Surgical device for surgical robot equipped with calibration attachment part

Abstract

The present invention relates to a surgical device for a surgical robot equipped with a calibration mounting section, and more specifically to a surgical device for a surgical robot equipped with a calibration mounting section that can be used with various medical instruments in a compatible manner and that can easily be equipped with a calibration tool for accurate calibration. The surgical device for a surgical robot equipped with a calibration mounting part according to the present invention is characterized in that it includes, in a cutting device for a surgical robot, a sleeve that supports a medical instrument having a shaft, a chuck device part to which the sleeve including the shaft is fastened, a holder part on which the chuck device part is provided and which is attached to the end of a robot arm, and a calibration mounting part that is configured to be detachable from the sleeve and on which a calibration tool is provided.

Description

[Technical Field]

[0001] The present invention relates to a surgical device for a surgical robot equipped with a calibration mounting part, and more specifically to a surgical device for a surgical robot equipped with a calibration mounting part that can be compatible with various medical instruments and can easily be equipped with a calibration tool for accurate calibration. [Background technology]

[0002] In general, surgical treatments for joint diseases include arthroscopic surgery and chondrocyte transplantation, and in severe cases, artificial joint surgery is performed, with the most common types of artificial joint surgery being manual artificial joint surgery performed by medical professionals and robotic artificial joint surgery.

[0003] Artificial joint surgery using a robot is a procedure in which the cutter of a cutting device attached to the end of the robot's position-adjustable arm is rotated according to information input into a computer to remove the knee bone and then an artificial knee joint (implant) is inserted.The cutting device includes a cutting tool such as a cutter (hereinafter referred to as a "cutter").

[0004] FIG. 1a attached herewith is a perspective view showing an assembled state for explaining a conventional cutting device for a surgical robot, and FIG. 1b is an exploded perspective view for explaining a conventional cutting device for a surgical robot.

[0005] 1a and 1b, a conventional cutting device A for a surgical robot includes a sleeve 200 that supports a cutter 100 that performs the cutting action, a chuck device unit 300 that grips the cutter, a holder unit 400 on which the chuck device unit is installed and attached to the end of a position-adjustable arm (not shown) of the robot, an operating nut 500 that applies an operating force to fix or unlock the cutter to the chuck device unit 300, and a motor (not shown) attached to a motor connecting member 600 connected to the rear of the holder unit 400 to provide a rotational force to the cutter.

[0006] To explain the above-mentioned components in more detail, the cutter is composed of a head 110 on which a cutting blade is formed, and a ring-shaped shaft 120 formed and extending from the head 110. The rear end of the shaft 120 of the cutter 100 is connected to a motor and rotates to perform cutting action, and the outer circumferential surface of the shaft 120 is rotatably supported by a sleeve 200 so that the shaft 120 does not vibrate or warp when it rotates, and the head 110 protrudes outside the sleeve 200, and the rotation of the head 110 performs the cutting action on the bone.

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

[0008] The chuck device part 300 is a chuck 320 provided in front of the chuck body 310, which is usually called a collet, and is the part that fixes the shaft of a cutter, etc., and is configured so that usually three to four jaws move radially, gathering and spreading out, and pressing against the cutter shaft to perform a gripping operation (clamping operation) or a release operation (unclamping operation).

[0009] The above-described conventional cutting device for a surgical robot performs cutting action while supporting the cutter 100, but has limitations that cause the following problems.

[0010] First, in conventional cutting devices for surgical robots, when the length or diameter of the cutter 100 is changed depending on the surgical method or type of surgery for an artificial joint, a sleeve 200 must be individually manufactured to fit the cutter, which makes it difficult to prepare and use, and increases manufacturing costs, which in turn leads to increased medical expenses.

[0011] For example, in total knee arthroplasty (TKA), which involves cutting both the femur and tibia, a cutter with a relatively long shaft and a head diameter of 6.2 mm is typically used. In uni-knee arthroplasty (UKA), which involves cutting only one side of the femur and tibia, a cutter with a relatively short shaft of 5.0 mm is used. In the guide hole resection (GHR) technique, a cutting block is fixed to the bone during surgery, but the insertion hole for the fixation pin used to fix the cutting block must be drilled using a 3.2 mm cutter, which makes surgical preparation difficult and creates a pressing need for compatible sleeves.

[0012] In particular, conventional cutting devices for surgical robots have limitations in that it is difficult to install a calibration tool such as a marker to calibrate the tip of the cutter during artificial joint surgery using a robot when the length and diameter of the sleeve 200 are changed each time, making it difficult to accurately set the position. [Prior art documents] [Patent documents]

[0013] [Patent Document 1] Korean Patent No. 10-1624512 "Cutting device for joint cutting system using robot" [Patent Document 2] Korean Patent No. 10-0873014 "Joint cutting system using a robot" Summary of the Invention [Problem to be solved by the invention]

[0014] The present invention has been proposed with the above in mind, and its purpose is to provide a surgical device for a surgical robot that can be installed and used with various medical instruments in a compatible manner, and that is equipped with a calibration mounting section that allows calibration tools to be easily installed and accurately calibrated.

[0015] In order to achieve the above object, the surgical device for a surgical robot equipped with a calibration mounting part of the present invention is characterized in that, in a cutting device for a surgical robot, it includes a sleeve that supports a medical instrument having a shaft, a chuck device part to which the sleeve including the shaft is fastened, a holder part on which the chuck device part is provided and which is attached to the end of a robot arm, and a calibration mounting part that is configured to be freely attached and detached to the sleeve and on which a calibration tool is provided.

[0016] The calibration mounting portion may include a fixing cap member fastened to the sleeve, and a calibration mounting member fixed to the sleeve by the fixing cap member.

[0017] The calibration mounting member may include a rod-shaped calibration shaft to which a marker is attached, and a position setting member formed on the calibration shaft and seated on the fixing cap member.

[0018] The sleeve may be formed of a hollow sleeve body having a binding male thread portion formed on an outer peripheral surface of one side and a shaft insertion hole passing through along the longitudinal direction.

[0019] The fixed cap member may include a cap-shaped cap body connected to the hollow sleeve body, a rod insertion hole formed in the cap body so that the calibration shaft can be inserted, and a cap female thread portion formed on the inner surface of the cap body so that the cap can be fastened to the binding male thread portion.

[0020] The surgical device for a surgical robot including the calibration mounting part according to the present invention may further include a mounting member rotation blocking part configured to block movement of the calibration mounting member.

[0021] The mounting member rotation blocking portion may include a pin insertion groove formed in the sleeve, and a rotation blocking pin formed in the position setting member to be inserted into the pin insertion groove.

[0022] The pin insertion groove may be formed with a structure having a foreign matter discharge portion on one side to facilitate discharge of foreign matter.

[0023] Preferably, the calibration mounting member includes a cap detachment prevention means configured to prevent the fixed cap member from detaching from the calibration shaft, the position setting member is configured as a disk inserted into the fixed cap member, a plurality of the rotation blocking pins protrude from the disk, and the fixed cap member has an inspection opening in the cap body through which the alignment state of the sleeve and the calibration mounting member can be confirmed.

[0024] The sleeve may include a sleeve cap coupled to the shaft insertion hole corresponding to the outer free end portion of the hollow sleeve body, a plurality of first support bearings provided in the shaft insertion hole in contact with the sleeve cap and supporting the shaft, a cylindrical spacer provided in contact with the first support bearings, a plurality of second support bearings provided in contact with the spacer and supporting the shaft, and an airtight member inserted through a binding female thread portion formed inside the shaft insertion hole.

[0025] The shaft insertion hole may be provided with a clamping groove portion in which the sleeve cap, the first support bearing, the second support bearing, and the spacer are clamped, a locking protrusion portion in which the second support bearing is locked, and an airtight member insertion groove that is recessed into the inner end of the binding female thread portion so that the airtight member can be inserted. [Effects of the Invention]

[0026] According to the surgical device for a surgical robot equipped with the calibration mounting part of the present invention, the sleeve is not made up of a long, thin pipe as in the past, but is made up of a hollow sleeve body with a relatively large outer diameter, so that it can be used interchangeably without having to be replaced every time the cutter type is changed, and it has the advantage of being able to easily replace and use various cutters, etc.

[0027] The surgical device for a surgical robot equipped with a calibration mounting part according to the present invention has the advantage of enabling simple and accurate calibration by assembling the calibration mounting part to a sleeve by fastening it to the sleeve. Furthermore, when the rotation blocking pin formed on the positioning member is inserted into the pin insertion groove of the sleeve during the calibration mounting part assembly process, the movement of the calibration mounting part on which the calibration tool is installed can be fundamentally blocked, thereby enabling accurate calibration. [Brief explanation of the drawings]

[0028] [Figure 1a] FIG. 1 is a perspective view illustrating a conventional surgical device for an orthopedic surgery robot. [Figure 1b] FIG. 1 is an exploded perspective view illustrating a conventional surgical device for an orthopedic surgery robot. [Figure 2] 1 is a perspective view showing a state in which a calibration tool is provided on a surgical apparatus for a surgical robot equipped with a calibration mounting portion according to one embodiment of the present invention. FIG. [Figure 3]1 is an exploded perspective view illustrating a surgical device for a surgical robot equipped with a calibration mounting portion according to an embodiment of the present invention. [Figure 4a] 1 is a perspective view illustrating a sleeve portion of a surgical apparatus for a surgical robot equipped with a calibration mounting portion according to an embodiment of the present invention. FIG. [Figure 4b] 1 is an overall cross-sectional view illustrating a sleeve portion of a surgical device for a surgical robot equipped with a calibration mounting portion according to one embodiment of the present invention. [Figure 4c] 1 is a cross-sectional view of a hollow sleeve body for explaining a sleeve portion of a surgical device for a surgical robot equipped with a calibration mounting portion according to one embodiment of the present invention. [Figure 5a] 1 is a perspective view illustrating a calibration mounting portion of a surgical apparatus for a surgical robot, the surgical apparatus including the calibration mounting portion according to one embodiment of the present invention. FIG. [Figure 5b] 1 is an exploded perspective view illustrating a calibration mounting portion of a surgical apparatus for a surgical robot, the surgical apparatus including the calibration mounting portion according to one embodiment of the present invention. FIG. [Figure 5c] 1 is a cross-sectional view illustrating a portion of a calibration mounting portion of a surgical apparatus for a surgical robot, the surgical apparatus including the calibration mounting portion according to one embodiment of the present invention. [Figure 6a] 1 is a front view showing a cutter applied as a surgical tool to a surgical device for a surgical robot equipped with a calibration mounting portion according to one embodiment of the present invention. FIG. [Figure 6b] 1 is a front view showing a cutter applied as a surgical tool to a surgical device for a surgical robot equipped with a calibration mounting portion according to one embodiment of the present invention. FIG. [Figure 6c] 1 is a front view showing a cutter applied as a surgical tool to a surgical device for a surgical robot equipped with a calibration mounting portion according to one embodiment of the present invention. FIG. [Figure 7a] 1 is a perspective view showing a state in which a cutter is provided as a surgical tool in a surgical device for a surgical robot equipped with a calibration mounting portion according to one embodiment of the present invention. FIG. [Figure 7b] 1 is a perspective view showing a state in which a cutter is provided as a surgical tool in a surgical device for a surgical robot equipped with a calibration mounting portion according to one embodiment of the present invention. FIG. [Figure 7c] 1 is a perspective view showing a state in which a cutter is provided as a surgical tool in a surgical device for a surgical robot equipped with a calibration mounting portion according to one embodiment of the present invention. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0029] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, FIGS. 2 to 7c, where the same components are designated by the same reference numerals.

[0030] However, detailed descriptions of the configurations and their functions and effects that can be easily understood by a person of ordinary skill in the art from the general techniques shown in the drawings will be simplified or omitted. Also, since the present invention is characterized by a surgical device for a surgical robot equipped with a calibration mounting unit, the drawings and descriptions will focus on the relevant parts, and descriptions of the remaining parts will be simplified or omitted.

[0031] Fig. 2 is a perspective view showing a state in which a calibration tool is provided on a surgical apparatus for a surgical robot having a calibration mounting portion according to one embodiment of the present invention, Fig. 3 is an exploded perspective view illustrating a surgical apparatus for a surgical robot having a calibration mounting portion according to one embodiment of the present invention, Figs. 4a to 4c are views illustrating a sleeve portion of a surgical apparatus for a surgical robot having a calibration mounting portion according to one embodiment of the present invention, with Fig. 4a being a perspective view, Fig. 4b being an overall cross-sectional view, and Fig. 4c being a cross-sectional view of a hollow sleeve body, and Figs. 5a to 5c are views illustrating a portion of a calibration mounting portion of a surgical apparatus for a surgical robot having a calibration mounting portion according to one embodiment of the present invention, with Fig. 5a being a perspective view, Fig. 5b being an exploded perspective view, and Fig. 5c being a cross-sectional view.

[0032] Referring to Figures 2 to 5b, a surgical device for a surgical robot equipped with a calibration mounting part according to one embodiment of the present invention is configured to be able to mount and use various medical instruments in an interchangeable manner, to easily mount a calibration tool, and to perform quick and accurate calibration, and is equipped with a sleeve 1, a chuck device part 2, a holder part 3, and a calibration mounting part 4.

[0033] The sleeve 1 is a component that supports the shaft 71, 421 of a medical device 7 such as a cutter 7a or a calibration tool 7b described later, and is characterized in that it is designed to support a variety of medical devices in an interchangeable manner, rather than being made up of a long, thin pipe that lacks compatibility and has weak warping rigidity as in the past.

[0034] More specifically, the sleeve 1 is formed in a roughly round rod shape and is composed of a hollow sleeve body 11 in which the portion that fastens to the chuck device portion 2 is formed with a large diameter portion having a relatively large outer diameter, and a fastening male thread portion 13 is formed on the outer peripheral surface of one side, and a shaft insertion hole 12 passes through along the longitudinal direction.

[0035] The sleeve 1 includes a sleeve cap 14 that is connected to the shaft insertion hole 12 corresponding to the outer free end of the hollow sleeve body 11 via a joining method such as laser welding, a plurality of first support bearings 15 that are provided in the shaft insertion hole 12 in contact with the sleeve cap 14 and support the shaft, a cylindrical spacer 16 that is provided in contact with the first support bearings 15, a plurality of second support bearings 17 that are provided in contact with the spacer 16 and support the shaft, and an airtight member 18 that is inserted through a binding female thread portion 19 so as to be positioned inside the shaft insertion hole 12.

[0036] The shaft insertion hole 12 is formed with a clamping groove portion 121 in which the sleeve cap 14, the first support bearing 15, the second support bearing 17, and the spacer 16 are clamped, a locking protrusion 122 in which the second support bearing 17 is locked, and an airtight member insertion groove 123 that is recessed into the inner end of the binding female thread portion 19 so that the airtight member 18 can be inserted.

[0037] The first support bearing 15 and the second support bearing 17 are inserted into the front and rear of the sandwiching groove 121 with a spacer 16 sandwiched therebetween, and are made up of ball bearings as components supporting the outer and inner portions of the shaft 71. Two ball bearings are arranged consecutively to ensure sufficient durability even when the shaft rotates at high speeds. As is well known, the ball bearing is made up of an inner ring arranged at the center of the interior, an outer ring arranged concentrically around the inner ring, a number of balls interposed between the inner ring and the outer ring, and a bearing cover coupled to seal the balls. The inner diameter of the inner ring of the ball bearing is shaped so that it fits over the outer diameter of the large-diameter mounting portion of the cutter (described later).

[0038] The chuck device part 2 is a component that fastens the sleeve 1 including the shaft, and the chuck 22 provided in front of the chuck body 21 gathers and spreads to press against the shaft 71 of the medical device to perform a gripping operation (clamping operation) or release the gripping operation (unclamping operation).

[0039] The chuck device part 2 may be a medical chuck adjusting device used in orthopedic surgery, dentistry, etc., among known chuck devices, and therefore a detailed description of the configuration will be omitted.

[0040] For example, the chuck device part 2 includes a chuck body 21 to which the sleeve 1 is bound, a chuck 22 that is built into the chuck body 21 to fix a surgical tool and selectively fixes the shaft 71 of the cutter 7a, and an operating force application part (not shown) that applies operating forces for the gripping operation and the release operation of the chuck 22.

[0041] The chuck body 21 has a generally hollow, round rod-shaped body and includes a chuck moving member 24, which causes the chucks 22 to appear and disappear due to an internal spring force when the operating force application part (not shown) rotates forward or backward. More specifically, when the operating force application part (not shown) rotates forward, the chucks 22 move backward and gather together to press and fix the shaft, and when the operating force application part rotates backward, the chucks move forward and spread apart, releasing the fixed state of the shaft.

[0042] On the other hand, the holder section 3 is a component provided with the chuck device section 2 and attached to the end of a robot arm (not shown), and comprises a holder rod 31 having an approximately rod shape, a holder head 32 formed below one end of the holder rod 31, a connecting plate 33 formed on the top of the other end of the holder rod 31, and an arm connecting member 34 connected to the connecting plate 33 for connecting to the end of the robot arm.

[0043] The holder head 32 is formed of a ring body having a fastening hole into which a motor connecting member 37 for fastening the motor 9 is inserted, and includes a sleeve support part 35 that protrudes forward to support the sleeve 1, and an operating handle 36 disposed inside the sleeve support part 35. The operating handle 36 functions to rotate an operating force applying part (not shown) that applies an operating force for the gripping operation and the release operation of the chuck 22 by rotating forward and backward.

[0044] On the other hand, the calibration mounting portion 4 is configured to be detachable from the sleeve 1 so that a calibration tool 7b (calibration tool) such as a marker for calibrating the tip of a cutter (drill) in artificial joint surgery using a robot can be provided.

[0045] More specifically, the calibration mounting part 4 includes a fixing cap member 41 fastened to the sleeve 1, and a calibration mounting member 42 fixed to the sleeve 1 by the fixing cap member 41.

[0046] The calibration mounting member 42 is composed of a calibration shaft 421 on which a marker is provided, and a position setting member 422 formed on the calibration shaft 421 and seated on the fixed cap member 41 .

[0047] The calibration shaft 421 is formed into a rod-like structure like a round bar having a predetermined length. In this embodiment, since the cutter with a head diameter of 5.0 mm used in UKA (Uni-knee Arthroplasty) surgery and the cutter with a head diameter of 3.2 mm used in GHR (Guide Hole Resection) surgery have the same overall length (115.85 mm), calibration can be easily performed using one calibration shaft 421. Since the cutter with a head diameter of 6.2 mm used in TKA (Total Knee Arthroplasty) surgery is longer at 135.65 mm, the same calibration shaft is used for calibration, but a correction value for the difference in length is input into the robot system in advance, and calibration can be performed in a manner that corrects the calibration data of the 6.2 mm cutter.

[0048] The position setting member 422 is formed on the outer peripheral surface of the calibration shaft 421, and is formed in a disk shape so as to be inserted into the inside of the fixing cap member 41 and seated therein.

[0049] The fixed cap member 41 is connected to the hollow sleeve body 44 and is composed of a cap-shaped cap body 411 with a recessed anti-slip groove 416, a rod insertion hole 412 drilled in the cap body so that the calibration shaft 421 can be inserted, and a cap female thread portion 413 formed on the inner surface of the cap body so as to be fastened to the binding male thread portion 13 of the sleeve 1.

[0050] The fixed cap member 41 is preferably formed with an inspection opening 415 in the cap body 411 through which the alignment state of the sleeve 1 and the calibration mounting member 42 can be checked to see if any foreign matter has entered.

[0051] For example, the inspection opening 415 is formed by cutting about one-quarter of the cap body 411, and the cut portion allows for a view into the interior, thereby enabling confirmation of the alignment state of the calibration mounting member 42. That is, if foreign matter enters between the inner surface of the position setting member 422 and the end of the sleeve 1 through the inspection opening 415, a gap will be generated, which can be confirmed with the naked eye. If a gap is confirmed with the naked eye, the fixing cap member 41 can be separated from the sleeve and cleaned, and then reassembled and used for accurate calibration.

[0052] The calibration mounting member 42 is also configured with a cap detachment prevention means 43 that prevents the fixed cap member 41 from detaching from the calibration shaft 421.

[0053] The cap detachment prevention means 43 can be configured in a variety of ways without any particular restrictions as long as it can prevent the fixed cap member 41 from detaching, and in this embodiment it is configured with a detachment prevention groove 431 recessed into the calibration shaft 421 and a detachment prevention piece 432 such as a C-ring that is pressed into the detachment prevention groove.

[0054] On the other hand, the calibration mounting unit 4 is configured with a mounting member rotation blocking unit 44 configured to block the movement of the calibration mounting member 42 for accurate and stable calibration.

[0055] The mounting member rotation blocking portion 44 includes a pin insertion groove 441 formed in the sleeve 1 and a rotation blocking pin 442 formed in the position setting member so as to be inserted into the pin insertion groove 441 .

[0056] Here, the rotation blocking pin 442 is provided so that two rod-shaped pins protrude into the position setting member 422 at an angle of 180°.

[0057] The pin insertion groove 441 is formed in the sleeve 1 at a position corresponding to the rotation blocking pin 442, and is structured to have a foreign matter discharge portion on one side to facilitate the discharge of foreign matter. Here, the foreign matter discharge portion refers to a portion of the pin insertion groove 441 that is cut out and exposed to the outside.

[0058] Figures 6a to 6c are front views showing cutters used as surgical tools in a surgical device for a surgical robot equipped with a calibration mounting unit according to one embodiment of the present invention, with Figure 6a showing a cutter with a head diameter of 3.2 mm, Figure 6b showing a cutter with a head diameter of 5.0 mm, and Figure 6c showing a cutter with a head diameter of 6.2 mm. Figures 7a to 7c are perspective views showing cutters installed as surgical tools in a surgical device for a surgical robot equipped with a calibration mounting unit according to one embodiment of the present invention, with Figure 7a showing a cutter with a head diameter of 3.2 mm installed, Figure 7b showing a cutter with a head diameter of 5.0 mm installed, and Figure 7c showing a cutter with a head diameter of 6.2 mm installed.

[0059] Referring to Figures 6a to 7c, in a surgical device for a surgical robot equipped with a calibration mounting portion according to one embodiment of the present invention, the sleeve 1 is not configured as a long, thin pipe, but is configured as a hollow sleeve body 11 with a relatively large outer diameter, and cutters of various shapes can be attached and used.

[0060] For example, as shown in FIGS. 6a to 6c, a cutter 7a with a head diameter of 3.2 mm, a cutter 7a' with a head diameter of 5.0 mm, and a cutter 7a'' with a head diameter of 6.2 mm can be used.

[0061] The above cutters 7a differ in the outer diameter and shape of the cutter head 78, and the overall length of the shaft 71 may be the same or may vary, but they all have a round bar-shaped small diameter portion 75 that is formed with a relatively small diameter so that the shaft can be inserted into the chuck device portion 2.

[0062] The cutter 7a with a head diameter of 3.2 mm, the cutter 7a' with a head diameter of 5.0 mm, and the cutter 7a" with a head diameter of 6.2 mm each include a large diameter mounting portion 76 formed in contact with the small diameter portion and inserted into the sleeve 1, and having an outer diameter relatively larger than that of the small diameter portion, and a medium diameter portion 77 extending in contact with the large diameter mounting portion, having a cutter head 78 formed at the end thereof, and having an outer diameter larger than that of the small diameter portion but smaller than that of the large diameter mounting portion.

[0063] The cutter has two attachment confirmation bands 79 marked on the large diameter attachment portion 76 so that it can be checked whether it is attached properly or not without using a separate cutter gauge. At this time, the correct attachment of the cutters 7a, 7a', 7a" is indicated by the point where the outer one of the two attachment confirmation bands 79 is exposed. Therefore, if neither of the two attachment confirmation bands is visible, or if both of the attachment confirmation bands are visible, it is an improper attachment, so the cutter assembly must be adjusted so that only one attachment confirmation band is visible before use.

[0064] As described above, the cutter is provided with a large diameter mounting portion 76 that can be mounted in the shaft insertion hole 12 of the sleeve 1, so that it can be conveniently mounted on a single surgical device and used interchangeably, as shown in Figures 7a to 7c.

[0065] Meanwhile, the calibration tool 7b is detachably attached to the sleeve 1 and is an optical marker used in an optical tracking system (OTS). The marker body 75 has a shaft fixing hole (not shown) into which the calibration shaft 421 is inserted, and is provided with a fastening means 76, such as a fixing bolt, for fixing the calibration shaft 421 inserted into the shaft fixing hole. The marker body 75 is further provided with a plurality of roughly ball-shaped position transmitters 77, which reflect or transmit position signals to the optical tracking system (OTS). For reference, an optical tracking system is a device that can track the position and orientation of a marker in three-dimensional space in real time by tracking the marker with multiple infrared cameras and converting the distance using triangulation. The tracking principle of such optical tracking systems is widely known, so a detailed description thereof will be omitted for the sake of brevity.

[0066] Hereinafter, the operation of the surgical device for a surgical robot equipped with a calibration mounting portion according to one embodiment of the present invention will be briefly described.

[0067] The arm connection member 34 of the surgical device for a surgical robot equipped with the calibration mounting portion described above is assembled to a clamp member (not shown) provided on the robot arm (not shown) of the orthopedic surgery robot, and a medical tool 7 such as a cutter 7a is inserted and set in the sleeve 1. After the robot arm of the surgical robot, which is operated according to information input into the computer, is positioned at the surgical site, the surgery is performed according to the specified sequence.

[0068] To elaborate, when the motor 9 operates according to information input to the computer and the cutter 7a fixed to the chuck device part 2 rotates, the cutter head 78 formed at the end of the cutter cuts the treatment area of ​​the knee bone, and once this cutting process is completed, the procedure can be performed in a way that attaches the artificial knee joint (implant) in a predetermined order.

[0069] During surgery, the aforementioned cutter 7a has its shaft 71 supported by the sleeve 1, allowing it to rotate stably. However, the sleeve 1 of the present invention is not made of a long, thin pipe as in the past, but is made of a hollow sleeve body 11 with a relatively large outer diameter. Therefore, instead of changing the sleeve each time the type of cutter is changed, it is possible to easily change and use cutters with head diameters of 3.2 mm, 5.0 mm, 6.2 mm, etc., as shown in Figures 7a to 7c.

[0070] On the other hand, a surgical device for a surgical robot equipped with a calibration mounting part according to the present invention can easily provide a calibration tool 7b, such as a marker, for calibrating the tip of a cutter during artificial joint surgery using a robot using the calibration mounting part 4.

[0071] More specifically, the cutter 7a is first separated from the chucking device 2, the calibration mounting member 42 is inserted into the fixing cap member 41, and the fixing cap member 41 is fastened to the male thread portion 13 of the sleeve 1, thereby assembling the calibration mounting member 4. During this assembly process, when the rotation blocking pin 442 formed on the position setting member 422 is inserted into the pin insertion groove 441 formed on the sleeve 1, it is possible to fundamentally block movements such as rotation of the calibration mounting member 42 on which the calibration tool 7b is installed, which has the advantage of enabling accurate calibration.

[0072] The pin insertion groove 441 formed in the sleeve 1 has its outer portion cut away to form a foreign body discharge section in the exposed portion, which has the advantage that even if foreign bodies generated by the operation of the cutter during surgery enter, they can be easily discharged to the outside.

[0073] Furthermore, since an inspection opening 415 is formed in the fixed cap member 41, if foreign matter enters between the inner surface of the position setting member 422 and the end of the sleeve 1, a gap will occur. If a gap is visible to the naked eye, the fixed cap member 41 can be separated from the sleeve 1 and cleaned, and then reassembled and used to enable accurate calibration.

[0074] As used above, terms such as "comprise," "constitute," or "have," unless otherwise specified, mean that the relevant element can be present, and should be interpreted as not excluding other elements but as including other elements. All terms, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art to which the present invention belongs, unless otherwise defined. Commonly used terms, such as dictionary-defined terms, should be interpreted to be consistent with the contextual meaning of the relevant art, and should not be interpreted as having an ideal or overly formal meaning unless expressly defined in the present invention.

[0075] The configuration and operation of a surgical device for a surgical robot equipped with a calibration mounting section according to one embodiment of the present invention have been described above, but this is merely an example, and it will be understood that a person with ordinary knowledge in this technical field can replace or modify parts of the above-described embodiment without departing from the technical concept of the present invention. [Industrial Applicability]

[0076] The present invention is a surgical device for a surgical robot equipped with a calibration mounting section that can be applied to artificial joint surgery using a robot.In addition to artificial joint surgery robots, the device can be applied to various surgical robots in the medical field, and medical instruments can be attached and used in a compatible manner.It can also be used for applications where a calibration tool can be easily attached and accurate calibration can be performed.

Claims

1. In a cutting device for a surgical robot, a sleeve supporting a medical device having a shaft; a chuck device portion to which the sleeve including the shaft is fastened; a holder unit provided with the chuck device unit and attached to an end portion of a robot arm; A surgical device for a surgical robot equipped with a calibration mounting portion, characterized in that it includes a calibration mounting portion that is configured to be freely attached and detached to the sleeve and on which a calibration tool is provided.

2. The calibration mounting section includes: a fixed cap member fastened to the sleeve; 2. The surgical device for a surgical robot equipped with a calibration mounting portion according to claim 1, further comprising: a calibration mounting member fixed to the sleeve by the fixing cap member.

3. the calibration mounting member includes a rod-shaped calibration shaft to which a marker is attached, and a position setting member formed on the calibration shaft and seated on the fixing cap member, The sleeve is composed of a hollow sleeve body having a binding male thread portion formed on an outer peripheral surface of one side and a shaft insertion hole passing through along the longitudinal direction, 3. A surgical device for a surgical robot equipped with a calibration mounting portion as described in claim 2, characterized in that the fixed cap member includes: a cap-shaped cap body connected to the hollow sleeve body; a rod insertion hole formed in the cap body so that the calibration shaft is inserted; and a cap female thread portion formed on the inner surface of the cap body so that the cap female thread portion is fastened to the binding male thread portion.

4. 4. A surgical device for a surgical robot equipped with a calibration mounting portion according to claim 3, further comprising a mounting member rotation blocking portion configured to block movement of the calibration mounting member.

5. The mounting member rotation blocking portion is a pin insertion groove formed in the sleeve; 5. The surgical device for a surgical robot equipped with a calibration mounting portion according to claim 4, further comprising: a rotation blocking pin formed on the position setting member so as to be inserted into the pin insertion groove.

6. 6. The surgical device for a surgical robot having a calibration mounting part according to claim 5, wherein the pin insertion groove is formed with a structure having a foreign body discharge part on one side to facilitate discharge of foreign bodies.

7. the calibration mounting member includes a cap removal prevention means configured to prevent the fixed cap member from being removed from the calibration shaft; the position setting member is formed of a disk inserted into the fixing cap member, The rotation blocking pins are provided in a plurality of pieces and protrude from the disk.

6. A surgical device for a surgical robot equipped with a calibration mounting portion as described in claim 5, characterized in that the fixed cap member has an inspection opening formed in the cap body that allows the alignment state of the sleeve and the calibration mounting member to be confirmed.

8. The sleeve includes a sleeve cap coupled to the shaft insertion hole corresponding to the outer free end of the hollow sleeve body, a plurality of first support bearings provided in the shaft insertion hole in contact with the sleeve cap and supporting the shaft, a cylindrical spacer provided in contact with the first support bearings, a plurality of second support bearings provided in contact with the spacers and supporting the shaft, and an airtight member inserted through a binding female thread portion formed inside the shaft insertion hole, 4. A surgical device for a surgical robot equipped with a calibration mounting portion as described in claim 3, characterized in that the shaft insertion hole is provided with a clamping groove portion in which the sleeve cap, the first support bearing, the second support bearing, and the spacer are clamped, a locking protrusion portion in which the second support bearing is locked, and an airtight member insertion groove that is recessed into the inner end of the binding female thread portion so that the airtight member can be inserted.

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