阅读说明：本技术 手术机器人的末端执行器 (End effector of surgical robot ) 是由 车镛烨 柳承材 金洪浩 于 2020-03-13 设计创作，主要内容包括：本发明涉及一种手术机器人的末端执行器,更具体地,涉及这样一种手术机器人的末端执行器,其可通过机器人来快速地且方便地执行手术操作,从而不仅安全地执行手术过程,而且还在手术操作期间容易地且准确地握持手术工具并设定和保持手术工具的位置和手术部位。作为安装在手术机器人上的末端执行器,根据本发明的手术机器人的末端执行器包括：力/扭矩传感器模块,安装到机器人臂；末端执行器框架,所述力/扭矩传感器模块结合到所述末端执行器框架；夹持单元,安装在所述端部执行器框架中；以及工具安装单元,通过所述夹持单元可拆卸地结合到所述末端执行器框架,并且支撑手术工具。(The present invention relates to an end effector of a surgical robot, and more particularly, to an end effector of a surgical robot, which can quickly and conveniently perform a surgical operation by a robot, thereby not only safely performing a surgical procedure, but also easily and accurately holding a surgical tool and setting and maintaining a position and a surgical site of the surgical tool during the surgical operation. As an end effector mounted on a surgical robot, an end effector of a surgical robot according to the present invention includes: a force/torque sensor module mounted to the robotic arm; an end effector frame to which the force/torque sensor module is coupled; a clamping unit mounted in the end effector frame; and a tool mounting unit detachably coupled to the end effector frame by the grip unit and supporting a surgical tool.)

1. An end effector of a surgical robot, comprising:

a force/torque sensor module mounted to the robotic arm;

an end effector frame to which the force/torque sensor module is coupled;

a clamping unit mounted in the end effector frame; and

a tool mounting unit detachably coupled to the end effector frame by the grip unit and supporting a surgical tool.

2. The end effector of the surgical robot according to claim 1, wherein the tool mounting unit includes:

a mounting rod including a first end connected to the end effector frame and a second end formed with the tool support;

a tool guide member mounted in the tool support and supporting the surgical tool; and

a tool presence detector mounted in the mounting rod and configured to detect the presence of the tool guide member.

3. The surgical robotic end effector of claim 2, wherein the tool support comprises: a support body formed in a lower end portion of the mounting rod body to be bent in a horizontal direction; and a guide hole formed in the support body in an up-down direction and including an opening formed at one side.

4. The end effector of the surgical robot of claim 3, wherein:

the mounting lever includes a mounting lever main body having the tool support formed in a lower end portion thereof and the tool presence detector provided inside thereof, a mounting lever cover coupled to the mounting lever main body and including a second terminal to be connected to a first terminal provided in the end effector frame, and a mounting lever coupler coupled to an upper end portion of the mounting lever main body and mounted with the clamping unit,

the tool guide member includes an insertion portion inserted into the guide hole and formed with a hanging groove recessed on an outer surface of the insertion portion, and a hanging ring formed at an upper end of the insertion portion and hung on the support body, and

a guide member stopper is formed in the mounting lever body and is elastically seated in the suspension groove.

5. The end effector of the surgical robot of claim 1, wherein:

the clamping unit includes a first clamping unit mounted in the end effector frame and a second clamping unit mounted in the tool mounting unit and detachably coupled to the first clamping unit, and

a drape adapter is mounted between the first and second clamp units to hold a sterile drape.

6. The end effector of the surgical robot of claim 5, further comprising an end effector housing mounted around an exterior of the end effector frame,

wherein the end effector frame includes a sensor module mounting portion to which the force/torque sensor module is mounted, a clamp mounting portion to which the first clamping unit is mounted, and a housing retaining bracket to which the end effector housing is coupled.

7. The end effector of the surgical robot of claim 6, further comprising a line laser mounted in the end effector frame and generating a laser beam for marking a surgical site,

wherein the end effector housing includes a pair of beam emitting slits formed obliquely to emit the laser beam generated in the line laser to the outside.

8. The surgical robotic end effector of claim 7, wherein the drape adapter comprises: a sterilizing cloth holder interposed between the first clamping unit and the second clamping unit and holding a sterilizing cloth; and a light-transmitting portion formed in the sterilizing cloth holder and facing the light beam emission slit.

9. The end effector of the surgical robot of claim 1, further comprising a marker member mounted to provide an optical signal to an optical tracking system to track a position of the end effector.

Technical Field

The present invention relates to an end effector of a surgical robot, and more particularly, to an end effector of a surgical robot, which can quickly and conveniently perform a surgical operation by a robot, thereby not only safely performing a surgical procedure, but also easily and accurately holding a surgical tool and setting and maintaining a position and a surgical site of the surgical tool during the surgical operation.

Background

In general, a surgical robot refers to a medical robot that assists a surgeon in performing a surgical operation, and robot-based surgical methods have received attention because patient recovery is fast, surgical operation execution is accurate, and a removed portion is optimized. Further, with the progress of medical technology, such a surgical robot has been developed and widely used as a surgical method.

Currently, surgical robots have been developed and used as laparoscopic surgical robots that operate on soft tissues (soft tissue) such as prostate, stomach, heart, etc., artificial joint surgical robots that operate on hard tissues (hard tissue) such as knee joints, vascular surgical robots that operate when inserted into blood vessels through catheters, etc., and the like.

In addition, a surgical robot has been used as a robot having an end effector for intervention or the like, which performs medical and surgical operations (such as tissue biopsy, dilation, drug injection, etc.) by inserting a medical instrument into a human body while observing the inside of the human body through an imaging device.

Recently, surgical robots have also been researched and developed even for use in spinal surgery (such as correcting the position of the spine by inserting a fixing device for pedicle fixation, relieving the compressed nerves, etc.).

For example, a Pedicle screw insertion procedure, one of representative spinal procedures, is to perform spinal fusion by inserting Pedicle screws (Pedicle screws) into a plurality of pedicles and combining adjacent Pedicle screws and adjacent Pedicle screw combinations via a rod, so that the spine can be corrected to widen a distance between adjacent pedicles compressing nerves, thereby preventing the pedicles from compressing the nerves.

The pedicle screw insertion procedure was performed in such a way that: pedicle screws are inserted into multiple pedicles by a fastening tool (called a driver) and the screw heads of the pedicle screws are then engaged by a rod. However, when the pedicle screw insertion procedure is performed by medical staff, about 12 or more surgical steps are required, and many tools and procedures are required before the pedicle screw is inserted into the pedicle, so that there is a disadvantage in that the surgical procedure is very complicated.

In addition, since the holding of the surgical tool, the setting and holding of the position of the surgical tool and the surgical site, and the like, depend on manual operations by medical staff, the pedicle screw insertion surgery has the following disadvantages: performing a surgical operation accurately and stably is very difficult and takes too much time.

In addition, the conventional pedicle screw insertion surgery has a disadvantage of increasing radiation exposure of a patient or medical staff because of repeated radiographs involved in the process of inserting a surgical tool or the like.

Therefore, there is an urgent need for an end effector that can not only perform a spinal surgery using a surgical robot, but also hold a surgical tool, set and hold the position of the surgical tool and a surgical site, and the like during the spinal surgery due to easy mounting to a robot arm, without depending on manual work by medical staff.

Disclosure of Invention

Technical problem

Accordingly, the present invention has been conceived in view of the aforementioned drawbacks, and it is an aspect of the present invention to provide an end effector of a surgical robot that not only quickly and easily performs a surgical operation but also safely performs a surgical procedure by a robot.

Another aspect of the present invention is to provide an end effector of a surgical robot that easily and accurately performs holding of a surgical tool, setting and holding of a position and a surgical site of the surgical tool, and the like during a surgical operation.

Technical scheme

According to an aspect of the present invention, there is provided an end effector of a surgical robot, including: a force/torque sensor module mounted to the robotic arm; an end effector frame to which the force/torque sensor module is coupled; a clamping unit mounted in the end effector frame; and a tool mounting unit detachably coupled to the end effector frame by the grip unit and supporting a surgical tool.

The tool mounting unit may include: a mounting rod including a first end connected to the end effector frame and a second end formed with the tool support; a tool guide member mounted in the tool support and supporting the surgical tool; and a tool presence detector mounted in the mounting rod and configured to detect the presence of the tool guide member.

Here, the tool support may include: a support body formed in a lower end portion of the mounting rod body to be bent in a horizontal direction; and a guide hole formed in the support body in an up-down direction and including an opening formed at one side.

The mounting lever may include a mounting lever main body having the tool support formed in a lower end portion thereof and the tool presence detector disposed inside thereof, a mounting lever cover coupled to the mounting lever main body and including a second terminal to be connected to a first terminal disposed in the end effector frame, and a mounting lever coupler coupled to an upper end portion of the mounting lever main body and mounted with the clamping unit.

The tool guide member may include an insertion portion inserted into the guide hole and formed with a hanging groove recessed on an outer surface of the insertion portion, and a hanging ring formed at an upper end of the insertion portion and hung on the support body.

Further, the tool mounting unit may include a guide member stopper formed in the mounting rod body and elastically seated in the suspension groove.

Further, the clamping unit may include a first clamping unit mounted in the end effector frame and a second clamping unit mounted in the tool mounting unit and detachably coupled to the first clamping unit.

The end effector of the surgical robot may further include an end effector housing installed to surround an outside of the end effector frame, and a line laser installed in the end effector frame and generating a laser beam for marking a surgical site, and the end effector housing may include a pair of beam emitting slits formed obliquely to emit the laser beam generated in the line laser to the outside.

The end effector frame may include a sensor module mounting portion to which the force/torque sensor module is mounted, a clamp mounting portion to which the first clamping unit is mounted, and a housing retaining bracket to which the end effector housing is coupled.

Further, a drape adapter may be mounted between the first and second clamp units to hold a sterile drape.

The drape adapter may include: a sterilizing cloth holder interposed between the first clamping unit and the second clamping unit and holding a sterilizing cloth; and a light-transmitting portion formed in the sterilizing cloth holder and facing the light beam emission slit.

The hand tool mounting unit may comprise a marking member mounted to provide an optical signal to an optical tracking system to track the position of the end effector.

Technical effects

With the end effector of the surgical robot according to the present invention, the detachable tool mounting unit facilitates preparation of a surgical operation, the sterilization cloth is easily mounted to isolate a sterilization region and a non-sterilization region, and the line laser is used to quickly and accurately mark a surgical site, so that not only a robot-based surgical operation can be quickly performed, but also setting and holding of the position of a surgical tool and the surgical site, etc. can be easily and accurately performed, thereby having the effect of improving the accuracy of the surgical operation.

Further, with the end effector of the surgical robot according to the present invention, the tool presence detector provided in the tool mounting unit detects the mounting state of the surgical tool, and thus it is possible to recognize whether or not a surgical operation is being performed. Accordingly, when the installation state of the surgical tool is detected, the actuation of the robot is prevented, thereby preventing a medical accident due to a malfunction of the robot. Further, the tool supporter is formed with an opening so that the surgical tool can easily pass through the opening even in a state where the pedicle screw is mounted in the surgical tool during the pedicle screw insertion procedure, thereby having an advantage of smoothly performing the surgical procedure.

Drawings

Figure 1 is a perspective view illustrating the mounting of an end effector to a surgical robot in accordance with an embodiment of the present invention,

fig. 2 is an assembled perspective view showing an appearance of an end effector of a surgical robot according to an embodiment of the present invention,

figure 3 is a schematic exploded perspective view illustrating an end effector of a surgical robot according to an embodiment of the present invention,

figure 4 is an exploded perspective view of the major elements in an end effector of a surgical robot according to an embodiment of the present invention,

figure 5 is an exploded perspective view of an end effector frame in the main elements of an end effector of a surgical robot according to an embodiment of the present invention,

figure 6 is a perspective view of an end effector housing in an end effector of a surgical robot according to an embodiment of the present invention,

figure 7 is a perspective view of a drape adapter in an end effector of a surgical robot according to an embodiment of the present invention,

fig. 8 is an exploded perspective view of a tool mounting unit in an end effector of a surgical robot according to an embodiment of the present invention, an

Fig. 9a to 9c are views for describing the operation of an end effector of a surgical robot according to an embodiment of the present invention, in which fig. 9a illustrates a state before a tool mounting unit is mounted, fig. 9b illustrates a state where a sterilization cloth and a tool mounting unit are mounted and a surgical tool is mounted, and fig. 9c is a perspective view of a surgical tool used in a pedicle screw insertion surgery (one of representative spinal surgeries).

Detailed Description

Embodiments of the invention will now be described with reference to the drawings (fig. 1 to 9c), in which like reference numerals refer to like elements throughout.

In addition, detailed descriptions about elements and their operations and effects that are easily understood from conventional techniques by those of ordinary skill in the art in the drawings will be simplified or omitted. In addition, the present invention is characterized by the end effector of the surgical robot, and thus, the description of relevant parts will be focused while simplifying or omitting other parts

Fig. 1 is a perspective view showing that an end effector according to an embodiment of the present invention is mounted to a surgical robot, fig. 2 is an assembled perspective view showing an appearance of the end effector of the surgical robot according to the embodiment of the present invention, fig. 3 is a schematic exploded perspective view showing the end effector of the surgical robot according to the embodiment of the present invention, fig. 4 is an exploded perspective view of main elements in the end effector of the surgical robot according to the embodiment of the present invention, and fig. 5 is an exploded perspective view of an end effector frame in the main elements in the end effector of the surgical robot according to the embodiment of the present invention.

Referring to fig. 1 to 5, an end effector e of a surgical robot according to an embodiment of the present invention is configured to hold a surgical tool t and easily and accurately set and hold a position of the surgical tool, a surgical site, and the like during spinal surgery, and includes a force/torque sensor module 1, an end effector frame 2, a grip unit 3, and a tool mounting unit 4. In particular, the end effector of the surgical robot according to an embodiment of the present invention is configured to easily and safely insert Pedicle screws (pedicles screw) into pedicles along a planned path during a Pedicle screw insertion procedure.

The Force/Torque sensor module 1(Force/Torque sensor module) refers to a sensor for measuring an external Force applied to an end effector and controlling the activation of a robot, and is generally called an F/T sensor, an overload protection device, or the like, and is mounted to the end of the robot arm a where the end effector is mounted. Further, the force/torque sensor module 1 is a well-known element that has been widely used for medical robots or industrial robots, and thus a description about a detailed structure thereof will be omitted.

According to the embodiment, the end effector frame 2 serves as a main body for mounting main elements, and includes a sensor module mounting portion 21 and a jig mounting portion 22. However, the structure and shape of the end effector frame 2 are not particularly limited.

The sensor module mounting part 21 refers to a part where the force/torque sensor module 1 is mounted, and is provided as a plate member formed with a plurality of fastening holes to which fastening members for assembling the force/torque sensor module are fastened.

The jig mounting part 22 refers to a portion of the first clamping unit 31 to which the clamping unit 3 is mounted, is assembled in a direction perpendicular to the sensor module mounting part 21, and is provided as a plate member formed with a plurality of fastening holes to which fastening members for assembling the first clamping unit 31 are fastened.

Further, the jig mounting section 22 includes a first terminal 61 electrically connected to a second terminal 62 (to be described later). The first terminal 61 includes a terminal piece 612, and is electrically connected to a terminal piece 621 (to be described later) of the second terminal 62 in a state where the tool mounting unit 4 is mounted to the end effector frame 2, the terminal piece 612 being mounted so as to be exposed to the outside in the first terminal housing 611 fastened to the jig mounting portion 22 by a fastening member.

The end effector frame 2 includes: an end effector housing 23 for protecting main components placed in the end effector housing 23; and a housing holding bracket 24 for holding the end effector housing 23.

The end effector case 23 is formed by a thin plate so as to surround the outside of the end effector frame 2, includes an upper case 231 and a lower case 232, and is fastened to the case holding bracket 24 and the like by a fastening member.

Fig. 6 is a diagram for describing an end effector housing provided in an end effector of a surgical robot according to an embodiment of the present invention, and a bottom portion of the end effector housing is shown in fig. 6.

Referring to fig. 6, the end effector housing 23 is formed with a beam emitting slit 233, and a laser beam generated in a line laser 7 (to be described later) is emitted to the outside through the beam emitting slit 233.

Further, the beam emitting slit 233 is formed as a pair of long holes formed by perforating the bottom of the end effector housing 23 obliquely, the pair of long holes being symmetrically configured to have an acute angle for converging on a predetermined vanishing point, so that the emitted laser beam can form a crossing point for marking the surgical site.

The housing holding bracket 24 includes a plurality of fastening portions formed by a bent plate member and having fastening holes, and is fastened to a laser bracket 25 (to be described later).

In addition, the end effector frame 2 includes a line laser 7 for generating a laser beam to mark the surgical site. As shown in fig. 5, the line laser 7 is mounted in a laser holder 25 coupled to the jig mounting section 22.

The line laser 7 includes a built-in laser diode module or the like in its cylindrical body, the line laser 7 is configured to emit a laser beam when power is supplied, and includes a light emitter that is mounted in a laser mounting hole formed in the laser holder 25 so as to face the beam emitting slit 233 of the end effector housing 23.

The clamping unit 3 is provided to clamp the tool mounting unit 4 to the end effector frame 2 or separate the tool mounting unit 4 from the end effector frame 2, and includes: a first clamping unit 31 mounted in the end effector frame 2; and a second clamping unit 32 installed in the tool mounting unit 4 and detachably coupled to the first clamping unit 31.

The first clamp unit 31 includes: a first clamp body 311 formed with a hollow portion; a clamping lever 312 rotatably installed in the first clamping body 311 and including a grip portion 312 a; and a clamping shaft 313 which moves up and down corresponding to the rotation operation of the clamping lever 312 and is formed with a locking protrusion.

Further, the first clamp body 311 includes: a plurality of locking grooves 311b recessed at a circumferential edge of the first clamp body 311 to receive locking protrusions 513 (to be described later) of a drape adapter 5; and a position setting pin 311c for setting a position of the component to be assembled.

The second clamp unit 32 includes: a second clamp body 321 coupled to a mounting rod (to be described later); and a clamping protrusion 322 protruding from the second clamping body 321 and formed with a locking hole to be placed on the clamping shaft 313 of the first clamping unit 31 or mounted to the clamping shaft 313 of the first clamping unit 31.

The aforementioned first and second clamp units 31 and 32 may be variously configured without any particular limitation on their structures and shapes as long as they allow the tool mounting unit 4 to be detachably mounted.

Figure 7 is a perspective view of a drape adapter in an end effector of a surgical robot according to an embodiment of the present invention.

Referring to fig. 7, the end effector of the surgical robot according to the embodiment of the present invention includes a drape adapter 5(drape adapter) between a first grip unit 31 and a second grip unit 32 to isolate a sterile area from a non-sterile area during a surgical operation.

The drape adapter 5 includes: a sterilizing cloth holder 51 interposed between the first and second clamping units 31 and 32 and holding the sterilizing cloth s; and a light-transmitting portion 52 formed in the sterilizing cloth holder 51 and facing the light beam emitting slit 233.

The sterilizing cloth holder 51 includes: a through hole 511 formed at the center of the thin plate body shaped like a substantially circular plate; a plurality of locking protrusions 513 protruding from an inner surface thereof and surrounding the through-holes; and a pin insertion hole 512 into which the position setting pin 311c of the first clamping unit 31 is inserted.

The light transmitting portion 52 is made of a light transmitting plate or sheet such as Polycarbonate (PC) having excellent light transmittance so as to easily transmit the laser beam generated by the line laser 7.

Fig. 8 is an exploded perspective view of a tool mounting unit in an end effector of a surgical robot according to an embodiment of the present invention.

Referring to fig. 8, the tool mounting unit 4 refers to an element on which a surgical tool for performing a surgical operation is mounted, and the tool mounting unit 4 is detachably coupled to the end effector frame 2 by the grip unit 3.

The tool mounting unit 4 includes: a mounting rod 41 having a first end coupled to the end effector frame 2 and a second end formed with a tool support 411; a tool guide member 42 installed in the tool support 411 and supporting a surgical tool; and a tool presence detector 43 installed in the mounting rod 41 and configured to detect the presence of the tool guide member 42.

The mounting lever 41 includes: a tool support 411 formed at a lower end portion of a body shaped like a rod; a mounting lever main body 412 having a detector accommodating groove formed in a rear surface of the tool support 411 to accommodate the tool presence detector 43; a mounting lever cover 413 connected to the mounting lever main body 412 and including the second terminal 62; and a mounting rod coupler 414 connected to an upper end portion of the mounting rod main body 412 and mounted with the second clamping unit 32 of the clamping unit 3.

The tool support 411 includes: a support body 411a curvedly protruding in a horizontal direction from a lower end portion of the mounting lever body 412; and a guide hole 411b formed to penetrate the support body 411 a.

As shown in the enlarged portion of fig. 8, the support body 411a includes: a sensor hole 411d to which a part of a tool presence detector 43 (to be described later) is fitted; and a stopper hole 411e through which a portion of the guide member stopper 45 is fitted and exposed. A sensor hole 411d and a stopper hole 411e are formed on an inner peripheral surface of the guide hole 411 b.

The guide hole 411b is formed in an up-and-down direction and includes an opening 411c to allow a surgical tool to smoothly pass through the opening 411c even in a state where a Pedicle screw (Pedicle screw) having a volume greater than a diameter of the surgical tool is mounted in the surgical tool during a surgical operation. In this case, the gap of the opening 411c is smaller than the inner diameter of the guide hole 411b to prevent the inserted tool guide member 42 from being separated.

The tool guide member 42 is generally shaped like a bushing, inserted into the guide hole 411b of the tool support 411, and includes: an insertion portion 421 formed with a hanging groove 421a, the hanging groove 421a being recessed on an outer surface of the cylinder formed with a tool insertion hole 421 b; a suspension ring 422 integrally formed on the top of the insertion portion 421 and seated and suspended on the support body 411 a.

Further, the tool guide member 42 may be made of metal or may be configured to have a non-metallic body coated with a metal layer.

The tool presence detector 43 is configured to detect the presence of the tool guide member 42. When the tool presence detector 43 detects the presence of the tool guide member 42, the controller for controlling the actuation of the surgical robot recognizes that the surgical operation is in progress and stops the actuation of the robot arm, thereby preventing a medical accident that may occur due to the movement of the robot arm during the surgical operation.

The tool presence detector 43 may include various types of sensors as long as it can detect the presence of the tool guide member 42. In this embodiment, the tool guide member 42 is made of metal, and a proximity sensor, called a metal detector, is provided to detect the installation state of the tool guide member 42.

Further, the inside of the tool support 411 adjacent to the tool presence detector 43 includes a guide member stopper 45 to elastically support the tool guide member 42 inserted into the guide hole 411b and prevent the tool guide member 42 from being easily separated.

As shown in the enlarged portion of fig. 8, the guide member stopper 45 includes a ball housing 451 shaped like a pipe, a ball 452 inserted into the ball housing 451, an elastic member (not shown) provided inside the ball housing 451 and applying elasticity to the ball 452, and a separation preventing piece 454 fastened to the ball housing 451, and thus is elastically seated in the hanging groove 421a of the tool guide member 42. Here, the separation prevention member 454 is provided as a fixing screw.

The end effector of the surgical robot according to an embodiment of the present invention includes a marking member 8 to provide an optical signal to an optical tracking system (not shown) to track the position of the end effector mounted to the robot arm.

The mounting position, number, structure, etc. of the marker members 8 are not particularly limited as long as the marker members 8 can easily transmit the optical signal to the optical tracking system. However, according to this embodiment, four marker members 8 are mounted at equal angles on the outer side of the mounting rod coupler 414.

Further, the marking member 8 includes: an index lever 81 integrally formed in the mounting lever coupler 414; a marking receiver 82 formed at an end of the marking rod 81 and including a marking groove; and a mark 83 inserted and mounted in the mark accommodating member 82.

Here, the mark 83 is used to provide reflected light to an Optical Tracking System (OTS) and obtain position information through a calculation process, and is implemented by a well-known common mark.

Next, the operation of the end effector of the surgical robot according to the embodiment of the present invention will be briefly described.

Fig. 9a to 9c are views for describing the operation of an end effector of a surgical robot according to an embodiment of the present invention, in which fig. 9a illustrates a state before a tool mounting unit is mounted, fig. 9b illustrates a state where a sterilization cloth and a tool mounting unit are mounted and a surgical tool is mounted, and fig. 9c is a perspective view of a surgical tool used in a pedicle screw insertion surgery (one of representative spinal surgeries).

As shown in fig. 9a, the force/torque sensor module 1 is bonded to the sensor module mounting portion 21, the force/torque sensor module 1 is mounted at the end of the robot arm a, the first grip unit 31 is bonded to the jig mounting portion 22, the line laser 7 is bonded to the laser mount 25, and the end effector housing 23 is assembled by means of the housing holding bracket 24.

In this state, the end effector e including the robot arm is covered with the sterilizing cloth s provided as vinyl paper or the like, the drape adapter 5 is inserted into a part of the first clamp unit 31, the second clamp unit 32 mounted in the tool mounting unit 4 is inserted into the first clamp unit 31, and the locking operation is performed, thereby mounting the tool mounting unit 4.

Next, a process of coupling the second clamp unit 32 to the first clamp unit 31 will be described in more detail. When the closing operation of the clamping lever 312 is performed in a state where the locking hole of the clamping protrusion 322 of the second clamping unit 32 is placed and fitted to the portion of the clamping shaft 313 having the small outer diameter while the clamping lever 312 is opened, the locking protrusion of the clamping shaft 313 is fitted and locked to the locking hole.

After the tool mounting unit 4 is mounted to the end effector frame 2 as described above, the tool guide member 42 is inserted into the tool support 411 of the mounting rod 41, and the surgical tool handle device 9 on which the surgical tool t is mounted is inserted and supported in the tool guide member 42.

Here, the surgical tool handle device 9 includes a handle main body 91, a surgical tool marking member 92, and a grip member 93.

In the case where the above-described surgical tool handle device 9 is used in a surgical operation, a user can control the surgical tool t with one hand while holding the grip member 93 with the other hand, and thus the surgical operation can be accurately performed by preventing the position of the surgical tool marking member 92 from changing even if the surgical tool t is moved.

In more detail, the surgical tool marking member 92 is not rotatable while being fixed to the handle body 91, so that reflected light can be provided to an Optical Tracking System (OTS) while maintaining a state of facing the optical tracking system, thereby continuously and accurately obtaining positional information such as an end point position of the surgical tool based on a calculation process.

Further, the kind or shape of the surgical tool t is not limited. For example, the surgical tool t according to the present embodiment includes: a medical screw surgery device t1 performing a reaming process and a tapping process with respect to the pedicle and a process of inserting the pedicle screw into the pedicle during a pedicle screw insertion surgery; and a control tool t2 connected to an upper portion of the medical screw surgical device t1 to control the medical screw surgical device t 1.

When the surgical tool t is mounted to the tool mounting unit 4 as described above, the robot arm is actuated by a given actuation signal to move the surgical site. In this case, the line laser 7 is actuated to emit a laser beam, and the laser beam r forms an intersection point (as shown in fig. 9 b) marking the surgical site while passing through a pair of obliquely formed beam emitting slits 233, thereby placing the lower end portion of the surgical tool t in place and safely and easily performing the surgical operation while checking the accurate surgical site.

Although the features and operation of the end effector of the surgical robot according to the embodiment of the present invention have been described above, these are for illustrative purposes only, and it will be understood by those of ordinary skill in the art that changes or substitutions may be made to the foregoing embodiment of the present invention without departing from the technical scope of the present invention.

It is therefore to be understood that within the scope of the appended claims and equivalents thereto.

Industrial applicability

The end effector of the surgical robot according to the present invention can quickly and conveniently perform a surgical operation by the robot, thereby not only safely performing a surgical procedure, but also easily and accurately holding a surgical tool and setting and maintaining the position and the surgical site of the surgical tool during the surgical operation, and can be installed and used as an end effector located in an arm of the surgical robot.