KR-20260066896-A - Trocar holder of surgical robot

KR20260066896AKR 20260066896 AKR20260066896 AKR 20260066896AKR-20260066896-A

Abstract

The present invention relates to a trocar holder for a surgical robot. One embodiment of the present invention provides a trocar holder for a surgical robot comprising: a grip unit including a first grip portion and a second grip portion arranged opposite each other and moving to be close to or apart from each other; a holder body unit to which at least a portion of the grip unit is connected; a power generation unit including a driving motor that generates power to drive the grip unit; and a power transmission unit disposed within the holder body unit and for transmitting power generated from the driving motor to the grip unit.

Inventors

송용재

Assignees

주식회사 리브스메드

Dates

Publication Date: 20260512
Application Date: 20241105

Claims (20)

A grip unit comprising a first grip portion and a second grip portion arranged opposite each other and moving to be close to or apart from each other; A holder body unit to which at least a portion of the above-mentioned grip unit is connected; A power generation unit including a driving motor that generates power to drive the above grip unit; and A trocar holder for a surgical robot, comprising: a power transmission unit disposed within the holder body unit and for transmitting power generated from the drive motor to the grip unit.
In Article 1, As the drive shaft of the above-mentioned drive motor rotates in the first direction, the first grip portion and the second grip portion rotate in a direction that brings them closer to each other, and A trocar holder for a surgical robot, wherein as the drive shaft rotates in a second direction opposite to the first direction, the first grip portion and the second grip portion rotate in a direction that separates them from each other.
In Article 1, The above power transmission unit is a trocar holder of a surgical robot, wherein the first grip portion and the second grip portion are symmetrically arranged and rotate opposite each other.
In Article 1, A trocar holder for a surgical robot, wherein the first grip portion and the second grip portion rotate around a coaxial axis.
In Article 1, A trocar holder for a surgical robot, wherein the first grip portion rotates around a first rotation axis, and the second grip portion rotates around a second rotation axis spaced apart from the first rotation axis.
In Article 5, A trocar holder for a surgical robot, wherein the first rotation axis is axially coupled to the proximal part of the first grip portion and the holder body unit, and the second rotation axis is axially coupled to the proximal part of the second grip portion and the holder body unit.
In Article 1, The trocar holder of the above surgical robot is, A trocar holder of a surgical robot, further comprising a trocar detection unit for detecting a trocar mounted on the trocar holder.
In Article 7, The above drive motor is, A trocar holder of a surgical robot that operates automatically by a signal provided by the trocar detection unit when the trocar detection unit detects a trocar.
In Article 7, The above trocar detection unit is a trocar holder of a surgical robot disposed between the rotation axis of the first grip portion and the rotation axis of the second grip portion.
In Article 1, The first grip portion includes a first force point that receives a force to rotate the first grip portion at a position spaced apart from the rotation center of the first grip portion and extends from the rotation center of the first grip portion. A trocar holder for a surgical robot, comprising a second grip portion extending from the rotation center of the second grip portion and a second force point portion receiving a force that rotates the second grip portion at a position spaced apart from the rotation center of the second grip portion.
In Article 10, The above power transmission unit is, A trocar holder for a surgical robot comprising a first connecting member connected to the first force point and a second connecting member connected to the second force point.
In Article 11, A trocar holder for a surgical robot, wherein the first connecting member and the second connecting member receive power from the power generating unit and apply force to the first force point and the second force point, respectively, thereby causing the first gripping part and the second gripping part to rotate outward or inward.
In Article 1, A trocar holder for a surgical robot, wherein a movable coupling hole is formed in a proximal area of the first grip portion and the second grip portion, and a protrusion is formed on the upper plate of the holder body unit, so that the protrusion can move relatively within the movable coupling hole while the protrusion is fitted into the movable coupling hole.
In Article 1, The above power transmission unit is, A shaft connected to the above-mentioned power generation unit and defining a power transmission shaft; A linear motion part that performs translational motion between the proximal and distal parts along the above power transmission shaft; A first connecting member connecting the linear motion part and the first grip part; and A trocar holder for a surgical robot comprising: a second connecting member connecting the linear motion part and the second grip part.
In Article 14, When the above linear motion unit moves toward the proximal side, the above first grip unit and the above second grip unit perform an open motion in which they are separated from each other, and A trocar holder for a surgical robot, wherein when the linear motion part moves toward the distal side, the first grip part and the second grip part perform a close action in which they come close to each other.
In Article 14, The above linear motion part is a trocar holder of a surgical robot, wherein the above shaft moves in translation as it rotates around the power transmission axis.
In Article 14, The above linear motion unit is, A nut portion into which the above shaft is inserted through; and It includes a first hinge portion and a second hinge portion provided on both sides of the nut portion; and One end of the first connecting member is rotatably coupled to the first hinge part, and the other end is rotatably coupled to the first grip part, and A trocar holder for a surgical robot, wherein one end of the second connecting member is rotatably coupled to the second hinge part and the other end is rotatably coupled to the second grip part.
In Article 1, The above power transmission unit is, A shaft equipped with a pinion gear, connected to the power generation unit, and defining a power transmission shaft; A first rack and a second rack are arranged to face each other with the pinion gear in between and are equipped with a gear that meshes with the pinion gear; A first lever member connected to the first rack above; A second lever member connected to the second rack above; A first connecting member connecting the first lever member and the first grip portion; and A trocar holder for a surgical robot comprising: a second connecting member connecting the second lever member and the second grip portion.
In Article 18, The first lever member above is, One end extending from the rotational center of the first lever member is connected to the first rack, and the other end extending from the rotational center of the first lever member is hinge-coupled to the first connecting member. The second lever member above is, A trocar holder for a surgical robot, wherein one end extending from the rotational center of the second lever member is connected to the second rack, and the other end extending from the rotational center of the second lever member is hinge-coupled to the second connecting member.
In Article 18, The first rack and the second rack are arranged to intersect the power transmission axis of the shaft, and A trocar holder for a surgical robot, wherein, by rotation of the shaft in one direction, the first rack moves along the longitudinal direction of the first rack and the second rack moves along the longitudinal direction of the second rack, such that one end of the first rack and one end of the second rack move close to or apart from each other.

Description

Trocar holder of surgical robot The present invention relates to a trocar holder for a surgical robot. Medically, surgery refers to the process of curing a disease by cutting, incising, or manipulating the skin, mucous membranes, or other tissues using medical devices. In particular, open surgery, which involves incising the skin at the surgical site to treat, reshape, or remove internal organs, causes problems such as bleeding, side effects, patient pain, and scarring. Therefore, recently, surgeries performed by creating a specific opening in the skin and inserting only medical devices, such as laparoscopes, surgical instruments, or microsurgical microscopes, or surgeries performed using robots, are gaining popularity as alternatives. Here, a surgical robot refers to a robot capable of performing surgical procedures previously carried out by surgeons. Such surgical robots have the advantage of being able to perform accurate and precise movements compared to humans, as well as enabling remote surgery. Surgical robots currently being developed worldwide include bone surgery robots, laparoscopic surgery robots, and stereotactic surgery robots. Among these, a laparoscopic surgery robot is a robot that performs minimally invasive surgery using a laparoscope and small surgical instruments. Meanwhile, surgical robots generally consist of a master robot and a slave robot. When the surgeon operates a control lever (e.g., a handle) equipped on the master robot, the surgical tool attached to the robot arm of the slave robot or held by the robot arm is manipulated to perform the surgery. Laparoscopic surgery is an advanced surgical technique performed by making a small incision near the navel and inserting a laparoscope—an endoscope used to view the inside of the abdomen—to operate; it is a field expected to see significant future development. Recent laparoscopes are equipped with computer chips that allow for clearer and magnified images than what can be seen with the naked eye. Furthermore, advancements have made it possible to perform any type of surgery by utilizing specially designed surgical instruments while viewing a screen on a monitor. Meanwhile, laparoscopic surgery is performed by creating a tube leading to the patient's abdomen using a surgical instrument called a trocar, and then inserting surgical instruments such as a laparoscope and surgical instruments into the surgical site within the abdominal cavity through this trocar, thereby observing the surgical site in the abdominal cavity. The aforementioned background technology is technical information that the inventor possessed for the derivation of the present invention or acquired during the process of deriving the present invention, and it cannot be considered as prior art disclosed to the general public prior to the filing of the present invention. FIG. 1 is a conceptual diagram showing a surgical robot system equipped with a surgical robot according to one embodiment of the present invention. Figure 2 is a perspective view of the surgical robot of Figure 1. FIG. 3 is an enlarged perspective view showing a part of the configuration of the first arm unit of FIG. 2. FIG. 4 is a schematic diagram illustrating a trocar holder according to one embodiment of the present invention. FIG. 5 is a schematic diagram illustrating a trocar holder according to another embodiment of the present invention. FIG. 6 is a perspective view showing a trocar holder and a trocar mounted on the trocar holder according to one embodiment of the present invention. FIG. 7 is an enlarged perspective view of the trocar holder of FIG. 6. FIG. 8 is a perspective view showing the state in which the top plate is removed from the trocar holder of FIG. 7. Figure 9 is a drawing showing the grip unit and top plate of Figure 7. FIG. 10 is a plan view illustrating the trocar holder of FIG. 8. FIG. 11 is a plan view illustrating the opening operation of the trocar holder of FIG. 10. FIG. 12 is a perspective view showing a trocar holder according to another embodiment of the present invention. FIG. 13 is a perspective view showing the state in which the top plate is removed from the trocar holder of FIG. 12. FIG. 14 is a perspective view showing a part of the configuration of the trocar holder of FIG. 13 from a different angle. FIG. 15 is a plan view illustrating the trocar holder of FIG. 13. FIG. 16 is a plan view illustrating the opening operation of the trocar holder of FIG. 15. Hereinafter, the following embodiments will be described in detail with reference to the attached drawings. When describing with reference to the drawings, identical or corresponding components are given the same reference numerals, and redundant descriptions thereof will be omitted. Since the embodiments are capable of various modifications, specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of the embodiments and the methods for achie