CN-121987355-A - Trocar holder for surgical robot

Abstract

The present invention relates to a trocar holder for a surgical robot. An embodiment of the present invention provides a trocar holder of a surgical robot, which includes a holder unit including a first holder portion and a second holder portion disposed opposite to each other and moving in proximity to or apart from each other, a holder body unit to which at least a portion of the holder unit is connected, a power generation unit including a driving motor generating power for driving the holder unit, and a power transmission unit disposed within the holder body unit and for transmitting the power generated by the driving motor to the holder unit.

Inventors

• Song Rongzai

Assignees

• 利思梅德株式会社

Dates

Publication Date

20260508

Application Date

20251105

Priority Date

20241105

Claims (20)

1. 1. A trocar holder for a surgical robot, comprising: A clamping unit including a first clamping part and a second clamping part which are arranged opposite to each other and move in a manner of being adjacent to or far away from each other, A holder body unit to which at least a portion of the clamping unit is connected, A power generation unit including a driving motor generating power for driving the clamping unit, and And the power transmission unit is arranged in the retainer body unit and is used for transmitting power generated by the driving motor to the clamping unit.
2. 2. A surgical robotic trocar holder according to claim 1, When the driving shaft of the driving motor rotates in a first direction, the first clamping portion and the second clamping portion rotate toward directions adjacent to each other, When the drive shaft rotates in a second direction opposite to the first direction, the first clamping portion and the second clamping portion rotate in directions away from each other.
3. 3. A surgical robotic trocar holder according to claim 1, The power transmission unit rotates the first clamping portion and the second clamping portion in opposite directions to each other in a state of being symmetrically arranged to each other.
4. 4. A surgical robotic trocar holder according to claim 1, The first clamping portion and the second clamping portion rotate about a same axis.
5. 5. A surgical robotic trocar holder according to claim 1, The first clamping part rotates around a first rotation shaft, The second clamping portion rotates around a second rotation axis disposed apart from the first rotation axis.
6. 6. A surgical robotic trocar holder according to claim 5, The first rotation shaft is coupled to the proximal end of the first grip portion and the holder body unit shaft, and the second rotation shaft is coupled to the proximal end of the second grip portion and the holder body unit shaft.
7. 7. A surgical robotic trocar holder according to claim 1, The trocar holder of the surgical robot further comprises: A trocar detection unit for detecting a trocar mounted to the trocar holder.
8. 8. The surgical robot trocar holder according to claim 7, wherein, The drive motor is configured to: When the trocar detection unit detects a trocar, the driving motor is automatically operated by a signal provided by the trocar detection unit.
9. 9. The surgical robot trocar holder according to claim 7, wherein, The trocar detection unit is disposed between the rotational axis of the first clamping portion and the rotational axis of the second clamping portion.
10. 10. A surgical robotic trocar holder according to claim 1, The first clamping portion includes: a first force point portion extending from a rotation center of the first clamping portion and receiving a force for rotating the first clamping portion at a position spaced apart from the rotation center of the first clamping portion, The second clamping portion includes: a second force point portion extending from a rotation center of the second clamping portion and receiving a force for rotating the second clamping portion at a position spaced apart from the rotation center of the second clamping portion.
11. 11. The surgical robot trocar holder according to claim 10, wherein, The power transmission unit includes: a first connecting member connected to the first force point portion, and And the second connecting member is connected to the second force point part.
12. 12. The surgical robot trocar holder according to claim 11, wherein, The first and second connection members receive power from the power generation unit and apply forces to the first and second force point portions, respectively, so as to externally or internally rotate the first and second clamping portions.
13. 13. A surgical robotic trocar holder according to claim 1, A movement coupling hole is formed in one region of the proximal end sides of the first and second clamping portions, and a protrusion is formed in an upper plate of the holder body unit, the protrusion being relatively movable within the movement coupling hole in a state of being fitted into the movement coupling hole.
14. 14. A surgical robotic trocar holder according to claim 1, The power transmission unit includes: a shaft connected with the power generation unit and defining a power transmission shaft, A linear motion portion for translational motion along the power transmission shaft between a proximal end and a distal end, A first connecting member connecting the linear motion portion with the first clamping portion, and And a second connecting member connecting the linear motion portion with the second clamping portion.
15. 15. The surgical robotic trocar holder according to claim 14, wherein, When the linear movement portion moves toward the proximal end side, the first clamping portion and the second clamping portion perform an opening action spaced apart from each other, When the linear movement portion moves to the distal end side, the first clamping portion and the second clamping portion perform a closing action adjacent to each other.
16. 16. The surgical robotic trocar holder according to claim 14, wherein, The linear motion portion is configured to: the linear motion portion performs translational motion when the shaft rotates about the power transmission shaft.
17. 17. The surgical robotic trocar holder according to claim 14, wherein, The linear motion section includes: A nut portion through which the shaft is inserted, and The first hinge part and the second hinge part are arranged at two sides of the nut part; The first connection member is configured to: one end portion of the first connecting member is rotatably coupled with the first hinge portion, and the other end portion of the first connecting member is rotatably coupled with the first clamping portion; The second connection member is configured to: one end of the second connection member is rotatably coupled with the second hinge portion, and the other end of the second connection member is rotatably coupled with the second clamping portion.
18. 18. A surgical robotic trocar holder according to claim 1, The power transmission unit includes: A shaft provided with a pinion and connected to the power generation unit, the shaft defining a power transmission shaft, A first rack and a second rack, which are arranged opposite to each other with the pinion in the middle and are provided with gears meshed with the pinion, A first lever member connected with the first rack, A second lever member connected with the second rack, A first connecting member connecting the first lever member and the first clamping portion, and And a second connecting member connecting the second lever member and the second clamping portion.
19. 19. The surgical robotic trocar holder according to claim 18, wherein, The first lever member is configured to: One end portion of the first lever member extends from the rotation center of the first lever member and is connected with the first rack gear, the other end portion of the first lever member extends from the rotation center of the first lever member and is hinge-coupled with the first connection member, The second lever member is configured to: One end portion of the second lever member extends from the rotation center of the second lever member and is connected with the second rack, and the other end portion of the second lever member extends from the rotation center of the second lever member and is hinge-coupled with the second connection member.
20. 20. The surgical robotic trocar holder according to claim 18, wherein, The first rack and the second rack are arranged in such a manner as to intersect the power transmission shaft of the shaft, When the shaft rotates in a certain direction, the first rack moves in a length direction of the first rack, and the second rack moves in a length direction of the second rack, and one end of the first rack and one end of the second rack move in a manner of being adjacent to or distant from each other.

Description

Trocar holder for surgical robot Technical Field The present invention relates to a Trocar holder (Trocar holder) for a surgical robot. Background Medically, surgery refers to the process of cutting, dissecting or otherwise manipulating skin or mucous membranes, other tissue to treat a disease using medical devices. In particular, an open surgery or the like, in which an internal organ is treated, shaped, or resected by incising the skin at the operation site, causes bleeding, side effects, pain of the patient, scars, and the like. Therefore, in recent years, an operation performed by forming a predetermined hole in the skin and inserting only medical devices such as a laparoscope, a surgical instrument, a microscope for minimally invasive surgery, or an operation performed using a robot (robot) has been regarded as an alternative. Among them, the surgical robot means a robot having a function capable of performing a surgical operation performed by a surgeon instead. Such surgical robots are capable of performing more accurate and precise actions than humans, and have the advantage of enabling tele-surgery. Currently, surgical robots being developed worldwide include orthopedic surgical robots, laparoscopic surgical robots, stereotactic surgical robots, and the like. Among them, the laparoscopic surgery robot refers to a robot that performs a minimally invasive surgery using a laparoscope and a small-sized surgical tool. On the other hand, surgical robots are generally composed of a master robot (master robot) and a slave robot (slave robot). When an operator manipulates a manipulation lever (e.g., a handle) provided on a master robot, a manipulator coupled to a slave robot or a surgical tool gripped by the manipulator is manipulated to perform a surgery. Laparoscopic surgery is an advanced surgical technique for performing surgery after placement of a laparoscope, which is an endoscope for viewing the inside of the abdominal cavity, by making a small hole at the navel site, and it is expected that this field will be greatly developed in the future. In recent years, laparoscopes are equipped with computer chips, which can obtain images that are clearer and more enlarged than visual observation, and in addition, laparoscopes have been developed to the extent that almost any surgical operation can be completed by viewing pictures on a display and using a specially designed laparoscopic surgical instrument. On the other hand, laparoscopic surgery is to form a tube in the abdomen of a patient using a surgical instrument called a Trocar (trocon), and introduce the surgical instrument such as a laparoscope, a surgical instrument, etc. into an intra-abdominal operation site through the Trocar, thereby performing surgery while observing the abdominal operation site. The technical information that the inventors originally possess to derive the present invention or that is obtained in the derivation process of the present invention is not necessarily known to the general public prior to the application of the present invention. Disclosure of Invention Problems to be solved by the invention The present invention is directed to a trocar holder of a surgical robot, which is applied to a surgical robot for laparoscopic surgery or various other surgeries, and in which a trocar fastening manner is automated, fastening of a trocar can be conveniently performed, and errors that may occur in an operation can be reduced. Means for solving the problems An embodiment of the present invention provides a trocar holder of a surgical robot, which includes a holder unit including a first holder portion and a second holder portion disposed opposite to each other and moving in proximity to or apart from each other, a holder body unit to which at least a portion of the holder unit is connected, a power generation unit including a driving motor generating power for driving the holder unit, and a power transmission unit disposed within the holder body unit and for transmitting the power generated by the driving motor to the holder unit. In one embodiment of the present invention, the first clamping portion and the second clamping portion may rotate toward a direction adjacent to each other when the driving shaft of the driving motor rotates in a first direction, and may rotate toward a direction away from each other when the driving shaft rotates in a second direction opposite to the first direction. In one embodiment of the present invention, the power transmission unit may rotate the first clamping portion and the second clamping portion in opposite directions to each other in a state of being symmetrically arranged to each other. In one embodiment of the present invention, the first clamping portion and the second clamping portion may rotate about a coaxial axis. In one embodiment of the present invention, the first clamping portion may rotate around a first rotation axis, and the second clamping portion may rotate around a second rota