point part 1422 at a position spaced apart from the first rotation axis 1425, and the second clamping part 1423 may include a second force point part 1424 at a position spaced apart from the second rotation axis 1427.

[0169] Furthermore, the first force point 1422 may be the part that receives the force for rotating the first clamping part 1421, and the second force point 1424 may be the part that receives the force for the second clamping part 1423.

[0170] In detail, the first force point portion 1422 may include an upper part 1422a and a lower part 1422b of the first force point, which are protruding regions. Furthermore, the upper part 1422a and the lower part 1422b of the first force point are spaced apart from each other, and a gap space is formed between them.

[0171] The upper end 1422a and the lower end 1422b of the first force point can partially accommodate the first connecting member 1443, which will be described below, in the space between them.

[0172] That is, the first connecting member 1443 can be at least partially accommodated between the upper end 1422a and the lower end 1422b of the first force point.

[0173] Furthermore, the third rotating shaft 1426 can be inserted through the upper end 1422a and the lower end 1422b of the first force point to form the rotation center of the first connecting member 1443. Specifically, the third rotating shaft 1426 may not be coupled to the retainer body unit 1410. That is, the third rotating shaft 1426, while housed within the first clamping portion 1421, can move together with the first clamping portion 1421. In other words, the third rotating shaft 1426 can rotate about the first rotating shaft 1425 while arranged parallel to it.

[0174] Furthermore, in one embodiment, a movable engagement hole may be formed in a region on the proximal side of the first clamping portion 1421. Specifically, at least one of the upper end portion 1422a and the lower end portion 1422b of the first force point may be formed with a movable engagement hole.

[0175] Specifically, the first movable engagement hole 1422c can be formed at the upper end 1422a of the first force point. (Refer to...) Figure 8 and Figure 9 The first movable engagement hole 1422c can be a groove formed at a predetermined depth at the upper end 1422a of the first force point. Furthermore, the first movable engagement hole 1422c can be formed along the rotational trajectory of the first clamping part 1421.

[0176] like Figure 9 As shown, a first protrusion 1413a may be formed on the distal side of the upper plate 1413. Specifically, the first protrusion 1413a may be formed at a position corresponding to the first movable engagement hole 1422c.

[0177] The first protrusion 1413a can be inserted into the first movable engagement hole 1422c, and in the state where the first protrusion 1413a is embedded in the first movable engagement hole 1422c, the first protrusion 1413a can move relative to the first movable engagement hole 1422c.

[0178] In detail, the first protrusion 1413a is fixed to the upper plate 1413. Therefore, when the first clamping part 1421 rotates, the first clamping part 1421 can rotate within a range where the first moving engagement hole 1422c and the first protrusion 1413a do not interfere with each other.

[0179] That is, the rotation radius range of the first clamping part 1421 can be determined by the first movable engagement hole 1422c and the first protrusion 1413a.

[0180] As one embodiment, the movable engagement hole can be formed at the lower end 1422b of the first force point, and the lower plate 1412 can also have a corresponding protrusion.

[0181] Similarly, the second force point portion 1424 of the second clamping portion 1423 may include an upper end portion 1424a of the second force point, a lower end portion of the second force point (not shown), a fourth rotating shaft 1428, and a second movable engagement hole 1424c. Furthermore, the upper plate 1413 may form a second protrusion 1413b corresponding to the second movable engagement hole 1424c.

[0182] The upper end of the second force point 1424a, the lower end of the second force point (not shown), the fourth rotating shaft 1428, the second movable engagement hole 1424c, and the second protrusion 1413b are substantially the same as the upper end of the first force point 1422a, the lower end of the first force point 1422b, the third rotating shaft 1426, the first movable engagement hole 1422c, and the first protrusion 1413a mentioned above. Therefore, their detailed descriptions will be omitted.

[0183] On the other hand, the power generation unit 1450 may include a drive motor 1451. The drive motor 1451 may generate power for driving the clamping unit 1420. In one embodiment, the drive motor 1451 may be configured on the body plate 1411. For example, as shown, a portion of the drive motor 1451 may be externally coupled to the retainer body unit 1410.

[0184] Although not shown in the figure, the power generation unit 1450 may also include a drive linkage (not shown) that connects the drive motor 1451 to the power transmission unit 1440.

[0185] On the other hand, the power transmission unit 1440 is disposed in the retainer body unit 1410 and transmits the power generated by the drive motor 1451 to the clamping unit 1420.

[0186] Specifically, the power transmission unit 1440 may include a shaft 1441, a linear motion part 1442, a first connecting member 1443, and a second connecting member 1444.

[0187] Shaft 1441 can be connected to power generation unit 1450 and defines power transmission shaft AX1. Although the figure shows shaft 1441 directly connected to drive motor 1451, the idea of ​​the present invention is not limited to this. Shaft 1441 can also be connected to drive linkage of power generation unit 1450 to receive power through drive linkage.

[0188] Shaft 1441 can rotate about its length axis. That is, shaft 1441 can rotate about its power transmission shaft AX1.

[0189] The outer circumferential surface of shaft 1441 may be threaded. For example, shaft 1441 may be equivalent to a ball screw or a lead screw.

[0190] The linear motion unit 1442 can be a component that performs translational motion between the proximal and distal ends along the power transmission axis AX1. In other words, the linear motion unit 1442 can perform translational motion between the proximal and distal ends of the axis 1441.

[0191] Specifically, the linear motion unit 1442 can perform translational motion as the shaft 1441 rotates around the power transmission shaft AX1.

[0192] According to an embodiment of the present invention, the linear motion part 1442 may include a nut part (not shown), a first hinge part 1442a and a second hinge part 1442b.

[0193] The nut portion, which is the part through which the shaft 1441 is inserted, may have a threaded groove on its inner circumferential surface. Therefore, the threaded groove formed on the inner circumferential surface of the nut portion can engage with the thread formed on the outer circumferential surface of the shaft 1441.

[0194] As one embodiment, the nut portion can be a ball nut. The ball nut may be provided with balls circulating along the thread groove.

[0195] The first hinge portion 1442a and the second hinge portion 1442b can be provided on both sides of the nut portion. For example, the first hinge portion 1442a and the second hinge portion 1442b can be arranged facing each other.

[0196] The first hinge portion 1442a can be connected to one end of the first connecting member 1443. Specifically, the first hinge portion 1442a can be hinged to the first connecting member 1443 via a hinge pin 1443d.

[0197] Similarly, the second hinge portion 1442b can be connected to one end of the second connecting member 1444. Specifically, the second hinge portion 1442b can be hinged to the second connecting member 1444 via the hinge pin 1444d.

[0198] Therefore, the first connecting member 1443 and the second connecting member 1444 can be rotatably coupled to the linear motion part 1442.

[0199] On the other hand, the first connecting member 1443 can be a connecting member connecting the first clamping part 1421 and the linear motion part 1442. Specifically, one end 1443b of the first connecting member 1443 can be rotatably connected to the first hinge part 1442a, and the other end 1443c can be rotatably connected to the first clamping part 1421. Specifically, one end 1443b of the first connecting member 1443 can be hinged to the first hinge part 1442a through a hinge pin 1443d, and the other end 1443c of the first connecting member 1443 can be axially connected to the upper end 1422a and the lower end 1422b of the first force point through a third rotating shaft 1426. The other end 1443c of the first connecting member 1443 can be formed into a cylindrical shape that wraps around the third rotating shaft 1426.

[0200] The second connecting member 1444 can be a connecting member connecting the second clamping part 1423 and the linear motion part 1442. Specifically, one end of the second connecting member 1444 can be rotatably connected to the second hinge part 1442b, and the other end can be rotatably connected to the second clamping part 1423. Specifically, one end of the second connecting member 1444 can be hinged to the second hinge part 1442b through a hinge pin 1444d, and the other end of the second connecting member 1444 can be axially connected to the upper end of the second force point 1424a and the lower end of the second force point (not shown) through a fourth rotation shaft 1428. The other end of the second connecting member 1444 can be formed into a cylindrical shape that wraps around the fourth rotation shaft 1428.

[0201] The mechanism by which the power of the drive motor 1451 is transmitted to the power transmission unit 1440 of the clamping unit 1420 in the cannula holder 1400 according to an embodiment of the present invention will now be described.

[0202] Figure 10 It is shown Figure 8 Plan view of the 1400 cannula retainer. Figure 11 It is used for explanation Figure 10 A plan view of the opening action of the cannula holder 1400. In other words, Figure 10 The clamping unit 1420 is shown in the closed state. Figure 11 The clamping unit 1420 is shown in the open state.

[0203] Due to the operation of the drive motor 1451, the shaft 1441 rotates around the power transmission shaft AX1, and correspondingly, the linear motion unit 1442 can translate towards the proximal end. That is, the linear motion unit 1442 can move in the direction of arrow A.

[0204] Therefore, the first connecting member 1443 and the second connecting member 1444 connected to the linear motion part 1442 move towards the proximal side.

[0205] When the first connecting member 1443 moves towards the proximal end while connected to the upper end 1422a and the lower end 1422b of the first force point, the first connecting member 1443 applies a pulling force to the first force point portion 1422, thereby causing the first clamping portion 1421 to rotate in the direction of arrow B. That is, the first clamping portion 1421 rotates outward.

[0206] Similarly, when the second connecting member 1444 moves proximally while connected to the upper and lower ends of the second force point, the second connecting member 1444 applies a pulling force to the second force point portion 1424, thereby causing the second clamping portion 1423 to rotate in the direction of arrow C. That is, the second clamping portion 1423 rotates outward.

[0207] As described above, due to the operation of the drive motor 1451, the first clamping part 1421 and the second clamping part 1423 are separated from each other, thereby enabling the opening action to be performed.

[0208] On the other hand, when the shaft 1441 rotates in the opposite direction, the linear motion section 1442 can perform a translational motion to the distal end. Furthermore, the first connecting member 1443 and the second connecting member 1444 connected to the linear motion section 1442 move to the distal end.

[0209] Therefore, the first connecting member 1443 can apply a pushing force to the first force point 1422, thereby causing the first clamping part 1421 to rotate inward. Furthermore, the second connecting member 1444 can apply a pushing force to the second force point 1424, thereby causing the second clamping part 1423 to rotate inward. That is, the clamping unit 1420 can be closed.

[0210] As described above, due to the operation of the drive motor 1451, the first clamping part 1421 and the second clamping part 1423 rotate in a manner that is close to each other, thereby enabling a closing action to be performed.

[0211] On the other hand, the cannula holder 1400 according to an embodiment of the present invention may further include a cannula detection unit 1430.

[0212] Among them, the cannula detection unit 1430 is a device for detecting cannulas installed in the cannula holder 1400.

[0213] Specifically, the cannula detection unit 1430 can detect the cannula when it is near the cannula or when the cannula is in physical contact with the cannula holder 1400. For example, the cannula detection unit 1430 may include a physical switch that is operated by external pressure. Thus, the cannula can be detected when the mounting portion of the cannula contacts the cannula detection unit 1430 and the switch is pressed.

[0214] In one embodiment, the cannula detection unit 1430 may be disposed at the distal end of the retainer body unit 1410. Specifically, the cannula detection unit 1430 may be disposed between the rotation axis of the first clamping portion 1421 and the rotation axis of the second clamping portion 1423. That is, the cannula detection unit 1430 may be configured to facilitate detection of the cannula when the cannula is located between the first clamping portion 1421 and the second clamping portion 1423.

[0215] Specifically, the cannula detection unit 1430 can be configured on the extension line of the power transmission shaft AX1. However, the idea of ​​the present invention is not limited to this, and the cannula detection unit 1430 can of course also be configured inside or outside the retainer body unit 1410, as long as it can detect the position of the cannula.

[0216] In a cannula holder 1400 according to an embodiment of the present invention, a drive motor 1451 can operate when the cannula detection unit 1430 detects a cannula. Specifically, the drive motor 1451 can operate according to the signal provided by the cannula detection unit 1430 after detecting the cannula.

[0217] Therefore, the clamping unit 1420, which is in the open state, can automatically close by receiving power from the drive motor 1451. That is, according to an embodiment of the present invention, the cannula holder 1400 can sense whether the cannula is correctly positioned by the cannula detection unit 1430. The operator can drive the drive motor 1451 to install the cannula simply by placing the cannula in the appropriate position, thus eliminating the need for additional levers or handles.

[0218] With the cannula holder 1400 according to an embodiment of the present invention, the operator can easily install the cannula onto the surgical robot and can reduce the occurrence of the cannula's RCM position deviating from the proper position due to lack of operator skill.

[0219] The following describes a cannula holder 2400 according to another embodiment of the present invention. The cannula holder 2400 according to another embodiment of the present invention is characterized in that it is connected to... Figure 7 The power transmission unit 2440 differs from the cannula holder 1400 described in the embodiments above. The different configuration from the embodiments described above will be explained in detail below.

[0220] Figure 12 This is a perspective view showing a cannula holder 2400 according to another embodiment of the present invention. Figure 13 It is shown Figure 12 A perspective view of the upper plate 2413 of the cannula holder 2400 in the removed state. Figure 14 It is shown from another angle Figure 13 A three-dimensional view of the portion of the cannula needle retainer 2400.

[0221] Reference Figures 12 to 14 According to another embodiment of the present invention, the cannula holder 2400 may include a clamping unit 2420, a holder body unit 2410, a power generating unit 2450, and a power transmission unit 2440. The clamping unit 2420 may include a first clamping portion 2421 and a second clamping portion 2423, and the holder body unit 2410 may include a main plate 2411, an upper plate 2413, and a lower plate 2412. The power generating unit 2450 may include a drive motor 2451.

[0222] The first clamping part 2421, the second clamping part 2423, the main body plate 2411, the upper plate 2413, the lower plate 2412, and the drive motor 2451 in this embodiment are the same as those described above. Figure 7 The first clamping part 1421, the second clamping part 1423, the main body plate 1411, the upper plate 1413, the lower plate 1412, and the drive motor 1451 in the embodiments described above are substantially the same, so their detailed descriptions are omitted here.

[0223] On the other hand, the power transmission unit 2440 may include a shaft 2441, a first rack 2442a, a second rack 2442b, a first lever member 2445, a second lever member 2446, a first connecting member 2443, and a second connecting member 2444.

[0224] Among them, shaft 2441 is connected to power generation unit 2450, and power transmission shaft AX1 can be defined.

[0225] Although the figure shows that shaft 2441 is directly connected to drive motor 2451, the idea of ​​the present invention is not limited to this. Shaft 2441 can also be connected to drive linkage of power generation unit 2450 to receive power through drive linkage.

[0226] Shaft 2441 can rotate about its length axis. That is, shaft 2441 can rotate about the power transmission shaft AX1.

[0227] Furthermore, the shaft 2441 may have a pinion 2441a in one region. For example, the shaft 2441 may have a pinion 2441a at its distal end.

[0228] On the other hand, the first rack 2442a and the second rack 2442b can be arranged with the pinion 2441a positioned in the middle and facing each other. In addition, the first rack 2442a and the second rack 2442b can be arranged to cross the power transmission shaft AX1 of the shaft 2441.

[0229] From another perspective, the first rack 2442a can be configured on a virtual plane perpendicular to the first rotation axis 2425 and the second rotation axis 2427. The second rack 2442b can be configured on another virtual plane perpendicular to the first rotation axis 2425 and the second rotation axis 2427. Specifically, the first rack 2442a and the second rack 2442b can be configured parallel to the Y-axis in the figure.

[0230] From another perspective, a first rack 2442a may be configured on one side of a virtual plane that is perpendicular to the first rotation axis 2425 and the second rotation axis 2427 and includes the power transmission axis AX1 with axis 2441, and a second rack 2442b may be configured on the other side.

[0231] Each of the first rack 2442a and the second rack 2442b may have a gear on one surface that meshes with the pinion 2441a. In other words, the first rack 2442a and the second rack 2442b may have gears on their opposing surfaces.

[0232] Furthermore, one end of the first rack 2442a may be provided with a first protrusion 2442c. The first protrusion 2442c may be formed to be inserted into a first elongated hole 2445d of the first lever member 2445, which will be described below.

[0233] Similarly, one end of the second rack 2442b may be provided with a second protrusion 2442d. The second protrusion 2442d may be formed to insert into a second elongated hole 2446d of the second lever member 2446, which will be described below.

[0234] The first lever member 2445 can connect the first connecting member 2443 to the first rack 2442a, and the second lever member 2446 can connect the second connecting member 2444 to the second rack 2442b.

[0235] That is, one end 2445b of the first lever member 2445 can be connected to the first rack 2442a, and the other end 2445c of the first lever member 2445 can be connected to the first connecting member 2443.

[0236] Specifically, the first lever member 2445 can rotate around the fifth rotation axis 2447. The fifth rotation axis 2447 can be connected to the upper plate 2413 and the lower plate 2412. Furthermore, the fifth rotation axis 2447 can penetrate and be inserted into the body 2445a of the first lever member 2445 to form the rotation center of the first lever member 2445.

[0237] In the first lever member 2445, one end 2445b extending from the rotation center of the first lever member 2445 can be connected to the first rack 2442a, while the other end 2445c extending from the rotation center of the first lever member 2445 can be hinged to the first connecting member 2443.

[0238] Specifically, one end 2445b of the first lever member 2445 may have a first elongated hole 2445d. Furthermore, when the first protrusion 2442c of the first rack 2442a is inserted into the first elongated hole 2445d, the first protrusion 2442c may move to a certain extent within the first elongated hole 2445d.

[0239] One end 2446b of the second lever member 2446 can be connected to the second rack 2442b, and the other end 2446c of the second lever member 2446 can be connected to the second connecting member 2444.

[0240] Specifically, the second lever member 2446 can rotate around the sixth rotation axis 2448. The sixth rotation axis 2448 can be connected to the upper plate 2413 and the lower plate 2412. Furthermore, the sixth rotation axis 2448 can penetrate and be inserted into the main body 2446a of the second lever member 2446 to form the rotation center of the second lever member 2446.

[0241] In the second lever member 2446, one end 2446b extending from the rotation center of the second lever member 2446 can be connected to the second rack 2442b, while the other end 2446c extending from the rotation center of the second lever member 2446 can be hinged to the second connecting member 2444.

[0242] Specifically, one end 2446b of the second lever member 2446 may have a second elongated hole 2446d. Furthermore, when the second protrusion 2442d of the second rack 2442b is inserted into the second elongated hole 2446d, the second protrusion 2442d may move to a certain extent within the second elongated hole 2446d.

[0243] On the other hand, the first connecting member 2443 can connect the first lever member 2445 and the first clamping part 2421.

[0244] The structure connecting the first connecting member 2443 and the first clamping part 2421 is similar to... Figure 7 The first connecting member 1443 in the embodiments described above is substantially the same, therefore its detailed description is omitted.

[0245] The proximal end of the first connecting member 2443 can be hinged to the distal end of the first lever member 2445. That is, the first connecting member 2443 and the first lever member 2445 can be rotatably connected.

[0246] The hinge pin 2443d, which rotatably connects the first connecting member 2443 and the first lever member 2445, can be arranged parallel to the fifth rotation axis 2447. Furthermore, the hinge pin 2443d can also be arranged parallel to the third rotation axis 2426. In other words, the third rotation axis 2426, the fifth rotation axis 2447, and the hinge pin 2443d can be arranged parallel to each other.

[0247] The second connecting member 2444 can connect the second lever member 2446 and the second clamping part 2423.

[0248] The structure connecting the second connecting member 2444 and the second clamping part 2423 is similar to Figure 7 The second connecting member 1444 in the embodiments described above is substantially the same, therefore its detailed description is omitted.

[0249] The proximal end of the second connecting member 2444 can be hinged to the distal end of the second lever member 2446. That is, the second connecting member 2444 and the second lever member 2446 can be rotatably connected.

[0250] The hinge pin 2444d, which rotatably connects the second connecting member 2444 and the second lever member 2446, can be arranged parallel to the sixth rotation axis 2448. Furthermore, the hinge pin 2444d can be arranged parallel to the fourth rotation axis 2428. In other words, the fourth rotation axis 2428, the sixth rotation axis 2448, and the hinge pin 2444d can be arranged in parallel.

[0251] The mechanism by which the power of the drive motor 2451 is transmitted to the power transmission unit 2440 of the clamping unit 2420 in the cannula holder 2400 according to another embodiment of the present invention will now be described.

[0252] Figure 15 It is shown Figure 13 Plan view of the 2400 cannula retainer. Figure 16 It is used for explanation Figure 15 A plan view of the opening action of the cannula holder 2400. In other words, Figure 15 The clamping unit 2420 is shown in the closed state. Figure 16 The clamping unit 2420 is shown in the open state.

[0253] Due to the operation of the drive motor 2451, the shaft 2441 rotates around the power transmission shaft AX1, and the pinion 2441a located in a region of the shaft 2441 can also rotate.

[0254] Therefore, the first rack 2442a and the second rack 2442b, which are meshed with the pinion 2441a, can move linearly.

[0255] As the pinion 2441a rotates in a certain direction, the first rack 2442a and the second rack 2442b can move in opposite directions.

[0256] From another perspective, since the shaft 2441 rotates in a certain direction, the first rack 2442a can move along the length direction of the first rack 2442a, and the second rack 2442b can move along the length direction of the second rack 2442b, and move in such a way that one end of the first rack 2442a and one end of the second rack 2442b are adjacent to or far away from each other.

[0257] Specifically, when the shaft 2441 rotates in a certain direction, and one end of the first rack 2442a connected to the first lever member 2445 and one end of the second rack 2442b connected to the second lever member 2446 are close to each other, the first clamping part 2421 and the second clamping part 2423 can perform an opening action that moves them away from each other.

[0258] In other words, due to the rotation of shaft 2441 in a certain direction, the first rack 2442a can move in the direction of arrow D2, while the second rack 2442b can move in the direction of arrow D1. Furthermore, as a result of the linear movement of the first rack 2442a and the second rack 2442b, the first clamping part 2421 can rotate outward in the direction of arrow B', and the second clamping part 2423 can rotate outward in the direction of arrow C'.

[0259] Specifically, when the first rack 2442a moves along the D2 direction, the first protrusion 2442c of the first rack 2442a can slide towards the end side within the first elongated hole 2445d. Therefore, the first lever member 2445 can rotate such that one end 2445b of the first lever member 2445 is adjacent to the shaft 2441, and the other end 2445c is away from the shaft 2441.

[0260] As the first lever member 2445 rotates as described above, the first connecting member 2443, which is connected to the other end 2445c of the first lever member 2445, receives a pulling force toward the proximal side, thereby causing the first clamping part 2421 to rotate outward.

[0261] Similarly, when the second rack 2442b moves along the D1 direction, the second protrusion 2442d of the second rack 2442b can slide towards the end side within the second elongated hole 2446d. Therefore, the second lever member 2446 can rotate such that one end 2446b of the second lever member 2446 is adjacent to the shaft 2441, and the other end 2446c is away from the shaft 2441.

[0262] As the second lever member 2446 rotates as described above, the second connecting member 2444, which is connected to the other end 2446c of the second lever member 2446, receives a pulling force toward the proximal side, thereby causing the second clamping part 2423 to rotate outward.

[0263] As described above, due to the operation of the drive motor 2451, the first clamping part 2421 and the second clamping part 2423 can perform opening actions that are spaced apart from each other.

[0264] Conversely, when the shaft 2441 rotates in a certain direction, and one end of the first rack 2442a connected to the first lever member 2445 and one end of the second rack 2442b connected to the second lever member 2446 move away from each other, the first clamping part 2421 and the second clamping part 2423 can perform a closing action that is close to each other.

[0265] That is, when the first rack 2442a moves along the D1 direction and the second rack 2442b moves along the D2 direction, one end 2445b of the first lever member 2445 and one end 2446b of the second lever member 2446 rotate away from the axis 2441, respectively. As a result, the first connecting member 2443 and the second connecting member 2444 can apply a pushing force to the first clamping part 2421 and the second clamping part 2423, respectively, so that the first clamping part 2421 and the second clamping part 2423 rotate inward.

[0266] As described above, due to the operation of the drive motor 2451, the first clamping part 2421 and the second clamping part 2423 can perform a closing action that is adjacent to each other.

[0267] According to another embodiment of the present invention, the cannula holder 2400 may further include a cannula detection unit 2430. Therefore, as described above, when the cannula detection unit 2430 detects a cannula, the drive motor 2451 can operate. Specifically, the drive motor 2451 can operate based on the signal provided by the cannula detection unit 2430 after detecting the cannula.

[0268] Therefore, the clamping unit 2420, which is in the open state, can automatically close by receiving power from the drive motor 2451. That is, according to an embodiment of the present invention, the cannula holder 2400 can sense whether the cannula is correctly positioned by the cannula detection unit 2430. The operator can drive the drive motor 2451 to install the cannula simply by placing the cannula in the appropriate position, thus eliminating the need for additional levers or handles.

[0269] Therefore, the present invention has been described with reference to the preferred embodiments described above. Those skilled in the art will understand that the present invention can be implemented in various modifications without departing from its essential characteristics. Therefore, the disclosed embodiments should be understood in an illustrative rather than a limiting sense. The scope of the present invention is defined by the claims, not by the foregoing description, and all differences within the equivalent scope are included within the present invention.

[0270] Explanation of reference numerals in the attached figures

[0271] 10: Surgical robots

[0272] 400, 1400, 2400: Cannula retainer

[0273] 410, 1410, 2410: Holder body unit

[0274] 420, 1420, 2420: Clamping unit

[0275] 440, 1440, 2440: Power transmission unit

[0276] 450, 1450, 2450: Drive motor

[0277] 1430, 2430: Cannula Detection Unit

[0278] 1500: Cannula

[0279] 1520: Installation Department

Claims

1. A cannula retainer for a surgical robot, characterized in that, include: The clamping unit includes a first clamping part and a second clamping part arranged facing each other and moving in a manner that is close to or far from each other. A retainer body unit, wherein at least a portion of the clamping unit is connected to the retainer body unit. The power generation unit includes a drive motor that generates power for driving the clamping unit, and A power transmission unit is disposed within the retainer body unit and is used to transmit the power generated by the drive motor to the clamping unit.

2. The cannula holder for the surgical robot according to claim 1, characterized in that, When the drive shaft of the drive motor rotates in the first direction, the first clamping part and the second clamping part rotate toward each other in a direction of proximity. When the drive shaft rotates in a second direction opposite to the first direction, the first clamping part and the second clamping part rotate in a direction away from each other.

3. The cannula holder for the surgical robot according to claim 1, characterized in that, The power transmission unit causes the first clamping part and the second clamping part to rotate in opposite directions in a symmetrical configuration.

4. The cannula holder for the surgical robot according to claim 1, characterized in that, The first clamping part and the second clamping part rotate around the same axis.

5. The cannula holder for the surgical robot according to claim 1, characterized in that, The first clamping part rotates about the first rotation axis. The second clamping part rotates around a second rotating axis that is spaced apart from the first rotating axis.

6. The cannula holder for the surgical robot according to claim 5, characterized in that, The first rotating shaft is coupled to the proximal end of the first clamping part and the shaft of the retainer body unit, and the second rotating shaft is coupled to the proximal end of the second clamping part and the shaft of the retainer body unit.

7. The cannula holder for the surgical robot according to claim 1, characterized in that, The cannula retainer of the surgical robot also includes: A cannula detection unit is used to detect cannulas installed in the cannula retainer.

8. The cannula holder for the surgical robot according to claim 7, characterized in that, The drive motor is configured as follows: When the cannula detection unit detects a cannula, the drive motor automatically runs based on the signal provided by the cannula detection unit.

9. The cannula holder for the surgical robot according to claim 7, characterized in that, The cannula detection unit is disposed between the rotation axis of the first clamping part and the rotation axis of the second clamping part.

10. The cannula holder for the surgical robot according to claim 1, characterized in that, The first clamping part includes: The first force point extends from the rotation center of the first clamping part and receives the force for rotating the first clamping part at a position spaced apart from the rotation center of the first clamping part. The second clamping part includes: The second force point extends from the rotation center of the second clamping part and receives the force for rotating the second clamping part at a position spaced apart from the rotation center of the second clamping part.

11. The cannula holder for the surgical robot according to claim 10, characterized in that, The power transmission unit includes: A first connecting member is connected to the first force point portion; and The second connecting member is connected to the second force point.

12. The cannula holder for the surgical robot according to claim 11, characterized in that, The first connecting member and the second connecting member receive power from the power generating unit and apply force to the first force point and the second force point respectively, thereby causing the first clamping part and the second clamping part to rotate outward or inward.

13. The cannula holder for the surgical robot according to claim 1, characterized in that, A movable engagement hole is formed in a region on the proximal side of the first clamping part and the second clamping part, and a protrusion is formed on the upper plate of the retainer body unit. The protrusion can move relative to the movable engagement hole when it is embedded in the movable engagement hole.

14. The cannula holder for the surgical robot according to claim 1, characterized in that, The power transmission unit includes: A shaft is connected to the power generation unit and defines the power transmission shaft. The linear motion unit performs translational motion between the proximal and distal ends along the power transmission axis. A first connecting member connects the linear motion part to the first clamping part, and The second connecting member connects the linear motion part to the second clamping part.

15. The cannula holder for the surgical robot according to claim 14, characterized in that, When the linear motion part moves towards the proximal side, the first clamping part and the second clamping part perform opening actions that are spaced apart from each other. When the linear motion part moves toward the distal end, the first clamping part and the second clamping part perform a closing action that is adjacent to each other.

16. The cannula holder for the surgical robot according to claim 14, characterized in that, The linear motion unit is configured as follows: When the shaft rotates around the power transmission shaft, the linear motion part performs translational motion.

17. The cannula holder for the surgical robot according to claim 14, characterized in that, The linear motion unit includes: The nut portion allows the shaft to pass through and be inserted. The first hinge portion and the second hinge portion are provided on both sides of the nut portion; The first connecting member is configured as follows: One end of the first connecting member is rotatably connected to the first hinge portion, and the other end of the first connecting member is rotatably connected to the first clamping portion; The second connecting member is configured as follows: One end of the second connecting member is rotatably connected to the second hinge portion, and the other end of the second connecting member is rotatably connected to the second clamping portion.

18. The cannula holder for the surgical robot according to claim 1, characterized in that, The power transmission unit includes: A shaft, equipped with a pinion gear and connected to the power generating unit, defines a power transmission shaft. A first rack and a second rack, with the pinion positioned between them and facing each other, and equipped with gears that mesh with the pinion. The first lever component is connected to the first rack. The second lever component is connected to the second rack. A first connecting member connects the first lever member and the first clamping portion, and The second connecting member connects the second lever member and the second clamping part.

19. The cannula holder for the surgical robot according to claim 18, characterized in that, The first lever member is configured as follows: One end of the first lever member extends from the rotation center of the first lever member and is connected to the first rack, and the other end of the first lever member extends from the rotation center of the first lever member and is hinged to the first connecting member. The second lever member is configured as follows: One end of the second lever member extends from the rotation center of the second lever member and is connected to the second rack, and the other end of the second lever member extends from the rotation center of the second lever member and is hinged to the second connecting member.

20. The cannula holder for the surgical robot according to claim 18, characterized in that, The first rack and the second rack are configured to intersect the power transmission shaft of the shaft. When the shaft rotates in a certain direction, the first rack moves along the length direction of the first rack, and the second rack moves along the length direction of the second rack, with one end of the first rack and one end of the second rack moving either close to or far from each other.

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