Surgical tool fixing device for surgical robot

Abstract

The present invention relates to a surgical tool fixing device for a surgical robot. The surgical instrument fixing device for a surgical robot comprises: a sleeve that holds a surgical instrument having a shaft; a chuck body to which the sleeve is fastened; a chuck that is built into the chuck body to fix the surgical instrument and selectively fixes the shaft; a chuck device unit having an operating force application unit that applies operating forces for engaging and disengaging the chuck; a holder unit provided with the chuck device unit and having a sleeve holding unit that is attached to the end of the robot arm and places and holds the sleeve so that it does not swing; and a first sleeve fastening unit formed in such a direction that the sleeve faces the sleeve holding unit of the hollow sleeve body in which the shaft insertion hole is formed, and a second sleeve fastening unit is formed in the sleeve holding unit so that the first sleeve fastening unit is fastened.

Description

[Technical Field]

[0001] The present invention relates to a surgical instrument fixing device for a surgical robot, and more specifically to a surgical instrument fixing device for a surgical robot that can stably fix and hold a shaft-retaining sleeve for a surgical instrument, thereby preventing deformation of related parts and improving durability. [Background technology]

[0002] In general, surgical treatments for joint diseases include arthroscopic surgery and chondrocyte transplantation, and in severe cases, patients undergo artificial joint surgery, which is typically performed by manual artificial joint surgery performed by medical professionals or by robots.

[0003] Robotic artificial joint surgery 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 drill-like cutting tool (hereinafter referred to as a "drill").

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

[0005] 1a and 1b, a conventional surgical tool fixing device A for an orthopedic surgical robot includes a sleeve 200 that holds a drill 100 that performs cutting, a chuck device unit 300 that grips the drill, a holder unit 400 that is provided with the chuck device unit 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 and release the drill to and from 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 drill.

[0006] To explain the aforementioned components in more detail, the drill is composed of a head 110 on which a cutting blade is formed, and a round rod-shaped shaft 120 that extends from the head 110. The rear end of the shaft 120 of this drill 100 is connected to a motor and rotates to perform cutting action, and the outer circumferential surface of the shaft 120 is rotatably held by a sleeve 200 so that shaking or bending does not occur when the shaft 120 rotates, and the head 110 protrudes outside the sleeve 200 so that 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 chuck device portion 300. A bearing 230, a spacer 240, and the like that rotatably hold the drill shaft are inserted into the sleeve.

[0008] The fastening cap 220 of the sleeve 200 has a female thread (not shown) formed on the inner surface of the hollow portion, and the female thread of this fastening cap 220 is assembled in a manner that it is fastened to the male thread portion 311 formed on the chuck body 310.

[0009] The chuck device unit 300 is configured such that chucks 320 (commonly called collets, which secure the shaft of a drill or the like and typically have three or four jaws that move radially) provided at the front of the chuck body 310 converge and expand to press against the drill shaft to engage (clamp) or release (unclamp) the engagement, and among known chuck fixing devices, a medical chuck fixing device applicable to orthopedics, dentistry, etc. is applicable. An operating force applying portion (not shown), such as an adjusting screw portion to which an operating nut 500 is fastened, is formed in the chuck body 310. When the operating nut 500 is rotated in one direction, the chucks converge and press against the shaft to fix it, and when the operating nut is rotated in the opposite direction, the chucks expand and release the fixed state of the shaft.

[0010] The above-mentioned conventional surgical tool fixing device for an orthopedic surgical robot functions to perform cutting while holding the drill 100, but has limitations that cause the following problems.

[0011] In the conventional surgical tool fixing device A for an orthopedic surgical robot, large loads acting on the left and right sides are transmitted to the sleeve 200 when the drill 100 is moved left and right during the cutting process. However, because the sleeve 200 has a long cantilever structure and is threaded into the chuck body 310 at a distance d without any additional holding means, slight deformation occurs when a large load is applied to the left or right side. This deformation of the sleeve 200 causes deformation of the shaft 120 of the drill 100 and related components (bearings), reducing durability, and also causes deformation of the chuck device 300 to which the shaft 120 is fixed, reducing durability. In particular, because the female thread of the sleeve 200 is assembled in a manner in which it is threaded into the front male thread 311 of the chuck body 310, repeated external forces transmitted from the sleeve 200 can damage the chuck device 300, shorten its lifespan, and even cause malfunction of the chuck device. This has the disadvantages of increasing maintenance costs due to frequent part replacement, making stable surgery impossible and increasing the risk of safety accidents, as well as increasing downtime during surgery.

[0012] Furthermore, in the conventional surgical tool fixing device for an orthopedic surgical robot, when the drill 100 is to be separated for cleaning or replacement, the operating nut 500 must be rotated to release the fixed state of the shaft 120 from the chuck device part 300 or to apply a clamping force. However, if the user has weak grip strength, such as a female nurse, this operation is very difficult and the locked state cannot be firmly operated, which has the disadvantage of inducing incorrect operation or safety accidents.

[0013] Furthermore, with conventional surgical instrument fixing devices for orthopedic surgical robots, if the length or diameter of the cutter (drill) is changed depending on the surgical method or type of surgery for an artificial joint, a sleeve must be individually manufactured to fit the cutter, which makes preparation and use difficult and increases manufacturing costs, leading to increased medical expenses. [Prior art documents] [Patent documents]

[0014] [Patent Document 1] Korean Patent No. 10-2359592 "Holder for easy fastening of cutting tools" [Patent Document 2] Japanese Patent No. 6385275: "Surgical instrument with a cutting accessory extending from a housing and an actuator that establishes the position of the cutting accessory relative to the housing" Summary of the Invention [Problem to be solved by the invention]

[0015] The present invention has been proposed with the above in mind, and its purpose is to provide a surgical instrument fixing device for a surgical robot that can stably fix and hold the shaft-holding sleeve of a surgical instrument having a shaft, thereby preventing deformation of related parts and improving durability.

[0016] More specifically, the present invention aims to provide a surgical tool fixing device for a surgical robot that can prevent damage and deformation of the chuck device and improve durability, as well as improve the operational stability of the chuck device, by assembling the sleeve to a sleeve holding portion that extends from a holder portion without assembling it to the chuck device portion.

[0017] Another object of the present invention is to provide a surgical tool fixing device for a robot that can perform the operations of separating and assembling surgical tools conveniently and stably with little force.

[0018] Another object of the present invention is to provide a surgical instrument fixing device for a surgical robot 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. [Means for solving the problem]

[0019] In order to achieve the above object, the surgical instrument fixing device for a surgical robot according to the present invention is characterized in that it comprises a sleeve that holds a surgical instrument having a shaft, a chuck body to which the sleeve is fastened, a chuck that is built into the chuck body to fasten the surgical instrument and selectively fastens the shaft, a chuck device unit having an operating force application unit that applies an operating force for engaging and disengaging the chuck, a holder unit to which the chuck device unit is provided and which is attached to the end of a robot arm and has a sleeve holding unit on which the sleeve is placed and held so as not to swing, and a first sleeve fastening portion formed on the sleeve in a direction facing the sleeve holding portion of a hollow sleeve body having a shaft insertion hole formed therein, and a second sleeve fastening portion formed on the sleeve holding portion so that the first sleeve fastening portion is fastened.

[0020] The first sleeve fastening portion may include a sleeve male thread portion consisting of a plurality of male threads formed on an outer peripheral surface of a threaded hollow body integrally formed on one side of the hollow sleeve body.

[0021] The sleeve holding portion may include a holding protrusion extending from the holder portion, and a sleeve mount formed on an end of the holding protrusion so as to closely hold the fastening cap.

[0022] The second sleeve fastening portion may include a holder female thread portion consisting of a plurality of female threads formed in the sleeve mount so that the sleeve male thread portion can be fastened thereto.

[0023] Preferably, the holding protrusion protrudes forward so as to provide an operation space portion in which the operation force application portion is located, and the sleeve mounting device may have the holder female thread portion formed on the inner surface of a hollow hole in a conical body having a small outer diameter at the front and a large outer diameter at the rear.

[0024] The hollow sleeve body may be formed in a structure having a first hollow sleeve body having the first sleeve fastening portion formed at an end thereof, and a second hollow sleeve body extending in a rod-like structure having an outer diameter smaller than that of the first hollow sleeve body, and the surgical tool may be a reaming machine including a reamer basket cup that performs a cutting action on the end of the shaft inserted into the shaft insertion hole.

[0025] The surgical instrument fixing device for a surgical robot according to the present invention may further include a calibration mounting portion including a fixing cap member fastened to the hollow sleeve body so that a calibration tool can be provided, and a calibration mounting member fixed to the sleeve by the fixing cap member.

[0026] 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 placed on the fixing cap member.

[0027] The fixed cap member may include a cap-shaped cap body, a rod insertion hole formed in the cap body to insert the calibration shaft, and a cap female thread portion formed on an inner surface of the cap body to be fastened to a cap binding male thread portion formed on the other side of the hollow sleeve body, and may include an attachment member rotation blocking portion configured to block movement of the calibration attachment member.

[0028] The surgical tool is composed of a plurality of cutters each having a cutter head composed of a plurality of blades at the outer end of the shaft, and the cutters can be formed so that when attached, the protruding length from the free end of the sleeve is in the range of 40 mm to 70 mm for cutters with a head diameter of 3.2 mm and cutters with a head diameter of 5.0 mm, and in the range of 70 mm to 85 mm for cutters with a head diameter of 6.2 mm.

[0029] The surgical instrument fixing device for a surgical robot according to the present invention comprises an operating handle connected to the operating force application section to apply an operating force, and the operating handle can be configured to include an engaging section that is arranged in the operating space section so as to engage with the operating force application section, and a handle section that extends from the engaging section.

[0030] The handle unit may be arranged and assembled within the operation space unit and may include a first handle unit having a first meshing portion that meshes with an outer surface of one side of the operation force application unit and a first handle having fastening holes formed at both ends of the first meshing portion; a second handle unit having a second meshing portion that meshes with an outer surface of the other side of the operation force application unit and a second handle having fastening holes formed at both ends of the second meshing portion; and a fastening member that is fastened to the fastening holes of the first handle unit and the second handle unit. [Effects of the Invention]

[0031] According to the surgical tool fixing device for a surgical robot of the present invention, instead of threading the sleeve to the chuck device as in the conventional case, the first sleeve fastening portion formed on the sleeve is threaded directly to the holder portion, thereby maintaining a firm fixation state and preventing external force from being applied to the chuck device at its source. This prevents deformation of the cutter's stub and bearings built into the sleeve, as well as deformation of the chuck device to which the shaft is fixed, and improves durability, thereby reducing maintenance costs, enabling stable surgery, reducing the risk of safety accidents, and shortening downtime from surgery.

[0032] Furthermore, with the surgical tool fixing device for a surgical robot according to the present invention, when attempting to separate and assemble surgical tools, the user can easily clamp and unclamp the tools by rotating the operating handle forward and backward with little force, which has the advantage that even users with relatively weak grip strength can easily operate and use the device conveniently.

[0033] Furthermore, with the surgical instrument fixing device for a surgical robot according to the present invention, the sleeve is not made of a long, thin pipe as in the past, but is made of a hollow sleeve body with a relatively large outer diameter, which means that the sleeve can be used interchangeably without having to be replaced each time the cutter type is changed, and this has the effect of allowing various cutters to be easily replaced and used.

[0034] In addition, the surgical tool fixing device for a surgical robot according to the present invention has the effect of enabling simple and accurate calibration by assembling the calibration mounting part to the sleeve by fastening. [Brief explanation of the drawings]

[0035] [Figure 1a] FIG. 1 is a perspective view illustrating a conventional surgical tool fixing device for an orthopedic surgical robot in an assembled state. [Figure 1b] FIG. 10 is an exploded perspective view illustrating a conventional surgical tool fixing device for an orthopedic surgical robot. [Figure 2] 1 is a perspective view showing a surgical tool fixing device for a surgical robot according to a first embodiment of the present invention. [Figure 3] 1 is an exploded perspective view showing a surgical tool fixing device for a surgical robot according to a first embodiment of the present invention. [Figure 4a] FIG. 2 is a view for explaining the main components of the surgical tool fixing device for a surgical robot according to the first embodiment of the present invention, and is an exploded perspective view of a chuck device section and a holder section. [Figure 4b] FIG. 2 is a diagram for explaining the main components of the surgical tool fixing device for a surgical robot according to the first embodiment of the present invention, and is an exploded perspective view of the sleeve and the sleeve holding portion of the holder portion. [Figure 4c] FIG. 2 is a diagram for explaining the main components of the surgical tool fixing device for a surgical robot according to the first embodiment of the present invention, and is an exploded perspective view of the operating handle portion. [Figure 4d] FIG. 2 is a diagram for explaining the main components of the surgical tool fixing device for a surgical robot according to the first embodiment of the present invention, and is a perspective view of a motor connecting member. [Figure 5] 3A and 3B are diagrams for explaining the operating state of the surgical tool fixing device for a surgical robot according to the first embodiment of the present invention. [Figure 6a] FIG. 1 is a diagram showing a cutter used as a surgical tool in a surgical tool fixing device for a surgical robot according to a first embodiment of the present invention, showing a cutter with a head diameter of 3.2 mm. [Figure 6b] FIG. 1 is a diagram showing a cutter used as a surgical tool in a surgical tool fixing device for a surgical robot according to a first embodiment of the present invention, showing a cutter with a head diameter of 5.0 mm. [Figure 6c] FIG. 1 is a diagram showing a cutter used as a surgical tool in a surgical tool fixing device for a surgical robot according to a first embodiment of the present invention, showing a cutter with a head diameter of 6.2 mm. [Figure 7a] FIG. 1 is a perspective view showing a state in which a cutter used as a surgical tool is installed in a surgical tool fixing device for a surgical robot according to a first embodiment of the present invention, showing a state in which a cutter with a head diameter of 5.0 mm is installed. [Figure 7b] FIG. 1 is a perspective view showing a state in which a cutter used as a surgical tool is installed in a surgical tool fixing device for a surgical robot according to a first embodiment of the present invention, showing a state in which a cutter with a head diameter of 6.2 mm is installed. [Figure 8a] FIG. 1 is a perspective view showing a state in which a calibration tool is installed as a surgical tool in a surgical tool fixing device for a surgical robot according to a first embodiment of the present invention. [Figure 8b] FIG. 1 is a schematic exploded perspective view showing a state in which a calibration tool is installed as a surgical tool in a surgical tool fixing device for a surgical robot according to a first embodiment of the present invention. [Figure 8c] FIG. 1 is a perspective view showing a state in which a calibration tool is installed as a surgical tool in a surgical tool fixing device for a surgical robot according to a first embodiment of the present invention, with the main parts separated. [Figure 9a] FIG. 2 is a perspective view of a main part for explaining a calibration mounting section provided in a surgical tool fixing device for a surgical robot according to a first embodiment of the present invention. [Figure 9b] FIG. 2 is a perspective view illustrating a calibration mounting section provided in the surgical tool fixing device for a surgical robot according to the first embodiment of the present invention, and is an exploded perspective view of a main part. [Figure 9c] FIG. 2 is a cross-sectional view of a main part for explaining a calibration mounting section provided in the surgical tool fixing device for a surgical robot according to the first embodiment of the present invention. [Figure 10a] FIG. 10 is a perspective view for explaining a surgical tool fixing device for a surgical robot according to a second embodiment of the present invention. [Figure 10b] FIG. 10 is an exploded perspective view for explaining a surgical tool fixing device for a surgical robot according to a second embodiment of the present invention. [Figure 11a] FIG. 10 is a perspective view for explaining a surgical tool fixing device for a surgical robot according to a third embodiment of the present invention. [Figure 11b] FIG. 10 is a view for explaining a surgical tool fixing device for a surgical robot according to a third embodiment of the present invention, and is an exploded perspective view in which a differentiated sleeve portion is separated. [Figure 11c] FIG. 10 is a view showing a state in which a calibration tool is attached to the sleeve of a surgical tool fixing device for a surgical robot according to a third embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0036] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, in which like reference numerals denote like components throughout.

[0037] The present invention relates to a surgical instrument fixing device for a surgical robot, and the details of the device and its functions and effects that can be easily understood by a person having ordinary skill in the art will be simplified or omitted. Furthermore, since the present invention is characterized by a surgical instrument fixing device for a surgical robot, the drawings and explanation will focus on the relevant parts, and the explanation of the remaining parts will be simplified or omitted.

[0038] Fig. 2 is a perspective view of a surgical tool fixing device for a surgical robot according to a first embodiment of the present invention, Fig. 3 is an exploded perspective view of the surgical tool fixing device for a surgical robot according to the first embodiment of the present invention, Fig. 4a to Fig. 4d are views illustrating the main components of the surgical tool fixing device for a surgical robot according to the first embodiment of the present invention, Fig. 4a is an exploded perspective view of the chuck device and holder, Fig. 4b is an exploded perspective view of the sleeve and the sleeve holding portion of the holder, Fig. 4c is an exploded perspective view of the operating handle, Fig. 4d is a perspective view of the motor connecting member, Fig. 5 is a view illustrating the operating state of the surgical tool fixing device for a surgical robot according to the first embodiment of the present invention.

[0039] The surgical instrument fixing device for a surgical robot according to the first embodiment of the present invention, shown in Figures 2 to 5, comprises a sleeve 1, a chuck device part 2, and a holder part 3 for fixing and using a surgical instrument, and is characterized in that it is configured so that it can be assembled directly to the holder part 3, which is the holding body, rather than the conventional method of assembling the sleeve 1 to the chuck device part 2.

[0040] For this reason, the sleeve 1 is configured with a first sleeve fastening portion 18 for fastening to the holder portion 3, and the holder portion 3 is configured with a sleeve holding portion 35 having a second sleeve fastening portion 38 to which the first sleeve fastening portion 18 is fastened.

[0041] More specifically, the first sleeve fastening portion 18 is formed in a direction opposite to the sleeve holding portion 35 of the hollow sleeve main body 11 described later, and is formed by a thread-forming hollow body formed integrally on one side of the hollow sleeve main body, and a sleeve male thread portion 182 consisting of multiple male threads formed on the outer surface of this thread-forming hollow body.

[0042] The second sleeve fastening portion 38 is configured with a holder female thread portion 381 made up of a plurality of female threads formed on the inner circumferential surface of the central hole of the sleeve mount 352 so that the sleeve male thread portion 182 can be fastened.

[0043] The sleeve holding portion 35 in which the second sleeve fastening portion 38 is formed is formed at the end of a holding projection 351 extending to the holder portion 3, and will be described in detail below.

[0044] The sleeve 1 is a component that holds various surgical tools 7 having shafts 71, 421, such as the cutter 7a and calibration tool 7b described below.The sleeve 1 is characterized in that it is configured to hold various medical tools with compatibility, rather than being made up of a long, thin pipe that lacks compatibility and has weak bending rigidity as in the past.

[0045] The sleeve 1 is composed of a hollow sleeve body 11 formed in an approximately round bar shape, with a shaft insertion hole 12 penetrating along the length direction, while the aforementioned first sleeve fastening portion 18 is formed on one side of the hollow sleeve body 11 and a cap binding screw portion 13 is formed on the outer peripheral surface of the other side.

[0046] The hollow sleeve body 11 is provided with a plurality of retaining bearings (not shown) installed in the inner shaft insertion hole 12 to retain the shaft, and cylindrical spacers (not shown) installed in contact with the retaining bearings. For example, the retaining bearings (not shown) may be ball bearings inserted at intervals from the spacers and held in place at the outer and inner sides of the shaft 71.

[0047] 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 converges and expands, pressing against the shaft 71 of the surgical tool to perform an engagement operation (clamping) or a release operation (unclamping).

[0048] The chuck device part 2 comprises a chuck body 21 to which the sleeve 1 is fastened, 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 23 that applies an operating force for the engagement and disengagement of the chuck 22. The chuck device part 2 is structurally different in that it does not have the male screw part (see reference numeral 311 in FIG. 1b) that was conventionally formed on the chuck body 21 for fastening to the sleeve.

[0049] The chuck body 21 has a generally hollow, round-bar-shaped body and includes a chuck moving member 24 inside which the chuck 22 appears and disappears due to the force of an internal spring (not shown) when the operating force application unit 23 rotates forward or backward. More specifically, when the operating force application unit 23 rotates forward, the chucks 22 move backward and come together to press and fix the shaft 71, and when the operating force application unit 23 rotates backward, the chucks move forward and spread apart, releasing the fixed state of the shaft.

[0050] Furthermore, the chuck device part 2 can be applied to a medical chuck device used in orthopedics, dentistry, etc. among known chuck devices, except for the male screw part (see 311 in FIG. 1b) formed on the chuck body 21 for fastening with the sleeve, so a specific description of the detailed configuration will be omitted.

[0051] The holder section 3 is a component on which the chuck device section 2 is installed and which is attached to the end of the robot arm (not shown), and comprises a holder rod 31 having an approximately rod shape, a holder head 32 formed at the bottom, which is one end of the holder rod 31, a connecting plate 33 formed at the top, which is the other end of the holder rod 31, an arm connecting member 34 which is fastened to the connecting plate 33 for fastening to the end of the robot arm, a sleeve holding section 35 which protrudes forward to hold the sleeve 1, and an operating handle 36 which is arranged inside this sleeve holding section 35.

[0052] The holder head 32 is formed of a ring body 321 having a fastening hole 322 into which the motor connection member 37 described later is inserted, and a screw hole 323 is drilled in the ring body 321 so as to communicate with the fastening hole 322, and is configured so that the aforementioned sleeve holding portion 35 protrudes forward.

[0053] For example, the arm connection member 34 is composed of a clamp member that is fastened to a robot side clamp member (not shown) attached to the opposing robot arm (not shown), and the clamp member has a disk-shaped clamp body 341 with multiple fastening holes formed therein, and a clamp protrusion 342 with a hook hole 343 formed therein that is inserted into or coupled to the clamp ring shaft of the robot side clamp member.

[0054] The sleeve holding portion 35 is a component formed to extend into the holder portion 3 and serves to place and hold the sleeve 1 so that it does not swing, and includes a holding protrusion 351 extending into the holder portion 3 and a sleeve mounting device 352 to which the sleeve male thread portion 182 of the first sleeve fastening portion 18 of the sleeve 1 is fastened.

[0055] The retaining protrusion 351 is formed to protrude forward from the holder head 32 so as to provide an operation space portion 353 inside which the operation force application portion 23 is located, and two of them are formed at an angle of approximately 180° (an angle of 180° excluding the thickness of the retaining protrusion) so as not to cause any obstruction to the forward rotation of the operating handle 36 for the engagement operation of the chuck device portion 3 and the reverse rotation of the operating handle 36 for the release operation of the engagement of the chuck device portion 2.

[0056] The sleeve mounting device 352 is formed of a conical body with a small outer diameter at the front and a large outer diameter at the rear, and a holder female screw portion 381 formed by the second sleeve fastening portion 38 is formed on the inner surface of the hollow hole formed inside.

[0057] The operating handle 36 is a component that is connected to the operating force application unit 23 and is arranged in the operating space portion 353 to apply an operating force, and has an engaging portion that engages with the operating force application unit 23 and a handle portion that protrudes from the engaging portion.

[0058] More specifically, it is important that the operating handle 36 is configured so as to be placed in an operating space portion 353 provided inside the sleeve holding portion 35 and assembled.

[0059] For this reason, the operating handle 36 has a separable structure including a first handle portion 361, a second handle portion 362, and a fastening member 363 that fastens the first handle portion and the second handle portion together.

[0060] The first handle portion 361 is configured to engage with the outer surface of one side of the operating force application portion 23, and is equipped with a first engaging portion 3611 having a serration gear formed on the inner surface of the approximately hemispherical main body that engages with the operating force application portion 23 (serration gear), and a first handle 3612 extending to both ends of this first engaging portion 3611 and having fastening holes formed therein.

[0061] The second handle portion 362 is configured to engage with the outer surface of the other side of the operating force application portion 23, and is provided with a second engaging portion 3621 on the inner surface of the roughly hemispherical main body, on which a serration gear that engages with the operating force application portion 23 (serration gear) is formed, and a second handle 3622 extending to both ends of this second engaging portion 3621 and having fastening holes formed therein.

[0062] The fastening member 363 is a member fastened to fastening holes in the first handle portion 361 and the second handle portion 362, and is made up of a normal screw.

[0063] On the other hand, the chucking device portion 2 is connected to the rear side, and a motor connecting member 37 to which the motor 9 is fastened is formed.

[0064] The motor connecting member 37 has a ring-shaped main body 371 with a hollow hole formed therein in which the cutter shaft is placed, and a threaded portion 372 and a binding groove 373 formed on the outer surface of the main body 371. The threaded portion 372 has a recessed screw groove 374 that receives the end of a screw 376 inserted through the screw hole 323 of the holder head 32.

[0065] 6a to 6c show cutters used as surgical tools in a surgical tool fixing device for a surgical robot according to a first embodiment of the present invention, with Fig. 6a showing a cutter with a head diameter of 3.2 mm, Fig. 6b showing a cutter with a head diameter of 5.0 mm, and Fig. 6c showing a cutter with a head diameter of 6.2 mm. Figs. 7a and 7b are perspective views showing cutters used as surgical tools installed in a surgical tool fixing device for a surgical robot according to a first embodiment of the present invention, with Fig. 7a showing the installed state of a cutter with a head diameter of 5.0 mm, and Fig. 7b showing the installed state of a cutter with a head diameter of 6.2 mm.

[0066] Referring to Figures 6a to 7b, the cutter 7a can be selected from a 3.2 mm head diameter cutter 7a, a 5.0 mm head diameter cutter 7a', and a 6.2 mm head diameter cutter 7a'', as shown in Figures 6a to 6c, depending on the surgical method.

[0067] More specifically, among total knee arthroplasty procedures, total knee arthroplasty (TKA), which cuts both sides of the femur and tibia, typically uses a cutter 7a'' with a relatively long shaft and a head diameter of 6.2 mm. Uni-knee arthroplasty (UKA), which cuts only one side of the femur and tibia, typically uses a 5.0 mm cutter 7a' with a relatively short shaft. In the guide hole resection (GHR) technique, a cutting block is fixed to the bone during surgery and cutting is performed, and a 3.2 mm cutter 7a is used as the insertion hole for the fixation pin to fix the cutting block. However, the sleeve 1 of the present invention can be compatible with and used with various types of cutters as described above, which has the advantage of allowing for convenient and quick surgical preparation and surgery.

[0068] The cutters 7a, 7a', and 7a'' differ in the outer diameter and shape of the cutter head 714, and the overall length of the shaft 71 may be the same or different, but they all have a round bar-shaped small diameter portion 711 that is formed with a relatively small diameter so that the shaft can be inserted into the chuck device portion 2.

[0069] The 3.2 mm head diameter cutter 7a, 5.0 mm head diameter cutter 7a', and 6.2 mm head diameter cutter 7a'' each have a large diameter mounting portion 712 formed adjacent to the small diameter portion, inserted into sleeve 1, and formed with a relatively larger outer diameter than the small diameter portion, and a medium diameter portion 713 extending adjacent to this large diameter mounting portion, with a cutter head 714 formed at the end, and formed with an outer diameter larger than the small diameter portion but smaller than the large diameter mounting portion.

[0070] The cutter heads 714 of the cutters 7a, 7a', and 7a'' have two, three, and four blades, respectively, with a helix angle of 20 to 40 degrees. When the cutters are attached, the protruding length from the free end, which is the other end of the sleeve 1, is in the range of 40 to 70 mm for the 3.2 mm head diameter cutter and the 5.0 mm head diameter cutter, and in the range of 70 to 85 mm for the 6.2 mm head diameter cutter, allowing them to be used appropriately according to each surgical technique.

[0071] Furthermore, the cutter has two attachment confirmation bands 715 on the large diameter attachment portion 712 so that the cutter can be checked for attachment without using a separate cutter gauge. At this time, proper attachment of the cutters 7a, 7a', 7a'' is indicated by the point where the outermost of the two attachment confirmation bands 715 is exposed. Therefore, if neither of the two attachment confirmation bands 715 is visible, or if both are visible, this indicates improper attachment, and the cutter assembly should be adjusted so that only one attachment confirmation band is visible before use.

[0072] As mentioned above, the above cutter is provided with a large diameter mounting portion 712 so that it can be installed in the shaft insertion hole 12 of the sleeve 1, and thus can be conveniently mounted on a single surgical device and used interchangeably, as shown in Figures 7a and 7b.

[0073] The operation of the surgical tool fixing device for a surgical robot according to the first embodiment of the present invention will be briefly described below.

[0074] The above-mentioned surgical instrument fixing device is assembled by assembling the motor 9 to the motor connecting member 37 of the holder head 32 and assembling the arm connecting member 34 to a clamp member (not shown) provided on the robot arm (not shown) of the orthopedic surgical robot, and then the robot arm of the surgical robot, which operates according to information input into a computer, positions the surgical instrument fixing device at the surgical site.

[0075] In this state, when the motor operates according to the information input into the computer, the cutter 7a fixed to the chuck device part 2 as the surgical tool 7 rotates and cuts the set treatment area of ​​the knee bone. After this cutting process is completed, the procedure is performed by attaching the artificial knee joint (implant) according to the predetermined order.

[0076] As the cutter 7a rotates with the rotation of the motor, the shaft 71 is held by the sleeve 1 and rotates stably. At this time, the sleeve 1 is not threaded into the chuck body as in the conventional case, but the first sleeve fastening portion 18 formed on the sleeve 1 is threaded into the second sleeve fastening portion 38 formed on the holder portion 3, so that not only can a firm fixed state be maintained, but also the phenomenon of external force being applied to the chuck device portion 2 can be fundamentally prevented.

[0077] Furthermore, as shown in Figure 5, the end surface of the sleeve is assembled to the sleeve mounting device 352 in a tightly fitted structure that prevents it from swinging by surface contact, so the separation distance d (see Figure 1a) that was previously formed between the sleeve and the holder head is not generated, and even if the surgical tool is moved while applying force to the left or right during the cutting process, minute deformation to the left or right is not caused.

[0078] This makes it possible to prevent deformation of the shaft 71 of the cutters 7a, 7a', 7a'' and the bearings built into the sleeve 1, improving durability, and also to prevent deformation of the chuck device part 2 to which the shaft 71 is fixed, improving durability, thereby reducing maintenance costs, enabling surgery to be performed stably, and reducing the risk of safety accidents and shortening the downtime of surgery.

[0079] On the other hand, when the surgical instrument fixing device for a surgical robot according to the present invention is to be disassembled and assembled when cleaning or replacing the cutter, which is a surgical instrument, the user grasps the first handle 3612 and the second handle 3622 protruding from the operating handle 36 and rotates them 180° in the forward direction and 180° in the reverse direction, thereby easily engaging and disengaging the cutter 71 shaft with the chuck device part 2, and can be easily operated by even female nurses with weak grip strength.

[0080] 8a to 8c are drawings showing a state in which a calibration tool is installed as a surgical tool in a surgical tool fixing device for a surgical robot according to the first embodiment of the present invention, where Fig. 8a is a perspective view, Fig. 8b is a schematic exploded perspective view, and Fig. 8c is an exploded perspective view with the main parts separated. Figs. 9a to 9c are drawings for explaining a calibration mounting part installed in the surgical tool fixing device for a surgical robot according to the first embodiment of the present invention, where Fig. 9a is a perspective view of the main parts, Fig. 9b is an exploded perspective view of the main parts, and Fig. 9c is a cross-sectional view of the main parts.

[0081] Referring to Figures 9a to 9c, the calibration mounting portion 4 is configured to be detachably attached to 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 installed.

[0082] 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.

[0083] The calibration mounting member 42 is composed of a calibration shaft 421 to which a marker is attached, and a position setting member 422 formed on the calibration shaft 421 and placed on the fixing cap member 41 .

[0084] The calibration shaft 421 is formed into a rod-like structure like a round bar having a predetermined length. In this embodiment, since the 5.0 mm head diameter cutter used in UKA (Uni-knee Arthroplasty) surgery and the 3.2 mm head diameter cutter 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 6.2 mm head diameter cutter used in TKA (Total Knee Arthroplasty) surgery is longer at 135.65 mm, the same calibration shaft can be used during calibration, and a corrected value for the difference in length can be input into the robot system in advance, allowing calibration to be performed in a manner that corrects the calibration data of the 6.2 mm cutter.

[0085] 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 and placed inside the fixed cap member 41 .

[0086] As shown in Figure 9b, the fixed cap member 41 is connected to the hollow sleeve body 11 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.

[0087] The fixed cap member 41 is preferably provided with an inspection opening 415 in the cam 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.

[0088] For example, the inspection opening 415 is formed by cutting about 1 / 4 of the cam 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 to perform accurate calibration.

[0089] 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.

[0090] The cap detachment prevention means 43 can be configured in various ways without any particular restrictions as long as it can prevent the fixed cap member 41 from detaching. 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 press-fitted into the detachment prevention groove.

[0091] 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.

[0092] 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 .

[0093] 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°.

[0094] The pin insertion groove 441 is formed in the sleeve 1 at a position corresponding to the rotation blocking pin 442, and has a foreign matter discharge portion on one side to facilitate 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.

[0095] Meanwhile, the calibration tool 7b is detachably attached to the sleeve 1 and is an optical marker used in an optical tracking system (OTS). A shaft fixing hole (not shown) into which a calibration shaft 421 is inserted is formed in the marker body 75, and a fastening means 76, such as a fixing bolt, is provided to fix the calibration shaft 421 inserted into the shaft fixing hole. The marker body 75 is also provided with a plurality of position transmitters 77, each having a substantially ball shape, which reflect or transmit a position signal 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 a plurality of infrared cameras and converting the distance using triangulation. The tracking principle of such an optical tracking system is widely known, so a detailed description thereof will be omitted for the sake of brevity.

[0096] A process of installing and using a calibration tool as a surgical tool in a surgical tool fixing device for a surgical robot according to the present invention will be briefly described with reference to FIGS. 8a and 8b.

[0097] As mentioned above, after selecting and installing a cutter with a head diameter of 3.2 mm, a cutter with a head diameter of 5.0 mm, or a cutter with a head diameter of 6.2 mm according to the surgical method, a calibration tool 7b (calibration tool) such as a marker for calibrating the tip of the cutter during artificial joint surgery using a robot can be easily installed using the calibration mounting part 4.

[0098] More specifically, the cutter 7a is first separated from the chucking device 2, and the calibration mounting member 42 is inserted into the fixing cap member 41, and the fixing cap member 41 is then 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 completely block any movement, 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.

[0099] The pin insertion groove 441 formed in the sleeve 1 has a foreign body discharge section formed by cutting the outer part and exposing it to the outside, which has the advantage that even if foreign bodies generated by the operation of the cutter during surgery enter the pin insertion groove 441, they can be easily discharged to the outside.

[0100] 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 confirmed with the naked eye, the fixed cap member 41 can be separated from the sleeve 1 and cleaned, and then reassembled and used to perform accurate calibration. MODE FOR CARRYING OUT THE INVENTION

[0101] Other embodiments of the present invention will be described below, but detailed descriptions of components similar to those shown in the first embodiment will be omitted, and the description will focus on components with differences. In the following other embodiments, any structure that can be adopted from the components shown in the first embodiment or from components shown in different embodiments can be selectively applied, and detailed descriptions and illustrations in the drawings will be omitted.

[0102] The accompanying drawings, Figures 10a and 10b, are drawings for explaining a surgical tool fixing device for a surgical robot according to a second embodiment of the present invention, where Figure 10a is a perspective view and Figure 10b is an exploded perspective view showing a portion separated.

[0103] Referring to Figures 10a and 10b, the surgical instrument fixing device for a surgical robot according to the second embodiment of the present invention comprises a sleeve 1' having a first sleeve fastening portion 18 and a holder portion 3 having a second sleeve fastening portion 38, and is configured so that the sleeve 1' can be directly assembled to the holder portion 3, and the sleeve 1' is configured so that a reamer used to cut the acetabulum of the hip joint during artificial hip joint surgery can be installed.

[0104] Therefore, the sleeve 1' is composed of a hollow sleeve body 11' having a shaft insertion hole passing through it along the length direction, and this hollow sleeve body 11' is integrally composed of a first hollow sleeve body 111 having a first sleeve fastening portion 18 formed at its end, and a second hollow sleeve body 112 that extends in a rod-like structure with an outer diameter smaller than that of the first hollow sleeve body 111.

[0105] The surgical tool 7 is composed of a reaming machine 7c including a reamer basket-cup 73 that performs a cutting action on the end of the shaft 71 that is inserted into the shaft insertion hole.

[0106] The reamer basket cup 73 has two or more cutting edges, is approximately hemispherical in shape so as to be suitable for cutting molar teeth, and is formed with a diameter in the range of 10 to 40 mm.

[0107] The hole expanding machine 7c is adapted to have a protruding length in the range of 2 to 10 cm from the free end of the sleeve 1 when attached.

[0108] On the other hand, in the surgical instrument fixing device for a surgical robot according to the second embodiment of the present invention, a reaming machine 7c is installed as a surgical instrument, and after positioning it at the surgical site, when the motor 9 is driven, the reamer basket cup 73 rotates and cuts the acetabulum of the hip joint.

[0109] Once these preparatory procedures such as cutting are completed, the reaming machine 7c is removed, and the artificial acetabulum cup is pressed into the cut acetabulum using an impactor (not shown) in accordance with conventional artificial hip joint surgery methods, and the surgery is completed by connecting the artificial femoral head.

[0110] The accompanying drawings, Figures 11a and 11b, are drawings for explaining a surgical tool fixing device for a surgical robot according to a third embodiment of the present invention, where Figure 11a is a perspective view and Figure 11b is an exploded perspective view in which a differentiated sleeve portion is separated.

[0111] 11a and 11b, a surgical instrument fixing device for a surgical robot according to a third embodiment of the present invention comprises a sleeve 1'' having a first sleeve fastening portion 18 and a holder portion 3 having a second sleeve fastening portion 38, and is configured so that the sleeve 1'' can be directly assembled to the holder portion 3, and the sleeve 1'' comprises a pipe portion 114 in the shape of a small diameter pipe and a fastening cap portion 116 formed on one end of the pipe portion so as to be fastened to the chuck device portion 2.

[0112] The pipe portion 114 has a bearing (not shown) for rotatably holding the shaft of the drill, a spacer (not shown) and the like inserted therein.

[0113] The fastening cap portion 116 is configured in the form of a cap with a shaft insertion hole passing through along the length direction, and the first sleeve fastening portion 18 is formed at the end opposite to the second sleeve fastening portion.

[0114] The cutter 7a''' is composed of a cutter head 716 on which a cutting blade is formed, and a round rod-shaped shaft 717 formed to extend from the cutter head 716.

[0115] Meanwhile, as shown in FIG. 11a, in the surgical tool fixing device for a surgical robot according to the third embodiment of the present invention, similar to the first embodiment described above, when a motor is operated according to information input to a computer, a cutter 7a''' fixed to a chuck device part 3 as a surgical tool 7 rotates and cuts a predetermined treatment area of ​​the knee bone, and after this cutting process is completed, an artificial knee joint (implant) can be attached in a predetermined order to perform the surgery.

[0116] The attached drawing, Figure 11c, shows a state in which a calibration tool is attached to the sleeve of a surgical instrument fixing device for a surgical robot according to the third embodiment of the present invention. As shown in this figure, when attempting to calibrate the tip of a cutter 7a''' in artificial joint surgery using a robot, calibration can be easily performed by installing a calibration tool 7b at the end of the pipe portion 114 of the sleeve 1''.

[0117] As used above, terms such as "comprise," "comprise," or "have," unless otherwise specified, should be interpreted to mean that the relevant element may be present, not to exclude other elements, but to include 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 in accordance with the contextual meaning of the relevant art, and should not be interpreted in an idealized or overly formal sense unless expressly defined in the present invention.

[0118] The configuration and operation of the surgical instrument fixing device for a surgical robot according to the first embodiment of the present invention have been described above, but this is merely an example, and a person with ordinary knowledge in this technical field will understand that it is possible to replace or modify parts of the above-described embodiment without departing from the technical concept of the present invention.

[0119] Therefore, it should be understood that the scope of protection of the present invention covers the inventions described in the claims and their equivalents. [Industrial Applicability]

[0120] The present invention relates to a surgical instrument fixing device for a surgical robot that stably fixes and holds the shaft-holding sleeve of a surgical instrument during artificial joint surgery using a robot.It can also be applied to surgeries that do not use robots, and can be used to fix and hold surgical instruments in various surgeries other than artificial joint surgery.

Claims

1. In a surgical tool fixing device for a surgical robot, a sleeve for holding a surgical tool having a shaft; a chuck body to which the sleeve is bound; a chuck that is built into the chuck body to fix the surgical tool and selectively fixes the shaft; and a chuck device unit including an operating force application unit that applies an operating force for an engagement operation and an engagement release operation of the chuck. a holder unit provided with the chuck device unit and including a sleeve holding unit attached to an end of a robot arm, on which the sleeve is placed and held so as not to swing; the sleeve includes a first sleeve fastening portion formed in a direction facing the sleeve holding portion of a hollow sleeve body having a shaft insertion hole formed therein, The surgical instrument fixing device for a surgical robot is characterized in that the sleeve holding portion is formed with a second sleeve fastening portion so as to fasten the first sleeve fastening portion.

2. the first sleeve fastening portion includes a sleeve male thread portion consisting of a plurality of male threads formed on an outer peripheral surface of a threaded hollow body integrally formed on one side of the hollow sleeve body, the sleeve holding portion includes a holding protrusion extending from the holder portion and a sleeve mounting device formed on an end of the holding protrusion so as to closely hold the fastening cap, 2. The surgical instrument fixing device for a surgical robot according to claim 1, wherein the second sleeve fastening portion includes a holder female thread portion consisting of a plurality of female threads formed on the sleeve mounting device so that the sleeve male thread portion can be fastened.

3. the holding protrusion protrudes forward so as to define an operation space therein in which the operation force application portion is positioned, 3. The surgical instrument fixing device for a surgical robot according to claim 2, wherein the sleeve mounting device has a conical body having a small outer diameter at the front and a large outer diameter at the rear, and the holder female thread portion is formed on the inner surface of a hollow hole in the body.

4. the hollow sleeve body is formed to have a structure including a first hollow sleeve body having the first sleeve fastening portion formed at an end thereof, and a second hollow sleeve body extending in a rod-like structure having an outer diameter smaller than that of the first hollow sleeve body, The surgical instrument fixing device for a surgical robot according to claim 2, characterized in that the surgical instrument is composed of a reaming machine including a reamer basket cup that performs a cutting action on the end of the shaft inserted into the shaft insertion hole.

5. 3. The surgical instrument fixing device for a surgical robot according to claim 2, further comprising a calibration mounting portion including a fixing cap member that is fastened to the hollow sleeve body so that a calibration tool can be provided, and a calibration mounting member that is fixed to the sleeve by the fixing cap member.

6. 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 placed on the fixing cap member; the fixed cap member includes a cap-shaped cap body, a rod insertion hole formed in the cap body into which the calibration shaft is inserted, and a cap female thread portion formed on an inner circumferential surface of the cap body to be fastened to a cap binding male thread portion formed on the other side of the hollow sleeve body, 6. The surgical tool fixing device for a surgical robot according to claim 5, further comprising a mounting member rotation blocking portion configured to block movement of the calibration mounting member.

7. 3. The surgical instrument fixing device for a surgical robot according to claim 2, wherein the surgical instrument is composed of a plurality of cutters having cutter heads composed of a plurality of blades at the outer end of the shaft, and the cutters are formed so that when attached, their protruding lengths from the free end of the sleeve are in the range of 40 mm to 70 mm for cutters with a head diameter of 3.2 mm and cutters with a head diameter of 5.0 mm, and in the range of 70 mm to 85 mm for cutters with a head diameter of 6.2 mm.

8. an operating handle connected to the operating force application unit to apply an operating force; 8. A surgical tool fixing device for a surgical robot according to claim 1, wherein the operating handle includes a meshing portion that is arranged in the operating space portion so as to mesh with the operating force application portion, and a handle portion that extends from the meshing portion.

9. 9. The surgical instrument fixing device for a surgical robot according to claim 8, wherein the handle portion is arranged and assembled inside the operation space portion, and includes: a first handle portion having a first meshing portion that meshes with an outer surface of one side of the operation force application portion and a first handle having fastening holes formed at both ends of the first meshing portion; a second handle portion having a second meshing portion that meshes with an outer surface of the other side of the operation force application portion and a second handle having fastening holes formed at both ends of the second meshing portion; and a fastening member fastened to the fastening holes of the first handle portion and the second handle portion.

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