Surgical instrument fixing device for surgical robot

Abstract

The present invention relates to a surgical instrument fixing device for a surgical robot, and more particularly, to preventing deformation of related components and improving durability by stably fixing and supporting a sleeve for supporting a shaft of a surgical instrument having a shaft such as a drill, and to a surgical instrument fixing device for a surgical robot that can perform separation and assembly operations of the surgical instrument conveniently and stably without difficulty.

Description

Technical Field

[0001] The present invention relates to a surgical instrument fixing device for a surgical robot. More specifically, the present invention relates to a surgical instrument fixing device for a surgical robot that can prevent deformation of related components and improve durability by stably fixing and supporting a sleeve for supporting the shaft of a surgical instrument having a shaft, such as a drill, and can perform the separation and assembly operations of the surgical instrument conveniently and stably without difficulty.

Background Art

[0002] Generally, surgical treatments for joint diseases include arthroscopic surgery, chondrocyte transplantation, etc. In the case of severe diseases, artificial joint surgery is required. Artificial joint surgery includes manual artificial joint surgery performed by medical staff and artificial joint surgery using a robot, which are typically used.

[0003] Artificial joint surgery using a robot is a surgical method in which a cutter of a cutting device attached to the end of a position-variable arm of a robot is rotated according to information input into a computer to shave the knee bone and an artificial knee joint (implant) is attached, and a cutting device including a cutting tool such as a drill (hereinafter referred to as a "drill") is used.

[0004] Attached FIG. 1a is a perspective view showing an assembled state for explaining a conventional surgical instrument fixing device for an orthopedic surgical robot, and FIG. 1b is an exploded perspective view for explaining a conventional surgical instrument fixing device for an orthopedic surgical robot.

[0005] Referring to FIGS. 1a and 1b, a conventional surgical instrument fixing device A for an orthopedic surgical robot includes a sleeve 200 that supports a drill 100 that performs a cutting action, a chuck device unit 300 that grips the drill, a holder unit 400 that is provided with the chuck device unit and is attached to the end of a position-variable arm (not shown) of the robot, an operation nut 500 that applies an operating force to fix or release the drill to the chuck device unit 300, and a motor (not shown) attached to a motor connection member 600 connected to the rear of the holder unit 400 to provide a rotational force to the drill.

[0006] To describe the foregoing components in more detail, the drill includes a head 110 formed with a cutting edge, and a round bar-shaped shaft 120 extending from the head 110. The drill 100 performs a cutting operation while rotating with the rear end side of the shaft 120 connected to a motor. The outer peripheral surface of the shaft 120 is supported by a sleeve 200 so as to be rotatable, and when the shaft 120 rotates, no shaking or deflection occurs. The head 110 protrudes outside the sleeve 200, and the rotation of the head 110 performs a bone cutting operation.

[0007] The sleeve 200 includes a pipe portion 210 having a small diameter, and a fastening cap 220 formed at one end of the pipe portion so as to be fastened to the chuck device portion 300. Inside the sleeve, a bearing 230, a spacer 240, etc. for rotatably supporting the shaft of the drill are inserted.

[0008] The chuck device portion 300 includes a chuck (320, which is usually called a normal collet and is a part for fixing the shaft of a drill, etc., and usually 3 to 4 jaws move radially) provided in front of the chuck body 310. The chuck moves together or spreads apart to perform a pressing and meshing operation (clamping operation) or a meshing release operation (unclamping) on the shaft of the drill. Among well-known chuck fixing devices, a medical chuck fixing device applied to orthopedics, dentistry, etc. can be applied. An operating force applying portion (not shown) such as an adjusting screw portion to which an operating nut 500 is fastened is formed on the chuck body 310. When the operating nut 500 rotates in one direction, the chuck gathers while pressing and fixing the shaft, and when the operating nut rotates in the reverse direction, the chuck spreads while releasing the fixed state of the shaft.

[0009] The foregoing conventional surgical instrument fixing device for an orthopedic surgery robot supports the drill 100 and performs a cutting operation, but there are limitations in that the following problems occur.

[0010] Conventionally, for the tool fixing device A for an orthopedic surgery robot, in the process of moving the drill 100 to the left and right during the cutting process, a large load acting on the left and right is transmitted to the sleeve 200. However, the sleeve 200 has a structure of a long cantilever beam and is screwed in front of the chuck body 310 in a manner having a separation distance d without separate supporting means. Therefore, when a large load is received on the left or right side, minute left - right deformations are induced. Due to such deformation of the sleeve 200, deformation of the shaft 120 of the drill 100 and related components (bearings) is caused, reducing durability. Deformation of the chuck device part 300 to which the shaft 120 is fixed is also caused, and there is a limit to reducing durability. As a result, there are disadvantages such as an increase in maintenance costs due to frequent component replacement, inability to perform stable surgery with a high risk of safety accidents, and an increase in the surgery downtime.

[0011] And, when the conventional tool fixing device for an orthopedic surgery robot attempts to be separated for cleaning or replacement of the drill 100, the operation nut 500 has to be rotated to release the fixed state of the shaft 120 from the chuck device part 300 or apply a tightening force. However, when the user has a weak grip strength like a female nurse, the operation is very difficult, the locking state cannot be firmly operated, and there are disadvantages that incorrect operations and safety accidents can be induced.

Summary of the Invention

Problems to be Solved by the Invention

[0012] The present invention has been proposed by paying attention to the above - mentioned content, and an object thereof is to provide a tool fixing device for a surgical robot that can prevent deformation of related components and improve durability by stably fixing and supporting a sleeve for supporting a shaft of a tool having a shaft.

[0013] Another object of the present invention is to provide a tool fixing device for a surgical robot that can perform the separation and assembly operations of the tool conveniently and stably with a small force.

Means for Solving the Problems

[0014] To achieve the above object, a surgical instrument fixing device for a surgical robot according to the present invention includes, in a surgical instrument fixing device for a surgical robot, a sleeve that supports a surgical instrument having a shaft, a chuck body to which the sleeve is fastened, a chuck built in the chuck body to selectively fix the shaft so as to fix the surgical instrument, and a chuck device unit including an operating force applying unit that applies an operating force for the meshing operation and the disengaging operation of the chuck. The surgical instrument fixing device further includes a holder unit provided with the chuck device unit and attached to the distal end of a robot arm. The surgical instrument fixing device is characterized by including a sleeve support portion formed to extend in the holder unit and on which the sleeve is placed and supported so as not to swing, and an operating handle connected to the operating force applying unit to apply an operating force.

[0015] The sleeve can be configured to include a pipe portion in which the shaft is accommodated and a fastening cap formed at an inner end of the pipe portion and fastened to the chuck body.

[0016] The sleeve support portion can be configured to include a support protrusion extending in the holder unit and a sleeve placement portion formed at an end of the support protrusion so that the fastening cap is closely attached and supported.

[0017] The support protrusion protrudes forward so that an operation space portion in which the operating force applying unit is located is provided inside, and the sleeve placement portion can be configured by a chuck hole into which the chuck body is inserted and a ring formed with a close contact surface having a corresponding shape so that an end surface of the fastening cap is in close contact.

[0018] The operating handle can be configured to include an engaging portion disposed in the operation space portion so as to engage with the operating force applying unit and a handle portion extending from the engaging portion.

[0019] The handle portion can be configured to include a first engaging portion that meshes with an outer surface on one side of the operating force applying portion so as to be disposed and assembled inside the operation space portion, a first handle portion having the first engaging portion extending at both ends thereof and having fastening holes formed therein, a second engaging portion that meshes with an outer surface on the other side of the operating force applying portion, a second handle portion having the second engaging portion extending at both ends thereof and having fastening holes formed therein, and a fastening member that is fastened to the fastening holes of the first handle portion and the second handle portion.

[0020] The surgical instrument fixing device for a surgical robot according to the present invention includes a motor connection member that is connected to the rear of the chuck device portion and in which a motor is housed. The holder portion can be configured to include a holder rod, a holder head provided at one end of the holder rod and having a binding hole and a sleeve support portion formed therein for binding to the motor connection member, a connection plate formed at the other end of the holder rod, and an arm connection member that is bound to the connection plate for binding to the end portion of the robot arm.

Advantages of the Invention

[0021] According to the surgical instrument fixing device for a surgical robot according to the present invention, even when the drill is moved left and right while a large load acts during surgery, as the fastening cap portion of the sleeve is fixed without swinging by the sleeve support portion, deformation is blocked, and deformation of the shaft of the drill and bearings built in the sleeve, etc., and deformation of the chuck device portion to which the shaft is fixed can be prevented, and durability can be improved. Therefore, maintenance costs can be reduced, surgery can be performed stably, the risk of safety accidents can be reduced, and the effect of reducing the surgery downtime can be achieved.

[0022] And according to the surgical instrument fixing device for a surgical robot according to the present invention, when separating and assembling the surgical instrument, the user can easily perform the clamping operation and the unclamping operation of the surgical instrument while rotating the operation handle forward and backward with a small force, and even a user with relatively weak grip strength can easily operate and use it conveniently.

Brief Description of the Drawings

[0023]

Figure 1a

Figure 1b

Figure 2

Figure 3

Figure 4a

Figure 4b

Figure 4c

Figure 4d

Figure 5

Embodiments for Carrying Out the Invention

[0024] Hereinafter, preferred embodiments of the present invention will be described in detail based on FIGS. 2 to 5 of the accompanying drawings, and the same reference numerals will be given to the same components in FIGS. 2 to 5 for explanation.

[0025] On the one hand, for components that can be easily understood by those with ordinary knowledge in this field from the general technology in each figure, the detailed descriptions of their operations and effects will be simplified or omitted. Furthermore, since the present invention features a surgical instrument fixing device for a surgical robot, the illustrations and descriptions will focus on the parts related thereto, and the descriptions of the remaining parts will be simplified or omitted.

[0026] FIG. 2 is a perspective view showing a surgical instrument fixing device for a surgical robot according to an embodiment of the present invention, FIG. 3 is an exploded perspective view showing the surgical instrument fixing device for a surgical robot according to an embodiment of the present invention, and FIGS. 4a to 4d are partial enlarged views for explaining the surgical instrument fixing device for a surgical robot according to an embodiment of the present invention. FIG. 4a shows a separated part of the main components, FIG. 4b shows the holder part and the sleeve support part, FIG. 4c shows the operation handle part, and FIG. 4d shows the motor connection member. FIG. 5 is a diagram for explaining the operating state of the surgical instrument fixing device for a surgical robot according to an embodiment of the present invention.

[0027] Referring to FIGS. 2 to 5, a surgical instrument fixing device 4' for a surgical robot according to an embodiment of the present invention is for stably fixing and supporting a sleeve for supporting the shaft of a surgical instrument having a shaft, and facilitating the separation and assembly operations of the surgical instrument 1. It is provided with a sleeve 2, a chuck device part 3, a holder part 4, a sleeve support part 5, an operation handle 6, and the like.

[0028] The surgical instrument 1 can be applied as long as it has a structure with a shaft 11 as a tool used in surgery. In this embodiment, an example will be described based on its application as a device for fixing a drill used as a cutting tool for cutting the knee bone during artificial knee joint (implant) surgery. Here, the drill applied to the surgical instrument 1 is fixed to the chuck device portion 3, and a motor connection portion (not shown) provided in the chuck device portion 3 is connected to a motor (not shown) to perform a cutting action while rotating. The outer peripheral surface of the shaft 11 is supported by a sleeve 2 so as to be rotatable, so that no shaking or deflection occurs when the shaft 11 rotates. A head 12 protrudes outside the sleeve 2, and the rotation of this head 12 performs a bone cutting action.

[0029] The sleeve 2 includes a pipe portion 21 with a small diameter and a fastening cap 22 formed at one end of the pipe portion 21 so as to be fastened to the chuck device portion 3 and fastened to a chuck body 31 described later. Inside this sleeve 2, a bearing 13, a spacer 14, etc. for supporting the shaft 11 of the drill so as to be rotatable are inserted.

[0030] On the other hand, the chuck device portion 3 can apply a medical chuck adjustment device applied to orthopedics, dentistry, etc. among well-known chuck devices, configured to perform an operation of pressing and engaging (clamping) the shaft 11 of the drill while the chuck 32 provided in front of the chuck body 31 is gathered or spread, or perform an operation of releasing the engagement (unclamping). Therefore, a detailed description of the specific configuration will be omitted.

[0031] For example, as shown in Fig. 4a, the chuck device portion 3 includes a chuck body 31 to which the sleeve 2 is fastened, a chuck 32 built in the chuck body 31 to selectively fix the shaft 11 so as to fix the surgical instrument 1, and an operation force application portion 33 for applying an operation force for the engagement operation and the disengagement operation of the chuck 32.

[0032] And the chuck body 31 incorporates a chuck moving member 34 and the like inside a round bar-shaped body having a substantially hollow portion, where the chuck 32 protrudes and retracts by the internal spring force during the forward and reverse rotation of the operation force application portion 33. More specifically described, when the operation force application portion 33 rotates in the forward direction, the chucks 32 are gathered together so as to press and fix the shaft while moving backward, and when the operation force application portion 33 rotates in the reverse direction, the chucks move forward and spread apart from each other to release the fixed state of the shaft.

[0033] The operation force application portion 33 is composed of a serration gear formed on the chuck body 31, and is rotated forward and backward by the rotational force applied from the operation handle 6 that is coupled.

[0034] Referring to FIGS. 3 and 4b, the holder portion 4 includes a substantially rod-shaped holder rod 41, a holder head 42 formed below one end of the holder rod 41, a connecting plate 43 formed above the other end of the holder rod 41, and an arm connecting member 44 coupled to the connecting plate 43 for coupling to the end portion of the robot arm, as components mounted on the end portion of a robot arm (not shown).

[0035] The holder head 42 is formed of a ring body 421 having a coupling hole 422 into which a motor connecting member 7 to be described later is inserted, a screw hole 423 is drilled in the ring body 421 so as to communicate with the coupling hole 422, and the sleeve support portion 5 described above is configured to protrude forward.

[0036] For example, as shown in FIG. 3, the arm connecting member 44 is composed of a clamp member that is coupled to a robot-side clamp member (not shown) mounted on an opposing robot arm (not shown). The clamp member includes a disk-shaped clamp body 441 formed with a plurality of fastening holes, and a clamp protrusion 442 formed with a locking hole 443 that is inserted into or locked to the clamp shaft of the robot-side clamp member.

[0037] On one hand, the sleeve holding part 5 is a component that extends to the holder part 4 and is configured to place and support the sleeve 2 so as not to swing. It includes a support protrusion 51 that extends to the holder part 4 and a sleeve placement part 52 that is formed at the end of the support protrusion 51 so that the fastening cap 22 of the sleeve 2 is closely attached and supported.

[0038] The support protrusion 51 is formed to protrude forward from the holder head 42 so that an operation space part 53 where the operation force application part 33 is located inside is provided. Two support protrusions 51 are formed at an angle of approximately 180° (the angle excluding the thickness of the support protrusion at an angle of 180°) so that there is no obstacle to the forward rotation of the operation handle 6 for the meshing operation of the chuck device part 3 and the reverse rotation of the operation handle 6 for the disengagement operation of the chuck device part 3.

[0039] The sleeve placement part 52 is formed at the protruding end of the support protrusion 51 and is composed of a ring in which a chuck hole 54 into which the chuck body 31 is inserted is formed. Here, the ring has a structure with an adhesion surface of a corresponding shape so that the end surface of the fastening cap 22 is closely attached.

[0040] The operation handle 6 is a component that is connected to the operation force application part 33 and is arranged in the operation space part 53 to apply an operation force. It includes an engagement part that meshes with the operation force application part 33 and a handle part that protrudes from the engagement part.

[0041] More specifically, as shown in FIGS. 4a and 4c, the operation handle 6 is arranged in the operation space part 53 provided inside the sleeve support part 5 and is importantly configured to be assemblable.

[0042] For this reason, the operation handle 6 is configured with a detachable structure including a first handle part 61, a second handle part 62, and a fastening member 63 that binds the first handle part and the second handle part.

[0043] The first handle part 61 is configured to mesh with the outer surface on one side of the operating force applying part 33, and is provided with a first meshing part 611 in which a serration gear meshing with the operating force applying part 33 (serration gear) is formed on the inner surface of a substantially hemispherical main body, and first handle parts 612 extending from both ends of the first meshing part 611 and having fastening holes formed therein.

[0044] The second handle part 62 is configured to mesh with the outer surface on the other side of the operating force applying part 33, and is provided with a second meshing part 621 in which a serration gear meshing with the operating force applying part 33 (serration gear) is formed on the inner surface of a substantially hemispherical main body, and second handle parts 622 extending from both ends of the second meshing part 621 and having fastening holes formed therein.

[0045] The fastening member 63 is a member fastened to the fastening holes of the first handle part 61 and the second handle part 62, and is constituted by an ordinary screw.

[0046] On the other hand, the chuck device part 3 is configured with a motor connection member 7 that is connected to the rear and in which a motor (not shown) is bundled.

[0047] As shown in FIGS. 4a and 4d, the motor connection member 7 has a screw part 72 and a bundling groove 73 formed on the outer peripheral surface of a round bar-shaped main body 71 in which a hollow hole for arranging the shaft 11 of the drill is formed inside, and a screw groove 74 for accommodating the end part of a screw 65 inserted through the screw hole 423 of the holder head 72 is recessed in the screw part 72.

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

[0049] The motor M is assembled to the motor connection member 7 of the surgical instrument fixing device 4' described above, the arm connection member 44 part is assembled to a clamp member (not shown) provided on a robot arm (not shown) of an orthopedic surgical robot, and the robot arm of the surgical robot operated according to the information input to the computer positions the surgical instrument fixing device A' at a fixed position at the surgical site.

[0050] When the motor operates according to the information input into the computer in such a state, the drill fixed to the chuck device unit 3 as the surgical tool 1 rotates to cut the set surgical site of the knee bone, and the operation is performed by a method of attaching an artificial knee joint (implant) in a predetermined order as such a cutting process is carried out.

[0051] And in the process of the surgical tool 1 rotating along with the rotation of the motor, the shaft 11 is supported by the pipe portion 21 of the sleeve 2 and stably rotated. At this time, the fastening cap 22 of the sleeve 2 is fastened in front of the chuck body 31, and the end face of the fastening cap 22 is assembled in a close contact structure that cannot swing in a surface contact manner with the sleeve placement portion 52, so that the separation distance d (see FIG. 1a) formed between the conventional sleeve and the holder head is not generated, and even if the surgical tool is moved while applying a force to the left or right side during the cutting process, fine left and right deformations are not induced.

[0052] When the fastening cap 22 portion of the sleeve 2 is fixed without swinging by the sleeve support portion 5 and deformation is blocked in this way, deformation of bearings and the like built in the shaft 11 of the drill and the sleeve 2 can be prevented, and durability can be improved. Furthermore, deformation of the chuck device unit 3 to which the shaft is fixed can also be prevented and durability can be improved. As a result, maintenance costs can be reduced, the operation can be performed stably, the risk of safety accidents can be reduced, and the operation downtime can be reduced.

[0053] On the other hand, when the user tries to separate and assemble the surgical tool fixing device for a surgical robot according to the present invention during cleaning or replacement of the drill as the surgical tool, the user places the first handle portion 612 and the second handle portion 622 protruding from the operation handle 6 and rotates it at an angle of 180° in the forward direction and rotates it at an angle of 180° in the reverse direction. In this way, the engagement operation and the disengagement operation of the shaft of the surgical tool 1 by the chuck device unit 3 can be easily performed, and even a female nurse with weak grip strength can operate it conveniently without difficulty.

[0054] Terms such as "including", "comprising", or "having" described above shall, unless otherwise stated to the contrary, mean that the component can be inherent, and shall not exclude other components, but should be construed as capable of further including other components. All terms, including technical or scientific terms, shall have the same meaning as commonly understood by those with ordinary knowledge in the technical field to which the present invention pertains, unless otherwise defined. Commonly used terms, such as those defined in a dictionary, shall be construed as consistent with the meaning in the context of the related art, and shall not be construed in an ideal or overly formal sense unless clearly defined in the present invention.

[0055] Although the configuration and operation of the surgical instrument fixing device for a surgical robot according to an embodiment of the present invention described above have been explained, this is exemplary, and it will be understood that those with ordinary knowledge in the technical field can substitute and modify a part of the above-described embodiment without departing from the technical idea of the present invention.

[0056] Therefore, it should be understood that the protection scope of the present invention extends to the invention described in the claims and its equivalents.

Industrial Applicability

[0057] The surgical instrument fixing device for a surgical robot according to the present invention has been mainly described with an example applied to the fixation of surgical instruments for orthopedic surgical robots such as artificial joint surgery, but is not limited thereto, and can be applied to uses for stably fixing and supporting various surgical instruments having a shaft.

Claims

1. In a surgical instrument fixing device for a surgical robot, a sleeve that supports a surgical instrument having a shaft, a chuck body to which the sleeve is fastened, a chuck built into the chuck body to selectively fix the shaft so as to fix the surgical instrument, and a chuck device unit including an operating force applying unit that applies an operating force for the meshing operation and the disengaging operation of the chuck, a holder unit provided with the chuck device unit and attached to the distal end of a robot arm, a surgical instrument fixing device for a surgical robot, comprising a sleeve support portion formed to extend in the holder unit and on which the sleeve is placed and supported so as not to swing, and an operating handle connected to the operating force applying unit to apply an operating force.

2. The sleeve includes a pipe portion in which the shaft is accommodated, and a fastening cap formed at an inner end of the pipe portion and fastened to the chuck body. The sleeve support portion according to claim 1, comprising a support protrusion extending in the holder unit, and a sleeve placement portion formed at an end of the support protrusion so that the fastening cap is closely adhered and supported.

3. The support protrusion protrudes forward so that an operating space portion in which the operating force applying unit is located is provided inside. The sleeve placement portion is composed of a chuck hole into which the chuck body is inserted and a ring formed with a close contact surface having a corresponding shape so that the end surface of the fastening cap is in close contact. The operating handle according to claim 2, comprising an engaging portion disposed in the operating space portion so as to engage with the operating force applying unit, and a handle portion extending from the engaging portion.

4. The handle portion includes a first engaging portion that engages with an outer surface on one side of the operating force applying unit so as to be disposed and assembled inside the operating space portion, and a first handle portion provided with a first handle portion having fastening holes formed at both ends extending from the first engaging portion. a second engaging portion that engages with an outer surface on the other side of the operating force applying unit, and a second handle portion provided with a second handle portion having fastening holes formed at both ends extending from the second engaging portion, and a fastening member fastened to the fastening holes of the first handle portion and the second handle portion. The surgical instrument fixing device for a surgical robot according to claim 3.

5. A motor connection member is provided which is connected to the rear of the chuck device section and to which a motor is bound. The holder section includes a holder rod, a holder head provided at one end of the holder rod and having a binding hole and a sleeve support section formed therein and bound to the motor connection member, a connection plate formed at the other end of the holder rod, and an arm connection member bound to the connection plate for binding to the end section of the robot arm, the surgical tool fixing device for a surgical robot according to claim 4.

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