Surgical tool adapter, surgical driver to which same is applied, and method for mounting tool on driver

Abstract

A surgical tool adapter, a surgical driver to which same is applied, and a method for mounting a tool on the driver are disclosed. The tool adapter comprises: a rotational body having a socket portion to which a surgical tool having a shaft is separably coupled; a stationary body having a bore cavity in which the rotational body is rotatably provided; and a shaft aligner for controlling the radial runout of the shaft by coaxially aligning the shaft with respect to the longitudinal axis of the rotational body while allowing rotation of the rotational body and the shaft coupled thereto in the bore cavity of the stationary body.

Description

Surgical tool adapter, surgical driver applying the same, and method of mounting the tool on the driver.

[0001] The present disclosure relates to a surgical tool driver, and more particularly, to a tool adapter having compatibility with surgical tools having shafts of different sizes, a tool driver applying the same, and a method for mounting a tool on the driver.

[0002] A variety of rotary tools, such as screwdrivers, tapping tools, and reamers, can be used in surgical procedures. Manual surgical screwdrivers, used in surgical procedures such as spinal fusion, are rotary tools equipped with a screw tip, drill tip, or tap bit for a specific task or processing purpose at the end of a shaft. They are used to secure screws in the surgical site, perform internal thread processing (i.e., tapping), or simply form holes.

[0003] Some of these passive surgical drivers are equipped with navigation markers for surgical navigation, which are useful for providing surgeons with real-time information on the position and posture of surgical tools.

[0004] The tool shafts or shanks used in these surgical drivers vary in size by manufacturer, necessitating the provision of surgical drivers with specific shank specifications. These varying tool shaft specifications ultimately require individual surgical drivers, resulting in both economical and spatial limitations, as they increase the number of surgical instruments in the operating room.

[0005] The present disclosure provides a surgical tool adapter having compatibility with surgical tools having different specifications, a surgical tool driver applying the same, and a method of mounting a surgical tool to the tool driver.

[0006] The present disclosure provides a surgical tool adapter that stably fixes a shaft of a surgical tool having different diameters while allowing the shaft to rotate without shaking, a surgical driver using the same, and a method for mounting the tool to the tool driver.

[0007] An adapter for compatible mounting of surgical tools according to the present disclosure:

[0008] A rotational body having a socket portion to which a coupling head (or end) provided on the shaft of the tool is detachably coupled;

[0009] A stationary body having a bore cavity in which the above-mentioned rotating body is rotatably installed; and

[0010] A shaft aligner configured to control radial runout of the tool shaft by coaxially aligning the tool shaft with respect to the longitudinal axis of the rotating body while allowing rotation of the rotating body and the shaft coupled thereto in the bore cavity of the fixed body;

[0011] According to one or more embodiments,

[0012] The above shaft alignment part:

[0013] A plurality of movable actuators arranged to be in contact with and detachable from a rotational support surface provided on a portion of the outer surface of the shaft to support the rotation of the shaft; and

[0014] A positioner may be provided to align the plurality of movable actuators with respect to the rotational support surface of the shaft.

[0015] According to one or more embodiments,

[0016] The above plurality of actuators may be arranged around the shaft so as to be able to approach and move away from the shaft in a radial direction with respect to the rotational support surface of the shaft, with respect to the central axis in the longitudinal direction of the shaft.

[0017] According to one or more embodiments,

[0018] The above plurality of actuators may be rotary bodies that slide or roll relative to the rotational support surface of the shaft.

[0019] According to one or more embodiments,

[0020] The above plurality of actuators may have the shape of any one of a ball, cylinder, cone or truncated cone having a surface partially in contact with the rotational support surface.

[0021] According to one or more embodiments,

[0022] A plurality of operating holes are formed at arbitrary angular intervals around the opening of the socket portion into which the shaft is inserted, and the plurality of operating bodies are arranged to be movable in a radial direction.

[0023] The positioning device has a cam member that binds or releases a plurality of actuators located within the plurality of operating holes so that each of the plurality of actuators contacts or separates from the rotational support surface of the shaft within the socket portion, and

[0024] The cam member may have an inclined cam surface configured to push the plurality of actuators toward or away from the center of the shaft.

[0025] According to one or more embodiments,

[0026] The cam member may be installed to be movable by an arbitrary distance in the longitudinal direction of the rotating body, so that the plurality of actuators may be pushed toward the center of the shaft or moved away from it, depending on the longitudinal position of the cam member.

[0027] According to one or more embodiments,

[0028] It further comprises a locking tube that forms part of a bore cavity that accommodates a rotating body by being joined to the fixed body, and

[0029] The cam member may be coupled to one end of the rotating body so as to be movable in the longitudinal direction, and configured to move the plurality of actuators toward or away from the rotating support surface depending on the relative position of the cam member with respect to the rotating body along the longitudinal axis.

[0030] According to one or more embodiments,

[0031] An operating hole is formed in the above rotating body, in which a locking operating body that restrains a coupling head portion inserted into a socket portion is positioned,

[0032] A cam surface for restraining or releasing the locking actuator is formed on one side of the inner surface of the locking tube corresponding to the operating hole.

[0033] Depending on the position of the rotating body in the longitudinal direction of the rotating body, the locking actuator can be restrained or released from the locking cam surface, thereby allowing one side of the engagement head of the shaft coupled to the socket portion to be fixed or released from the socket portion.

[0034] According to one or more embodiments,

[0035] The above fixed body, cam member and locking tube therebetween are arranged substantially concentrically on one axis,

[0036] The above bore cavity accommodates the rotating body so as to be reciprocally movable along its longitudinal axis, so that as the rotating body moves in the longitudinal direction, the plurality of operating bodies interfering with the rotating body are released from the cam surface and are unlocked at the socket portion for the shaft,

[0037] Inside the above locking tube, a compression spring is interposed to elastically bias the above rotating body, thereby providing a reaction force to the movement of the above rotating body in the longitudinal direction, thereby restoring the position of the above rotating body, and

[0038] The cam member may be screw-connected to one longitudinal end of the locking tube so that the position of the cam surface for the plurality of actuators moves in the longitudinal direction according to the rotational position of the cam member with respect to the locking tube.

[0039] According to one or more embodiments,

[0040] The above position determination unit:

[0041] A cam member having a cam surface surrounding the array of the plurality of actuators; and

[0042] A cam fixing part that fixes the position of the cam member determined by the above position determining part:

[0043] Here, the cam face may be inclined relative to the longitudinal axis of the shaft to pressurize or release the plurality of actuators against the rotational support surface of the shaft.

[0044] According to one or more embodiments,

[0045] The above position determination unit:

[0046] It may be provided with a linear transfer member that enables reciprocating movement along the rotation axis with respect to the fixed body; and a cam fixing member that includes a set screw that fixes the cam member.

[0047] According to one or more embodiments,

[0048] The above socket portion is located on the central axis of the above rotating body, and

[0049] A plunger that presses the top surface of the coupling head may be installed on the bottom of the socket portion corresponding to the top surface of the coupling head.

[0050] According to one or more embodiments,

[0051] The above plunger may be configured to be elastically biased by a spring to elastically pressurize the top surface of the square head.

[0052] Surgical tool driver according to the present disclosure:

[0053] The top surface of the above-mentioned joining head may be formed with a hollow hole or a centering dimple or a centering pocket or a centering recess into which a portion of the above-mentioned plunger enters.

[0054] A surgical tool driver according to one or more embodiments:

[0055] A surgical tool having a shaft having a tool-tip at its tip and a joining head at its rear end;

[0056] The surgical tool adapter having a rotating body to which the surgical tool is detachably coupled; and

[0057] It has a handle coaxially connected to a rotating rod provided on the above rotating body.

[0058] In a surgical tool driver according to one or more embodiments,

[0059] A shank is coaxially connected to the above rotating body, and a handle having a ratchet capable of controlling the direction of rotation may be detachably connected to the shank.

[0060] A surgical tool driver according to one or more embodiments:

[0061] A navigation marker for surgical navigation can be attached to the above fixed body.

[0062] In a surgical tool driver according to one or more embodiments,

[0063] The above navigation marker:

[0064] Multiple optically detectable markers;

[0065] A marker plate to which the plurality of markers are fixed; and

[0066] The above marker plate may be provided with a support column connecting the above fixed body.

[0067] A method for interoperably mounting surgical tools to a surgical tool driver according to the present disclosure:

[0068] A step for preparing a surgical tool having a shaft having a tool tip provided at the front end and a joining head provided at the rear end;

[0069] A step of rotatably installing a rotating body in a bore cavity formed in a fixed body;

[0070] A step of joining the joint head of the shaft to the socket portion provided in the above rotating body; and

[0071] A step of aligning the shaft relative to the rotating body with a driver shaft alignment portion by controlling radial runout of the tool shaft while allowing rotation of the rotating body and the shaft coupled thereto in a bore cavity of the rotating body, wherein the shaft is rotatably supported relative to the fixed body, and the shaft is aligned relative to the rotating body with the driver shaft alignment portion.

[0072] In a method according to one or more embodiments,

[0073] By operating a cam member having a cam surface surrounding the arrangement of the plurality of actuators, the plurality of actuators can be rotatably supported on the rotational support surface of the shaft by the cam surface.

[0074] In a method according to one or more embodiments,

[0075] By moving the cam member in one or the other direction along the longitudinal axis of the shaft, the actuator can be pressed or released against the rotational support surface of the shaft by the cam surface formed inclined with respect to the longitudinal axis of the tool shaft.

[0076] The attached drawings and photographs illustrate the surgical driver according to the present disclosure in whole or in part, individually showing some elements thereof, and the embodiments illustrated in these drawings do not limit the technical scope of the present disclosure.

[0077] Figure 1 illustrates an example of a surgical tool driver according to the present disclosure.

[0078] Figure 2 illustrates various types of surgical tools.

[0079] Figure 3 illustrates a screw used during surgical operations, such as spinal fusion surgery.

[0080] FIG. 4 illustrates an adapter equipped with a navigation marker unit according to one embodiment of the present disclosure;

[0081] (A) is a front view of the head portion of the tool shaft in Fig. 5, and (B) is a cross-sectional view thereof.

[0082] FIG. 6 is a schematic exploded perspective view of an adapter according to one embodiment of the present disclosure.

[0083] Figure 7 is a schematic cross-sectional view of the adapter illustrated in Figure 6 in an assembled state.

[0084] Fig. 8a is an excerpt showing a state in which a tool shaft is rotatably supported on the adapter illustrated in Fig. 5.

[0085] Figure 8b is a partially enlarged view showing a state in which the alignment ball on the support surface of the tool shaft supports the support surface to enable rolling or sliding movement, and

[0086] FIG. 9 is a schematic cross-sectional view of an adapter according to one embodiment of the present disclosure, showing a state in which a tool shaft is inserted or removed.

[0087] - Explanation of symbols -

[0088] 100: Surgical Driver

[0089] 110: Adapter

[0090] 111: Fixed body

[0091] 111bc: Bohr Commonwealth

[0092] 112: Holding button

[0093] 112sp: bias spring

[0094] 113: Cover

[0095] 114: Rotating body

[0096] 114sh: shank

[0097] 115: Locking tube

[0098] 115th: Screw part of locking tube

[0099] 116: Centering plunger

[0100] 116sp: bias spring

[0101] 117sp: bias spring

[0102] 118: Shaft alignment section

[0103] 118cn: Cam member or cam nut

[0104] 118th: Screw Division

[0105] 118ec: End cap

[0106] 118ab: Actuator or alignment ball

[0107] 120: Navigation Marker Unit

[0108] 123: Navigation Marker

[0109] 124: Navigation marker fixing plate

[0110] 125: Navigation marker fixed pillar

[0111] 126: Navigation marker fixing bolt

[0112] 130: Surgical tools

[0113] 131: Tip or Bit

[0114] 132: Combination head

[0115] 133: Tool shaft

[0116] 133rg: Rotating guide surface

[0117] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the embodiments of the present invention may be modified in various different forms, and the scope of the present invention should not be construed as being limited by the embodiments described below. It is preferable to interpret that the embodiments of the present invention are provided to more completely explain the present invention to those of ordinary skill in the art. Like reference numerals denote like elements throughout. Furthermore, various elements and areas in the drawings are schematically drawn. Therefore, the present invention is not limited by the relative sizes or intervals drawn in the accompanying drawings.

[0118] While terms such as "first" and "second" may be used to describe various components, these components are not limited by these terms. These terms are used solely to distinguish one component from another. For example, a first component could be referred to as a second component, and vice versa, without departing from the scope of the present invention.

[0119] The terminology used in this application is only used to describe specific embodiments and is not intended to limit the concept of the present invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, it should be understood that the expressions “comprises” or “has” are intended to specify the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, but do not exclude in advance the possibility of the presence or addition of one or more other features, numbers, operations, components, parts, or combinations thereof.

[0120] Unless otherwise defined, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by those of ordinary skill in the art to which the present invention pertains. Furthermore, it is to be understood that commonly used terms, such as those defined in dictionaries, should be interpreted to have a meaning consistent with their meaning within the relevant technical context, and should not be interpreted in an overly formal sense unless explicitly defined herein.

[0121] In some embodiments, where the implementation is otherwise feasible, a particular process sequence may be performed in a different order than described. For example, two processes described in succession may be performed substantially simultaneously, or in a reverse order from the described order.

[0122] Hereinafter, a surgical tool adapter according to one or more embodiments, a tool driver for applying the same, and a method for mounting a tool on the adapter are described.

[0123] FIG. 1 illustrates an example of a surgical tool driver according to the present disclosure.

[0124] Referring to Fig. 1, a surgical tool driver (100) has a navigation marker unit (120) mounted on a stationary body (111) of an adapter (110) that is compatible with various types of tools. A surgical tool (130) and a rotary handle (140) are coaxially connected to both sides of the adapter (110). In practice, a bore cavity is formed in the stationary body (111) of the adapter (110), and a rotational body (rotational body, Fig. 5, 114) described later is installed therein to enable rotation about a longitudinal axis and reciprocating movement along the longitudinal axis for a predetermined distance, which will be described in detail later.

[0125] The above fixed body (111) is a part of the surgical tool driver (100) that the surgeon holds with one hand, and the above rotation handle (140) is a grip part that the surgeon holds with the other hand to rotate the surgical tool (130).

[0126] The above navigation marker unit (120) is an optional element and is an element of an optical navigation device for surgical operation for tracking and monitoring the position of a tool during a surgical operation, and includes a plurality of marker balls (123) and a marker fixing plate (124) to which the marker balls are fixed.

[0127] The rotary handle (140) has a grip (141) that the surgeon holds and rotates with his / her hand, a rotation direction control ratchet (142) for transmitting the rotational force of the grip in only one direction, and a coupler (143) that is detachably connected to a shank (114sh) that is connected to the rotary body (114) of the adapter (110).

[0128] A surgical tool driver (100) having an exemplary structure as described above has an adapter (110) according to the present disclosure that is compatible with tools having different specifications, particularly different shaft diameters or different sizes of joint heads at the rear end of the shaft.

[0129] That is, the adapter according to the present disclosure:

[0130] A rotating body (114) having a socket portion to which a coupling head provided on a tool shaft is detachably coupled;

[0131] A fixed body (111) having a bore cavity (111bc) in which a rotating body is rotatably installed; and

[0132] A shaft alignment unit (118) configured to control radial runout of the tool shaft by coaxially aligning the tool shaft (133) with respect to the longitudinal axis of the rotating body (114) while allowing rotation of the rotating body (114) and the tool shaft (133) coupled thereto in the bore cavity (111bc) of the fixed body (111).

[0133] In the above configuration, the shaft alignment part is configured to align the rotation center axis of the shaft having a different specification with respect to the rotation center axis of the rotating body rotating with respect to the fixed body within a certain range in order to interchangeably mount a tool shaft having a different specification with respect to the rotating body, and the above components can be implemented in various embodiments.

[0134] Figure 2 illustrates various types of surgical tools, and Figure 3 illustrates screws used during surgical operations, such as spinal fusion surgery.

[0135] The above adapter (110) is compatible with various types of tools as illustrated in FIG. 2. The tools illustrated in FIG. 2 commonly have a tool shaft (133) in the middle, a tip or bit (131) at an end (the left end in the drawing), and a coupling head (132) at a rear end (the right end in the drawing). Reference numeral 133rg in FIG. 2 denotes a rotational support surface supported by alignment balls as movable actuators within the socket portion of the adapter (110) when the surgical tool rotates.

[0136] There are several types of joining heads formed or provided at the rear ends of surgical tools, including types such as the 1 / 4 inch square chuck or head, the Hudson head, and the Jacobs chuck.

[0137] In the embodiment of the present disclosure, a square head, for example, a 1 / 4 inch square head, is described as a reference, but it is clear that the technical scope of the present disclosure is not limited by a specific form. The adapter (110) according to the present disclosure can stably and rotatably support the tool shaft (133) without radial axis shake with respect to the longitudinal axis of the rotating body (114), i.e., the rotational center axis of the rotating body (114), by the adapter (110) having a shaft alignment portion, even when there is a diameter difference or error of, for example, 1 mm or so in the diameter of the shaft.

[0138] FIG. 4 illustrates an adapter (110) equipped with a navigation marker unit (120) according to one embodiment of the present disclosure.

[0139] The adapter (110) illustrated in FIG. 4 has a structure in which the navigation marker unit (120) described above is attached. However, this navigation marker unit (120) is an optional element and may be firmly fixed to the body of the adapter (110), i.e., the fixed body (111), or detachably coupled in a detachable manner.

[0140] First, looking at the adapter (110), one side (lower side in the drawing) of the fixed body (111) is protected by a cover (113). This cover (113) is for protecting a shaft aligner (118) including a cam nut (118cn), an alignment ball (118ab), and accessory elements near the cam nut (118cn), which will be described later, as a cam member, and can be more clearly understood from the descriptions of FIGS. 6 and 7.

[0141] As described above, the shaft alignment part (118) supports the tool shaft (133) so that it can rotate stably without radial axis shake about the rotation center axis (YY) of the rotation body (114), which will be described in detail later.

[0142] On the upper part of the tool shaft (133), a coupling head (132) having a centering dimple (134), which is an optional element, formed on the top surface thereof is provided, and on the lower part thereof, an annular locking groove (133g) in which a locking ball (118lb, FIG. 6) described later is positioned is formed, and a rotational support surface (133rg) is defined underneath it. On the bottom of the centering dimple (134), a hollow hole (135) is formed that longitudinally penetrates the tool shaft (133), and thus, the centering dimple (134) surrounds the opening of the hollow hole (135).

[0143] The above hollow hole (135) is generally applied to surgical tools, but this hollow hole (135) is an optional element in the present invention together with the above centering dimple (134).

[0144] The above navigation marker unit (120) has a marker fixing plate (124) having a plurality of branches, four in this embodiment, and a marker ball (123) at the end of each branch of the marker fixing plate (124), and the marker unit (120) can be fixedly or detachably coupled to the fixed body (111) of the adapter (110) by a column-shaped marker unit fixing part (122).

[0145] Figure 5 is a partially enlarged view of the head portion of the tool shaft (133). (A) is a front view of the head portion of the tool shaft and (B) is a cross-sectional view thereof.

[0146] As shown in (A) and (B) of FIG. 5, a joining head (132) is provided on the upper head portion of the tool shaft (133), and a centering dimple (134) in the form of a recess or pocket is formed on the top surface thereof. In addition, a locking groove (133g) is formed on the lower portion of the joining head (132) while going around the outer circumference of the tool shaft (133), and below the locking groove (133g), an area in which the rotational support surface (133rg) described below slides or rolls is defined. Meanwhile, as shown in (B) of FIG. 5, a hollow hole (135) that penetrates the tool shaft (133) longitudinally is formed at the bottom of the centering dimple (134), and thus the centering dimple (134) is arranged in a form that surrounds the opening of the hollow hole (135).

[0147] The above centering dimple (134) and hollow hole (135) are optional elements, and according to embodiments of the present disclosure, the hollow hole (135) may be formed to penetrate the tool shaft (133) in the longitudinal direction, and a centering dimple (134) may be formed surrounding the opening of the hollow hole (135), and according to another embodiment, only the centering dimple (134) may be formed without the hollow hole (135).

[0148] FIG. 6 is a schematic exploded perspective view of an adapter (110) according to one embodiment of the present disclosure.

[0149] Referring to FIG. 6, most of the components of the adapter (110) according to the present disclosure, particularly the rotating body (114), the fixed body (111) that accommodates the rotating body (114), and the elements related to the operation of the rotating body (114), are arranged on one common longitudinal axis (YY) extending in the vertical direction.

[0150] In the description of embodiments according to the present disclosure, the longitudinal axis refers to an axis (YY) extending in the vertical direction in FIGS. 4 to 6, and "upper" and "upper part" refer to the upper part of the longitudinal axis, and "lower" and "lower part" refer to the lower part of the longitudinal axis. It is assumed that most of the components belonging to the adapter (110) are commonly concentric with respect to the longitudinal axis, and thus, the individual longitudinal axes of each of these components can be parallel to or coincide with the common vertical longitudinal axis (YY).

[0151] A navigation marker unit (120) is installed on one side of a fixed body (111) having a bore cavity (111bc) placed on the above longitudinal axis (YY).

[0152] The above navigation marker unit (120) has a marker ball (123), a plate (124) supporting the marker ball, a column-shaped marker unit fixing part (122) connecting the plate (124) to a fixed body (111), and a fastening part (121) fixing the plate (124) to the marker unit fixing part (122).

[0153] A holding button (112) is installed on the upper part of the fixed body (111) so as to be slidably positioned so as to penetrate the bore cavity (111bc) in a direction perpendicular to the bore cavity (111bc), and a locking tube (115) is coupled to the lower part thereof.

[0154] The upper part (115te) of the locking tube (115) is fixed to the tubular lower part (111be) of the additional section by screwing or welding, and the rotating body (114) is positioned within the bore cavity (111bc). This locking tube (115) can be said to correspond to a part of the fixed body that is integrally connected with the fixed body.

[0155] The above holding button (112) allows rotation of the rotating body (114) while allowing or preventing longitudinal movement. Correspondingly, an annular locking groove (114g) is formed just below the top of the rotating body (114), into which the inner peripheral edge of the locking hole (112h) of the holding button (112) is engaged.

[0156] The locking hole (112h) of the above holding button (112) is larger than the diameter of the rotating body (114), and when it is concentric with the rotating body (114), the axial movement of the rotating body (114) is permitted, and when it is eccentric, the inner peripheral edge of the locking hole (112h) is caught in the locking groove (114g) of the rotating body (114), thereby preventing the axial movement.

[0157] The above holding button (112) is normally eccentric with respect to the rotating body (114) by the bias spring (112sp), and when an external force is applied to the holding button (112) for insertion or release of a surgical tool, it becomes concentric with respect to the rotating body (114), thereby enabling axial movement of the rotating body (114), and at this time, engagement and release of the tool shaft are enabled.

[0158] The sliding distance of this holding button (112) is limited by a bolt-type sliding guide (112lb) installed in a guide slot (112s) of a predetermined length formed in the holding button (112).

[0159] A rotating body (114) is installed within a bore cavity (111bc) formed by the fixed body (111) and a locking tube (115) that can be considered a part of the fixed body (111), and a centering plunger (116) and a compression spring (116sp) that elastically biases the same are installed within the rotating body (114).

[0160] The above compression spring (116sp) elastically biases the centering plunger (116) which penetrates the central axis of the rotating body (114) and has its head exposed on the floor (or ceiling) of the socket portion. This is to enter the hollow hole (135) or the centering dimple (134) or the concave portion formed or provided on the top surface of the engagement head of the tool shaft to center the engagement head (132) within the socket portion (114sk).

[0161] As described above, the rotating body (114) having a centering plunger (116) built in is elastically biased upward along the longitudinal axis by a compression spring (115sp) installed to surround its circumference.

[0162] For the above elastic bias, a flange (114f) is formed on the rotating body (114) to which the upper end of the spring (115sp) is abutted, and a step portion (115st, FIGS. 6 and 7) to which the lower end of the spring (115sp) is abutted is formed at approximately the middle portion of the locking tube (115).

[0163] An annular locking cam (115 cm, see Figs. 6-8) is formed as a cam member that operates a locking ball (118 lb) as an operating body on the inner lower side of the locking tube (115), and a locking ball operating hole (114hl) is formed in a rotating body (114) facing the locking tube (115) so that the locking ball (118 lb) is positioned therein. The locking ball operating hole (114hl) is an area in which the locking ball (118 lb) moves radially with respect to the longitudinal axis by the locking cam (115 cm).

[0164] The above locking ball (118 lb) is used to press one side of the joining head (132) of the surgical tool (130) with a constant force, or is positioned in the annular groove (133g) formed at the bottom of the joining head (132) to fix the joining head (132) to the socket portion (114sk) provided at the bottom of the rotating body (114).

[0165] A cam nut (118cn), which is a type of cam member that is an element of a shaft aligner, is coupled to the lower portion of the locking tube (115), and for this coupling, a screw portion (115th) is formed at the lower portion of the locking tube (115), and a corresponding screw portion (118th) is also formed on the inner periphery of the cam nut (118cn). Meanwhile, an end cap (118ec) is fitted and coupled to the open end of the rotating body (114) at the lower portion of the cam nut (118cn).

[0166] Accordingly, when the cam nut (118cn) rotates relative to the locking tube (115), the cam nut (118cn) moves up toward the locking tube (115) or down in the opposite direction depending on the direction of rotation, and at the same time, its position relative to the rotating body also changes.

[0167] The above cam nut (118cn) has an annular alignment cam (118cm) formed on its inner surface that is inclined with respect to the longitudinal axis of the rotating body (114), and an alignment ball operating hole (114ha) for the operation of the alignment ball is formed near the end of the corresponding rotating body (114), that is, near the opening of the socket portion (114sk).

[0168] The above alignment ball operating holes (114ha) can be formed in two or three or more, at arbitrary angles or at regular angular intervals, to support the tool shaft (133) coupled to the socket portion (114sk) coaxially with respect to the rotating body (114).

[0169] The position of the cam nut (118cn) is adjusted to the size of the shaft of a surgical tool of a specific specification, and the diameter or radius of the sliding or rolling support circle of the rotational support surface (133rg) formed by the alignment balls (118ab) is temporarily fixed, which is determined by a positioner such as a set screw (118ss).

[0170] Meanwhile, a cover (113) is installed at the lower portion of the fixed body (111) to protect the fixed body (111) and the locking tube (115) and cam nut (118cn) coupled to the lower portion thereof. This cover (113) is detachably fixed to the fixed body (111) by a plunger-type stopper (117) that is elastically biased by a spring (117sp).

[0171] Figure 7 is a schematic cross-sectional view of the adapter (110) illustrated in Figure 6 in an assembled state.

[0172] Referring to FIG. 7, the adapter (110) has a fixed body (111) on one outer surface of which the navigation marker unit (120) described above is fixed by a column-shaped marker unit fixing part (122), and a locking tube (115) fixed to the lower end of the fixed body (111) to form a bore cavity, and this locking tube (115) can be said to correspond to a part of the fixed body.

[0173] The tubular lower part (111be) of the fixed body (111) and the upper part (115te) of the locking tube (115) are fixed to each other by screw connection or welding, etc., and the rotating body (114) is located within the bore cavity (111bc).

[0174] A rotating body (114) is installed in a bore cavity (111 bc) formed by the fixed body (111) and the locking tube (115) so as to be rotatable and reciprocate a predetermined distance in the longitudinal direction, and at this time, the rotating body (114) is elastically biased upward by a compression spring (115sp) installed to surround its circumference.

[0175] For the above elastic bias, a flange (114f) is formed on the rotating body (114) to which the upper end of the spring (115sp) is abutted, and a step portion (115st) is formed at approximately the middle portion of the locking tube (115) to which the lower end of the spring (115sp) is abutted.

[0176] On the inner surface of the locking tube (115), near the step portion (115 st), and in the drawing, at the lower portion thereof, an annular locking cam (115 cm) is formed as a cam member that operates a locking ball (118 lb) as an operating body. A locking ball operating hole (114 hl) in which the locking ball (118 lb) is positioned is formed in the rotating body (114) facing the locking cam (115 cm). The locking ball operating hole (114 hl) is an area in which the locking ball (118 lb) interferes with by the locking cam (115 cm) moves.

[0177] The above locking ball (118lb) presses one side of the joining head (132) of the surgical tool (130) or is positioned in an annular locking groove (133g) located below the joining head (132) to fix the joining head (132) to the socket portion (114sk). The surface of the locking cam (115cm) interfering with the locking ball (118bl) is inclined with respect to the longitudinal axis of the rotating body (114), and depending on its position, pushes the locking ball (118lb) toward the center of the rotating body (114) or releases this action.

[0178] When the rotating body (114), which is elastically biased toward the fixed body (111) by the compression spring (115sp) with respect to the locking tube (115) within the above bore cavity (111bc), is pressed downward in one direction (downward in the drawing) by the shank (114sh), the elastic force of the compression spring (115sp) is overcome and the rotating body (114sh) moves downward in the bore cavity (111bc).

[0179] According to this operation, as the rotating body (114) moves relative to the locking tube (115) or the fixed body (111), the locking ball (118lb) located in the locking groove (133g) located below the coupling head (132) from the locking cams (115cm) formed inclined on the inner surface of the locking tube (115) comes out of the locking groove (133g), thereby enabling the insertion and release of the coupling head (132) of the surgical tool (130) into and out of the socket portion (114sk) provided on one side (the lower part in the drawing) of the rotating body (114). In this process, the alignment ball (118ab) described below, which performs a sliding or rolling motion with respect to the rotational support surface of the coupling head (132), is also separated from the rotational support surface of the shaft.

[0180] A cam nut (118cn), which is a type of cam member that is an element of a shaft aligner (118), is coupled to the lower portion of the locking tube (115), and for this coupling, a screw portion (115th) is formed on the lower portion of the locking tube (115), and a screw portion (118th) is also formed on the inner surface of the corresponding cam nut (118cn).

[0181] Accordingly, when the cam nut (118cn) rotates relative to the locking tube (115), the cam nut (118cn) moves up toward the locking tube (115) or down in the opposite direction depending on the direction of rotation, and at the same time, its position relative to the rotating body also changes.

[0182] An end cap (118ec) is fitted into and connected to the opening of the socket portion (114sk) at the bottom of the above-mentioned rotating body (114).

[0183] The above cam nut (118cn) has an annular alignment cam (118cm) that aligns an alignment ball (118ab) formed inclined with respect to the longitudinal axis of the rotating body (114) on its inner surface to enable sliding or rolling movement with respect to the rotating support surface (133rg) of the tool shaft (133), and an alignment ball operating hole (114ha) for operation of the alignment ball is formed near the end of the corresponding rotating body (114), that is, near the opening of the socket portion (114sk).

[0184] According to the above structure, therefore, by the rotation of the cam nut (118cn) as a cam member with respect to the locking tube (115), the contact area of ​​the alignment cam (118cm) with respect to the alignment ball (118ab) located within the alignment ball operating hole (114ha) of the locking tube (115) changes along the inclined surface of the cam, and thus the diameter of the circle circumscribed by the alignment balls (118ab) decreases or increases.

[0185] The above-mentioned operating holes (114ha) can be formed in two or three or more, at arbitrary angles or at regular angular intervals, to support the tool shaft (133) coupled to the socket portion (114sk) coaxially with respect to the rotating body (114).

[0186] The position of the cam nut (118cn) is adjusted to the size of the shaft of a surgical tool of a specific specification, and the diameter or radius of the sliding or rolling support circle of the rotational support surface (133rg) formed by the alignment balls (118ab) is temporarily fixed, which is determined by a positioner such as a set screw (118ss).

[0187] That is, by adjusting the position at which the cam nut (118cn) is coupled to the locking tube (115), the gap between the alignment balls (118ab) is determined by the annular cam of the cam nut (118cn), specifically, the diameter or radius of the sliding or rolling support circle formed on the alignment balls (118ab), i.e., the circle in which the alignment balls (118ab) are commonly circumscribed, and in this state, the coupling position or fastening position of the cam nut (118cn) to the locking tube (115) is fixed using the set screw (118ss).

[0188] According to another embodiment, the cam nut (118cn) can be modified into another form that functions as a cam member. For example, after determining the position of the alignment cam (118cm) with respect to the alignment ball operating hole (114ha) of the rotating body (114) by a simple fit in the form of simple surface contact without screws, rather than a linear transport structure by screw coupling, it is also possible to fix this position with a set screw (118ss).

[0189] A centering plunger (116) elastically biased by a compression spring (116sp) is installed on the bottom (upper ceiling in the drawing) of the above socket portion (114sk). This plunger (116) penetrates the central axis of the rotating body (114) and its head is exposed on the bottom (or ceiling) of the socket portion.

[0190] This is to center the joining head (132) within the socket portion (114sk) by entering the hollow hole (135) or the concave centering dimple (134) formed or provided on the top surface of the joining head of the tool shaft. According to this centering structure, even if the size of the joining head is slightly smaller than that of the socket portion, the joining head can be aligned exactly in the center within the socket portion.

[0191] Meanwhile, on the upper part of the fixed body (111), a slider-type holding button (112) that allows rotation of the rotating body (114) while allowing or preventing axial movement is installed so as to be slidable in a direction perpendicular to the longitudinal axis of the rotating body (114), and correspondingly, near the upper part of the rotating body (114), an annular locking groove (114g) is formed on which an inner peripheral edge of a locking hole (112h) of the holding button (112) is caught.

[0192] The locking hole (112h) of the above holding button (112) is larger than the diameter of the rotating body (114), and when it is concentric with the rotating body (114), the axial movement of the rotating body (114) is permitted, and when it is eccentric, the inner peripheral edge of the locking hole (112h) is caught in the locking groove (114g) of the rotating body (114), thereby preventing the axial movement.

[0193] The above holding button (112) is normally eccentric with respect to the rotating body (114) by the bias spring (112sp), and when an external force is applied to the holding button (112) for insertion or release of a surgical tool, it becomes concentric with respect to the rotating body (114), thereby enabling axial movement of the rotating body (114), and at this time, engagement and release of the tool shaft are enabled.

[0194] The sliding distance of this holding button (112) is limited by a bolt-type sliding guide (112lb) installed in a guide slot (112s) of a predetermined length formed in the holding button (112).

[0195] Meanwhile, the fixed body (111) and the locking tube (115) and cam nut (118cn) coupled to the lower portion thereof are protected by a cover (113), and the cover (113) is detachably coupled to the fixed body (111) by a push button type or plunger type stopper (117) that is elastically biased by a spring (117sp).

[0196] Although FIG. 7 illustrates a state in which the tool shaft (133) is not in a disengaged state to help understand the socket portion (114sk), it can be understood that the locking ball (118lb) is located within the locking groove (133g) below the engaging head (132) of the tool shaft (133), and further, the alignment ball (118ab) can be brought into contact with the rotational support surface of the tool shaft (133) to the extent that sliding or rolling movement is possible.

[0197] Also, according to another embodiment, it is possible to exclude the locking means including a locking ball (118bl) and a locking cam (115cm) that act as a means of temporarily holding the coupling head (132) to the rotating body (114), and simply apply only the shaft alignment part to the rotating support surface of the shaft.

[0198] Fig. 8a is an excerpt showing a state in which a tool shaft is rotatably supported by the adapter illustrated in Fig. 5, and Fig. 8b is a partial enlarged view showing a state in which an alignment ball on a support surface of the tool shaft supports the support surface so as to enable rolling or sliding movement.

[0199] As illustrated in FIGS. 8a and 8b, an alignment ball (118ab) is adjacent to a rotational support surface (133rg) of a tool shaft (133) with a rolling or sliding gap (119sg). In this state, the tool shaft (133) is supported rotatably within a socket portion (114sk) of the rotational body (114) while being coaxial with the rotational body (114) by the alignment ball (118ab). As illustrated in FIG. 7a for example, the diameter of the shaft (133) is slightly smaller than the inner diameter of the socket portion (144sk), and therefore, a play exists between them. In this state, the centering plunger (116) strongly presses the dimple (134) of the joining head (132) of the tool shaft (133) to center the joining head (132) within the socket portion (144sk), and the alignment ball (118ab) facing or in contact with the rotational support surface (133rg) of the tool shaft (133) with the sliding gap (119sg) therebetween supports the rotational support surface (133rg) of the tool shaft (133) in a sliding or rolling manner, thereby suppressing the tilting of the tool shaft (133).

[0200] The position of these alignment balls (118ab) is adjusted by a cam member of a shaft alignment member (118) having a cam member coupled to enable longitudinal positional movement with respect to a locking tube (115), and, according to a specific embodiment, by a cam nut (118cn) having an alignment cam (118cm) with which the alignment balls (118ab) come into contact, thereby adjusting the gap or contact pressure of the alignment balls (118ab) with respect to the rotational support surface (133rg).

[0201] In this embodiment, a cam nut (118cn) screwed to a locking tube (115) is applied to adjust the position of the alignment balls (118ab), specifically, the radius of arrangement of the alignment balls (118ab).

[0202] FIG. 9 illustrates a state in which the surgical tool can be exchanged in the adapter (110) according to the present disclosure, i.e., a state in which the locking ball and the alignment ball are away from the shaft's coupling head (132) and the rotational support surface (133rg), i.e., a released state.

[0203] Referring to FIG. 9, in order to separate the surgical tool (130) coupled to the socket portion (114sk), first, the holding button (112) is pressed to release the axial lock on the rotary body (114), and then the shank (114sh) of the rotary body (114) is pressed to cause the locking ball (118lb) and the alignment ball (118ab) provided on the lower side of the rotary body (114) to come off the cam surfaces of the corresponding cams 115cm and 118cm. In this way, the locking ball (118lb) and the alignment ball (118ab) move (downwardly in the drawing) in a wide diameter area away from the narrow diameter annular cam surfaces, so that the coupling head (132) and the rotational support surface (133rg) of the surgical tool (130) can be easily separated from the socket portion (114sk). In addition, in this state, since the locking ball (118lb) and the alignment ball (118ab) have moved away from the narrow diameter annular cam face portion and into the wide diameter portion, the locking of the coupling head (132) by the locking ball (118bl) can be achieved by removing the force applied to the shank after inserting the tool or another tool.

[0204] And when mounting a new surgical tool on the adapter (110), if it is necessary to adjust the spacing of the alignment balls (118ab) installed around the socket portion (114sk), the cam nut (118cn) described above can be moved to adjust the new tool so that it can be inserted.

[0205] And, after mounting a new surgical tool on the socket part (114sk), if there is still an unstable radial runout such as shaking of the surgical tool in the radial direction, the spacing of the alignment balls (118ab) can be adjusted while the tool is mounted, and if the rotation of the shaft is allowed through this adjustment while the shaking falls below a certain level, the spacing of the alignment balls (118ab) can be fixed by the positioning unit. As one method for this, a method may be considered in which the cam nut (118cn) is tightened so that the alignment balls (118ab) are in complete contact with the rotational support surface (133rg) of the tool shaft (133), and then the cam nut is slightly loosened in the opposite direction of the tightening direction to retract the alignment balls (118ab) that were pressing the rotational support surface (133rg) to reduce the degree of pressing, but maintain the contact state to the extent that sliding or rolling motion is possible.

[0206] The driver according to the present disclosure, defined as above and illustrated in various forms in FIGS. 4 to 6, can be equipped with a navigation marker without modifying the size of the driver shaft. While the outer diameter of the screwdriver may vary slightly from manufacturer to manufacturer due to process errors and other factors, the driver according to the present disclosure overcomes these differences and is compatible with most different driver shafts.

[0207] In the case of a driver with a navigation marker unit attached, the greater the clearance between the shafts, the lower the navigation position accuracy, and the smaller the clearance, the higher the position accuracy. According to the present disclosure, by removing such clearance, the shaft is supported so that it can rotate in a firm and stable state.

[0208] At the end of the shaft, an adapter, i.e., a coupling head (mounting part of the shaft), is provided to be mounted on a handle or marker body. Most of these are divided into 1 / 4' Square, Hudson, Jacobs chuck, etc., and in this embodiment, the 1 / 4' Square chuck mounting part specification is targeted.

[0209] In the surgical driver according to the present disclosure, the navigation marker may be mounted on a portion where the handle of the screwdriver is mounted, i.e., a 1 / 4' Square chuck. The handle may be mounted on a 1 / 4' Square chuck provided on the upper portion of a fixed body in the form of an adapter to which the navigation marker is attached.

[0210] The mechanism for holding the navigation marker and the shaft in proper play is formed by a shaft alignment part that comprises a plurality of actuators, for example, three actuators, for example, alignment balls arranged at an arbitrary angular interval, and the radius of the arrangement of the ball-shaped actuators is changed by a cam nut having an inclined cam surface, thereby enabling sliding or rolling movement with stable support for the shaft located between them.

[0211] The shaft alignment member may have a structure similar to a collet shape, but instead of the shaft being tightly fixed as in a conventional collet structure, a sliding or rolling motion is allowed between a plurality of operators of the collet, for example, a ball-shaped collet, and the shaft.

[0212] That is, the shaft alignment part borrows the basic structure of a well-known collet, but holds the shaft to a degree that supports the shaft so that it does not swing laterally on the axis, and allows it to rotate with respect to the fixed body by the rotational force transmitted by the handle.

[0213] A cam nut, or a longitudinally axially moving member of a cam that performs the function of a cam nut, is coupled to enable screw engagement or relative linear movement of a rotating body, so that it can reciprocate an arbitrary distance along the longitudinal axis of the shaft depending on the degree of rotation or the degree and direction of progress. At this time, the cam inclined surface of the cam nut presses or releases the pressure on a ball actuator inside it, such as the aforementioned alignment ball, so that it can slidably contact or separate from the rotational support surface of the shaft.

[0214] As described above, the ball-shaped actuator that moves in a radial direction perpendicular to the central axis of the driver shaft by the cam surface can be replaced with a rotatable rod-shaped actuator having a shape other than a ball, such as a cylinder, cone, or truncated cone.

[0215] However, in the present embodiment, the aforementioned alignment ball or other types of actuators may be used as the ball-shaped actuators that facilitate sliding and / or rolling motion. That is, in the present embodiment, a rotation support structure of a chucking structure that supports the rotation of the shaft by actuators having various shapes may be provided.

[0216] This type of actuator is preferably arranged in three equal angles, but two can be applied with the help of some support structure, or preferably more than three.

[0217] Inside the cam nut, as described above, an actuator, for example, three ball actuators, is positioned, and as the cam nut rotates, the internal actuator is interfered with by the inclined cam surface formed on the inner surface of the cam nut, thereby allowing it to approach or move away from the surface of the shaft.

[0218] A set screw is installed in the cam nut, so that when the shaft is pressurized with an appropriate pressure by the actuator through rotation of the cam nut and is able to rotate, a set screw can be provided to fix this state.

[0219] Meanwhile, as illustrated in FIG. 6, the main surface of the cam nut has a plurality of tapped holes, for example, 12 tapped holes spaced at 30 degrees angles, formed for fixing the inner diameter, into which positioning components such as set screws can be fastened. When the cam nut rotates, the inner diameter formed by three balls can be adjusted by increasing or decreasing 0.03 mm when one tap hole moves. Accordingly, after mounting the 1 / 4' square chuck of the screw driver shaft on the fixed body mounted on the navigation marker, the inclined part is rotated to adjust an appropriate clearance, and once the clearance is determined, the tapped hole is fastened to the fixed body inside or a tube elastically supported on the fixed body at a specific rotational position with a set screw, and the inner diameter is fixed by the operating bodies for rotatably supporting it. By fixing the position of the tapped hole with the set screw in this way, the properly formed inner diameter, i.e., the shaft, can rotate stably without shaking in the rotational direction.

[0220] In order to ensure navigation accuracy, it is important to ensure not only the clearance between parts, but also the concentricity of the driver shaft and the fixed body on which the navigation marker is mounted.

[0221] In the present disclosure, a centering plunger corresponding to a hollow hole or centering dimple provided in the head of the shaft is applied to secure concentricity inside the rotor, thereby firmly maintaining the coaxiality of the shaft with respect to the rotating body.

[0222] While various embodiments of the present invention have been described in detail above, those skilled in the art will appreciate that various modifications and variations can be made to the present invention without departing from the spirit and scope of the invention as defined in the appended claims. Therefore, modifications to future embodiments of the present invention will not depart from the scope of the present invention.

Claims

1. A surgical tool adapter for compatible mounting of surgical tools: A rotational body having a socket portion to which a coupling head provided on the shaft of the above tool is detachably coupled; A stationary body having a bore cavity in which the above-mentioned rotating body is rotatably installed; and A surgical tool adapter having a shaft aligner configured to control radial runout of the tool shaft by coaxially aligning the tool shaft with respect to the longitudinal axis of the rotating body while allowing rotation of the rotating body and the shaft coupled thereto in the bore cavity of the fixed body.

2. In paragraph 1, The above shaft alignment part: A plurality of movable actuators that are arranged to be in contact with and detachable from a rotational support surface provided on a portion of the outer surface of the shaft and support the rotation of the shaft; and A surgical tool adapter comprising a positioner for aligning the plurality of movable actuators with respect to the rotational support surface of the shaft.

3. In paragraph 2, A surgical tool adapter, wherein the plurality of actuators are arranged around the circumference of the shaft so as to be able to approach or move away from the shaft in a radial direction around the longitudinal central axis of the shaft with respect to the rotational support surface of the shaft.

4. In paragraph 3, A surgical tool adapter, wherein the plurality of operating bodies are rotating bodies that slide or roll relative to the rotating support surface of the shaft.

5. In paragraph 4, A surgical tool adapter, wherein the plurality of operating bodies have a shape of any one of a ball, a cylinder, a cone or a truncated cone having a surface that partially contacts the rotational support surface.

6. In paragraph 4, A plurality of operating holes are formed at arbitrary angular intervals around the opening of the socket portion into which the shaft is inserted, and the plurality of operating bodies are arranged to be movable in a radial direction. The positioning device has a cam member that pressurizes or releases a plurality of actuators located within the plurality of operating holes so that each of the plurality of actuators contacts or separates from the rotational support surface of the shaft within the socket portion, and A surgical tool adapter, wherein the cam member has an inclined cam surface configured to push the plurality of actuators toward or away from the center of the shaft.

7. In paragraph 6, A surgical tool adapter, wherein the cam member is installed to be able to move an arbitrary distance in the longitudinal direction of the rotating body, and is configured to push the plurality of actuators toward the center of the shaft or away from it, depending on the longitudinal position of the cam member.

8. In paragraph 6, It further comprises a locking tube that forms part of a bore cavity that accommodates a rotating body by being joined to the fixed body, and A surgical tool adapter, wherein the cam member is coupled to an end of the locking tube so as to allow the cam to move in the longitudinal direction, and is configured to move the plurality of actuators toward or away from the rotational support surface according to the longitudinal position of the cam member with respect to the locking tube or the fixed body.

9. In paragraph 8, The above fixed body, cam member and locking tube therebetween are arranged substantially concentrically on one axis, The above bore cavity accommodates the rotating body so as to be reciprocally movable along its longitudinal axis, so that as the rotating body moves in the longitudinal direction, the plurality of actuators that interfere with the rotating body are released from the cam and are locked at the socket portion with respect to the shaft, Inside the above locking tube, a compression spring is interposed to elastically bias the above rotating body, thereby providing a reaction force against the movement of the above rotating body in the direction of the cam member, thereby restoring the position of the above rotating body, and A surgical tool adapter, wherein the cam member is screw-connected to one end of the longitudinal axis of the fixed body or locking tube, and the position of the cam for the plurality of operating bodies moves in the longitudinal axis direction according to the degree of rotation of the cam member.

10. In paragraph 2, The above position determination unit: A cam member having a cam having an inclined cam surface surrounding the array of the plurality of actuators; and A cam fixing part that fixes the position of the cam member determined by the above position determining part: A surgical tool adapter wherein the cam face is inclined relative to the longitudinal axis of the shaft so as to push the plurality of actuators against or away from the rotational support surface of the shaft.

11. In paragraph 2, The above position determination unit: A surgical tool adapter comprising: a linear transfer member that enables reciprocating movement along the longitudinal axis with respect to the rotating body; and a cam fixing member that includes a set screw that fixes the cam member.

12. In paragraph 1, The above socket portion is located on the central axis of the above rotating body, and A surgical tool adapter, wherein a plunger for pressing the top surface of the coupling head is installed on the bottom of the socket portion corresponding to the top surface of the coupling head.

13. In paragraph 12, A surgical tool adapter, wherein the plunger is elastically biased by a spring to elastically pressurize the top surface of the square head.

14. In paragraph 9, A surgical tool adapter, wherein a hollow hole or centering dimple or centering pocket or centering recess is formed on the top surface of the above-mentioned joining head, into which a portion of the above-mentioned plunger enters.

15. A surgical tool having a shaft having a tool tip at its tip and a joining head at its rear end; A surgical tool adapter according to any one of claims 1 to 14, wherein the surgical tool has a rotating body to which it is detachably coupled; and A surgical tool driver having a handle coaxially connected to a rotating rod provided on the above rotating body.

16. In paragraph 15, A surgical tool driver, wherein a shank is coaxially coupled to the rotating body, and a handle having a ratchet capable of controlling the direction of rotation is detachably coupled to the shank.

17. In paragraph 15, A surgical tool driver having a navigation marker attached to the fixed body for surgical navigation.

18. In paragraph 17, The above navigation marker: Multiple optically detectable markers; A marker plate to which the plurality of markers are fixed; and A surgical tool driver comprising a support member connecting the marker plate to the fixed body.

19. A method for interoperably mounting surgical tools on a surgical tool driver, A step for preparing a surgical tool having a shaft having a tool tip provided at the front end and a joining head provided at the rear end; A step of rotatably installing a rotating body in a bore cavity formed in a fixed body; A step of joining the joint head of the shaft to the socket portion provided in the above rotating body; and A method for mounting a tool shaft to a surgical tool driver, comprising: a step of aligning the shaft relative to the rotating body with a driver shaft alignment portion by controlling radial runout of the tool shaft while rotatably supporting the shaft coupled to the rotating body relative to the fixed body and allowing rotation of the rotating body and the shaft coupled thereto in a bore cavity of the fixed body; 20. In paragraph 19, A method for mounting a tool shaft to a surgical tool driver, wherein a cam member having a cam surface surrounding an array of the plurality of actuators is actuated so that the plurality of actuators are rotatably supported on a rotational support surface of the shaft by the cam surface.

21. In paragraph 20, A method for mounting a tool shaft to a surgical tool driver, wherein the cam member is moved in one direction or the other along the longitudinal axis of the shaft, thereby applying or releasing pressure to or from the rotational support surface of the shaft by the cam surface formed inclined with respect to the longitudinal axis of the tool shaft.

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