Surgical tool fixing device for surgical robot

Abstract

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

Description

[Technical Field]

[0001] The present invention relates to a surgical instrument fixing device for a surgical robot, and more specifically to a surgical instrument fixing device for a surgical robot that can stably fix and support a shaft support sleeve of a surgical instrument having a shaft, such as a drill, thereby preventing deformation of related parts and improving durability, and that can easily and stably perform disassembly and assembly of the surgical instrument. [Background technology]

[0002] Generally, 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 a medical professional manually or by a robot.

[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 supports 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 supported 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, etc. that rotatably supports the drill shaft are inserted into the sleeve.

[0008] The chuck device unit 300 is configured such that a chuck (320, commonly called a collet, which secures the shaft of a drill or the like and typically has three or four jaws that move radially) provided at the front of the chuck body 310 converges and expands to apply pressure to the drill shaft to engage (clamp) or release (unclamp) the engagement. Among known chuck fixing devices, this medical chuck fixing device may be used in orthopedics, dentistry, etc. The chuck body 310 is formed with an operating force application unit (not shown), such as an adjustment screw unit to which an operating nut 500 is fastened. When the operating nut 500 is rotated in one direction, the chuck converges and presses against the shaft to secure it, and when the operating nut is rotated in the opposite direction, the chuck expands, releasing the shaft from its fixed state.

[0009] The above-mentioned conventional surgical tool fixing device for an orthopedic surgical robot functions to perform cutting action while supporting the drill 100, but has limitations that cause the following problems.

[0010] 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 front of the chuck body 310 at a distance d without any additional support means, slight deformation occurs to the left and right sides 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. This has drawbacks such as increased maintenance costs due to frequent part replacement, an inability to perform stable surgery, a high risk of safety accidents, and increased downtime during surgery.

[0011] 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 a clamping force must be applied. However, this is very difficult to operate for users with weak grip strength, such as female nurses, and the locked state cannot be firmly operated, which has the disadvantage of inducing incorrect operation or safety accidents. Summary of the Invention [Problem to be solved by the invention]

[0012] 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 support a shaft support sleeve of a surgical instrument having a shaft, thereby preventing deformation of related parts and improving durability.

[0013] Another object of the present invention is to provide a surgical tool fixing device for a surgical robot that allows the disassembly and assembly of surgical tools to be performed conveniently and stably with little force. [Means for solving the problem]

[0014] 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 includes a sleeve that supports 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 equipped with an operating force application unit that applies operating forces for engaging and disengaging the chuck, and a holder unit that is provided with the chuck device unit and is attached to the end of a robot arm, the holder unit including a sleeve support unit that extends from the holder unit and on which the sleeve is placed and supported so as not to swing, and an operating handle that is connected to the operating force application unit and applies operating force.

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

[0016] The sleeve support portion may include a support protrusion extending from a holder portion, and a sleeve placement portion formed at an end of the support protrusion so that the fastening cap is closely supported.

[0017] The support protrusion may protrude forward to provide an operation space portion in which the operation force application portion is located, and the sleeve mounting portion may be formed as a ring having a chuck hole into which the chuck body is inserted and a contact surface of a shape corresponding to the end surface of the fastening cap so that the end surface of the fastening cap can be in close contact with the chuck hole.

[0018] The operating handle may include a meshing portion that is arranged in the operation space portion so as to mesh with the operating force application portion, and a handle portion that extends from the meshing portion.

[0019] The handle unit may include a first handle unit having a first engagement portion that engages with an outer surface of one side of the operation force application unit and a first handle unit having fastening holes formed at both ends of the first engagement portion so as to be disposed inside the operation space unit and assembled therewith; a second handle unit having a second engagement portion that engages with an outer surface of the other side of the operation force application unit and a second handle unit having fastening holes formed at both ends of the second engagement portion; and a fastening member fastened to the fastening holes of the first handle unit and the second handle unit.

[0020] The surgical instrument fixing device for a surgical robot according to the present invention includes a motor connecting member connected to the rear of the chuck device unit and to which a motor is attached, and the holder unit may include a holder rod, a holder head provided at one end of the holder rod and having a fastening hole for fastening to the motor connecting member and the sleeve support unit formed therein, a connecting plate formed at the other end of the holder rod, and an arm connecting member fastened to the connecting plate for fastening to the end of the robot arm. [Effects of the Invention]

[0021] With the surgical instrument fixing device for a surgical robot according to the present invention, even if the drill is moved left and right while a large load is applied during surgery, the fastening cap portion of the sleeve is fixed without shaking by the sleeve support portion, preventing deformation, preventing deformation of the drill shaft and bearings built into the sleeve, as well as deformation of the chuck device portion to which the shaft is fixed, and improving durability. This not only reduces maintenance costs and enables surgery to be performed more stably, but also reduces the risk of safety accidents and reduces downtime during surgery.

[0022] Furthermore, with the surgical instrument fixing device for a surgical robot according to the present invention, when attempting to disassemble and assemble surgical instruments, the user can easily clamp and unclamp the surgical instruments by rotating the operating handle forward and backward with little force, making it easy to operate and convenient to use even for users with relatively weak grip strength. [Brief explanation of the drawings]

[0023] [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 one 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 one embodiment of the present invention. [Figure 4a] FIG. 1 is a partially enlarged view for explaining a surgical tool fixing device for a surgical robot according to one embodiment of the present invention, showing the main components separated. [Figure 4b] FIG. 2 is a partially enlarged view for explaining the surgical tool fixing device for a surgical robot according to one embodiment of the present invention, showing the holder portion and the sleeve support portion. [Figure 4c] FIG. 2 is a partially enlarged view for explaining a surgical tool fixing device for a surgical robot according to one embodiment of the present invention, showing an operating handle portion. [Figure 4d] FIG. 2 is a partially enlarged view for explaining a surgical tool fixing device for a surgical robot according to one embodiment of the present invention, showing a motor connecting member. [Figure 5] 10A and 10B are diagrams for explaining the operating state of the surgical tool fixing device for a surgical robot according to one embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0024] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, FIGS. 2 to 5, in which the same components are designated by the same reference numerals.

[0025] On the other hand, detailed descriptions of the configurations and their functions and effects that can be easily understood by a person having ordinary skill in this field from the general techniques shown in each drawing 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 descriptions will focus on the parts related to this, and descriptions of the remaining parts will be simplified or omitted.

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

[0027] Referring to Figures 2 to 5, a surgical instrument fixing device 4' for a surgical robot according to one embodiment of the present invention is designed to stably fix and support a shaft support sleeve of a surgical instrument having a shaft, thereby enabling the surgical instrument 1 to be easily disassembled and assembled, and is equipped with a sleeve 2, a chuck device portion 3, a holder portion 4, a sleeve support portion 5, an operating handle 6, etc.

[0028] While surgical tool 1 can be applied as long as it has a structure having a shaft 11 as a tool used in surgery, this embodiment will be described based on an example in which it is applied as a device for fixing a drill used as a cutting tool for cutting the knee bone during artificial knee joint (implant) surgery. The drill used in surgical tool 1 here is fixed to chuck device portion 3, and a motor connecting portion (not shown) provided on this chuck device portion 3 is connected to a motor (not shown) and performs cutting action while rotating, the outer surface of shaft 11 is rotatably supported by sleeve 2 so that shaking or bending does not occur when shaft 11 rotates, and head 12 protrudes outside sleeve 2, and rotation of head 12 performs cutting action of bone.

[0029] The sleeve 2 comprises a small-diameter pipe section 21 and a fastening cap 22 formed at one end of the pipe section 21 so as to be fastened to the chuck device section 3, and fastened to the chuck body 31 described later. Inside the sleeve 2, a bearing 13, a spacer 14, etc. are inserted to support the drill shaft 11 so that it can rotate.

[0030] On the other hand, the chuck device part 3 is configured such that the chuck 32 provided in front of the chuck body 31 gathers or spreads to press against the drill shaft 11 to perform an engagement operation (clamping) or an engagement release operation (unclamping), and among known chuck devices, a medical chuck adjustment device used in orthopedics, dentistry, etc. can be applied, so a specific description of the detailed configuration will be omitted.

[0031] For example, as shown in FIG. 4a, the chuck device unit 3 includes a chuck body 31 to which the sleeve 2 is fastened, a chuck 32 that is built into the chuck body 31 to fix the surgical tool 1 and selectively fixes the shaft 11, and an operating force application unit 33 that applies operating forces for the engagement and disengagement operations of the chuck 32.

[0032] The chuck body 31 has a generally hollow, round-bar-shaped body and includes a chuck moving member 34, which causes the chuck 32 to appear and disappear due to an internal spring force when the operating force application unit 33 is rotated forward or backward. More specifically, when the operating force application unit 33 is rotated forward, the chucks 32 move rearward and gather together to press against and fix the shaft, and when the operating force application unit 33 is rotated backward, the chucks move forward and spread apart, thereby releasing the fixed state of the shaft.

[0033] The operating force applying portion 33 is configured by a serration gear formed on the chuck body 31, and is rotated forward and backward by the rotational force applied from the operating handle 6 to which it is attached.

[0034] Referring to Figures 3 and 4b, the holder unit 4 is a component attached to the end of a robot arm (not shown), and includes a roughly rod-shaped holder rod 41, a holder head 42 formed at the bottom, which is one end of the holder rod 41, a connecting plate 43 formed at the top, which is the other end of the holder rod 41, and an arm connecting member 44 connected to the connecting plate 43 for connection to the end of the robot arm.

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

[0036] For example, the arm connection member 44 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) as shown in Figure 3, and the clamp member has a disk-shaped clamp body 441 with multiple fastening holes formed therein, and a clamp protrusion 442 with a locking hole 443 formed therein that is inserted into and locked onto the clamp shaft of the robot-side clamp member.

[0037] On the other hand, the sleeve holding portion 5 includes a support protrusion 51 extending into the holder portion 4 as a component formed to extend into the holder portion 4 and to place and support the sleeve 2 so that it does not swing, and a sleeve placing portion 52 formed at the end of the support protrusion 51 so that the fastening cap 22 of the sleeve 2 is supported in close contact.

[0038] The support protrusions 51 are formed to protrude forward from the holder head 42 so as to provide an operation space portion 53 in which the operation force application portion 33 is located, and two of them are formed at an angle of approximately 180° (an angle of 180° excluding the thickness of the support protrusions) so as not to cause any obstruction to the forward rotation of the operation handle 6 for the engagement operation of the chuck device portion 3 and the reverse rotation of the operation handle 6 for the release operation of the engagement of the chuck device portion 3.

[0039] The sleeve mounting portion 52 is formed at the protruding end of the support protrusion 51 and is composed of a ring with a chuck hole 54 formed therein into which the chuck body 31 is inserted. Here, the ring is structured to have a contact surface of a shape corresponding to the end surface of the fastening cap 22 so that it can be tightly fitted thereto.

[0040] The operating handle 6 is a component that is connected to the operating force application part 33 and arranged in the operating space part 53 to apply the operating force, and includes an engaging part that engages with the operating force application part 33 and a handle part that protrudes into the engaging part.

[0041] More specifically, it is important that the operating handle 6 is configured so that it can be placed and assembled in the operating space portion 53 provided inside the sleeve support portion 5, as shown in Figures 4a and 4c.

[0042] For this reason, the operating handle 6 has a removable structure including a first handle portion 61, a second handle portion 62, and a fastening member 63 that fastens the first handle portion and the second handle portion together.

[0043] The first handle portion 61 is configured to engage with the outer surface of one side of the operating force application portion 33, and is provided with a first engaging portion 611 on the inner surface of the approximately hemispherical body, on which a serration gear that engages with the operating force application portion 33 (serration gear) is formed, and a first handle portion 612 extending to both ends of this first engaging portion 611 and having fastening holes formed therein.

[0044] The second handle portion 62 is configured to engage with the outer surface of the other side of the operating force application portion 33, and is provided with a second engaging portion 621 on the inner surface of the approximately hemispherical main body, on which a serration gear that engages with the operating force application portion 33 (serration gear) is formed, and a second handle portion 622 extending to both ends of this second engaging portion 621 and having fastening holes formed therein.

[0045] The fastening member 63 is a member fastened to fastening holes in the first handle portion 61 and the second handle portion 62, and is made up of a normal screw.

[0046] On the other hand, the chucking device portion 3 is connected to the rear side to form a motor connecting member 7 to which a motor (not shown) is bound.

[0047] As shown in Figures 4a and 4d, the motor connecting member 7 has a round rod-shaped body 71 with a hollow hole inside in which the drill shaft 11 is placed, and a threaded portion 72 and a binding groove 73 formed on the outer surface of the body 71. The threaded portion 72 has a recessed screw groove 74 that accommodates the end of the screw 65 inserted through the screw hole 423 of the holder head 72.

[0048] The operation of the surgical tool fixing device for a surgical robot according to one embodiment of the present invention will be briefly described below.

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

[0050] In this state, when the motor operates according to the information input to the computer, the drill fixed to the chuck device part 3 as the surgical tool 1 rotates and cuts the set treatment area of ​​the knee bone, and after this cutting process is performed, the artificial knee joint (implant) is attached in the predetermined order, and the procedure is performed.

[0051] As the surgical tool 1 rotates in response to the rotation of the motor, the shaft 11 is supported by the pipe portion 21 of the sleeve 2 and rotates stably. At this time, the fastening cap 22 of the sleeve 2 is fastened to the front of the chuck body 31, and the end surface of the fastening cap 22 is assembled to the sleeve mounting portion 52 in a surface contact manner in a tightly fitted structure that prevents swinging. This eliminates the separation distance d (see FIG. 1a) that is formed between the conventional sleeve and holder head, and prevents minute left-right deformation from occurring even when the surgical tool is moved while applying force to the left or right during the cutting process.

[0052] In this way, when the fastening cap 22 portion of the sleeve 2 is fixed by the sleeve support part 5 without swinging and deformation is blocked, deformation of the drill shaft 11 and the bearings built into the sleeve 2 can be prevented, improving durability. Furthermore, deformation of the chuck device part 3 to which the shaft is fixed can also be prevented, improving durability. This not only reduces maintenance costs and enables stable surgery, but also reduces the risk of safety accidents and shortens downtime of surgery.

[0053] On the other hand, when the surgical tool fixing device for a surgical robot according to the present invention is to be disassembled and assembled when cleaning or replacing the drill tool, the user can simply rotate the first handle portion 612 and the second handle portion 622 protruding from the operating handle 6 in a stationary position by an angle of 180° in the forward direction and then rotate them in the reverse direction by an angle of 180°, thereby easily engaging and disengaging the shaft of the surgical tool 1 with the chuck device portion 3, and this can be easily operated by even female nurses with weak grip strength.

[0054] The terms "comprise," "comprise," "have," and the like used above, 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 in accordance with the contextual meaning of the relevant art, and should not be interpreted as idealized or overly formal unless expressly defined in the present invention.

[0055] The configuration and operation of the surgical instrument fixing device for a surgical robot according to one embodiment of the present invention have been described above, but this is merely an example, and it will be understood that those with ordinary skill in the art can replace or modify parts of the above-described embodiment without departing from the technical spirit of the present invention.

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

[0057] The surgical instrument fixing device for a surgical robot according to the present invention has been described mainly in terms of its application to fixing surgical instruments for orthopedic surgical robots, such as in artificial joint surgery, but is not limited to this and can be used to stably fix and support various surgical instruments with shafts.

Claims

1. In a surgical tool fixing device for a surgical robot, a sleeve for supporting 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 portion provided with the chuck device portion and attached to an end portion of a robot arm, A surgical instrument fixing device for a surgical robot, characterized in that it includes a sleeve support portion formed to extend from the holder portion, on which the sleeve is placed and supported so as not to swing, and an operating handle connected to the operating force application portion to apply an operating force.

2. the sleeve includes a pipe portion in which the shaft is accommodated, and a fastening cap formed on an inner end of the pipe portion and fastened to the chuck body, 2. The surgical instrument fixing device for a surgical robot according to claim 1, wherein the sleeve support portion includes a support protrusion extending from the holder portion and a sleeve mounting portion formed at an end of the support protrusion so that the fastening cap is tightly supported.

3. the support protrusion protrudes forward to define an operation space in which the operation force application portion is positioned, the sleeve mounting portion is formed of a chuck hole into which the chuck body is inserted and a ring having a contact surface of a corresponding shape so that an end surface of the fastening cap can be tightly fitted thereto; 3. The surgical tool fixing device for a surgical robot according to claim 2, 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.

4. the handle portion is disposed inside the operation space portion and assembled, and includes a first engaging portion that engages with an outer surface of one side of the operation force applying portion, and a first handle portion that extends to both ends of the first engaging portion and has fastening holes formed therein; a second handle portion including a second engaging portion that engages with the outer surface of the other side of the operating force application portion, and a second handle portion extending from both ends of the second engaging portion and having fastening holes formed therein; 4. The surgical tool fixing device for a surgical robot according to claim 3, further comprising fastening members fastened to fastening holes in the first handle portion and the second handle portion.

5. a motor connecting member connected to the rear of the chuck device portion and to which a motor is fastened, 5. The surgical instrument fixing device for a surgical robot according to claim 4, wherein the holder portion includes a holder rod, a holder head provided at one end of the holder rod and having a fastening hole for fastening to the motor connecting member and the sleeve support portion formed therein, a connecting plate formed at the other end of the holder rod, and an arm connecting member fastened to the connecting plate for fastening to the end portion of the robot arm.

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