Abstract: A medical screw surgical device includes: a surgical device main body shaped like a bar and internally formed with an insertion passage; an extension member provided in a lower portion of the surgical device main body and internally formed with a guide hole; a guide member movably provided in the guide hole of the extension member; and a firing member provided in the insertion passage of the surgical device main body and controlling the guide member to move up and down. A surgical robot having a robot arm with the medical screw surgical device includes: a support arm provided in the robot arm; a surgical device holding member provided in the support arm; and the medical screw surgical device provided in the surgical device holding member.

Abstract: An end effector of a surgical robot, including a force/torque sensor module mounted to a robot arm, an end effector frame to which the force/torque sensor module is coupled, a clamping unit installed in the end effector frame, and a tool mounting unit detachably coupled to the end effector frame by the clamping unit and supporting a surgical tool. The end effector can help to rapidly and conveniently perform a surgical operation by the robot, thereby not only safely carrying out a surgical process but also easily and accurately gripping a surgical tool during the surgical operation and setting and keeping a location of the surgical tool and a surgical site.

Abstract: The disclosure relates to a handle device for a surgical tool, and more particularly to a handle device for a surgical tool, which is freely controllable and usable in a surgical operation because the surgical tool is supported while steadily maintaining a position of a marker. The handle device for the surgical tool according to the disclosure includes a handle body formed with a tool insertion hole for inserting the surgical tool therein; a grip member detachably installed in the handle body; and a marker member installed in the handle body.

Abstract: The disclosure relates to an end effector of a surgical robot, and more particularly to an end effector of a surgical robot, which can rapidly and conveniently perform a surgical operation by the robot, thereby not only safely carrying out a surgical process but also easily and accurately gripping a surgical tool during the surgical operation and setting and keeping a location of the surgical tool and a surgical site. The end effector of the surgical robot according to the disclosure, as an end effector mounted on a surgical robot, includes: a force/torque sensor module mounted to a robot arm; an end effector frame to which the force/torque sensor module is coupled; a clamping unit installed in the end effector frame; and a tool mounting unit detachably coupled to the end effector frame by the clamping unit and supporting a surgical tool.

Abstract: The disclosure relates to a handle device for a surgical tool, and more particularly to a handle device for a surgical tool, which is freely controllable and usable in a surgical operation because the surgical tool is supported while steadily maintaining a position of a marker. The handle device for the surgical tool according to the disclosure includes a handle body formed with a tool insertion hole for inserting the surgical tool therein; a grip member detachably installed in the handle body; and a marker member installed in the handle body.

Abstract: A medical screw surgical device includes: a surgical device main body shaped like a bar and internally formed with an insertion passage; an extension member provided in a lower portion of the surgical device main body and internally formed with a guide hole; a guide member movably provided in the guide hole of the extension member; and a firing member provided in the insertion passage of the surgical device main body and controlling the guide member to move up and down. A surgical robot having a robot arm with the medical screw surgical device includes: a support arm provided in the robot arm; a surgical device holding member provided in the support arm; and the medical screw surgical device provided in the surgical device holding member.

Abstract: The present invention relates to an end effector having a line laser mounted therein, comprising: a main body forming the body of an end effector; a support part installed in the main body and supporting needle guide apparatuses for guiding a needle; a line laser part installed on one side and the other side of the support part, and emitting line laser beams so as to mark a needle insertion point for inserting the needle into a lesion of a patient; and a guide part for guiding the line laser beams emitted from the line laser part so as to cross the line laser beams, wherein the line laser part emits the line laser beams via the guide part such that the needle insertion point is marked at a predetermined distance away from the needle guide apparatus.

Abstract: The present invention relates to an end effector having a line laser mounted therein, comprising: a main body forming the body of an end effector; a support part installed in the main body and supporting needle guide apparatuses for guiding a needle; a line laser part installed on one side and the other side of the support part, and emitting line laser beams so as to mark a needle insertion point for inserting the needle into a lesion of a patient; and a guide part for guiding the line laser beams emitted from the line laser part so as to cross the line laser beams, wherein the line laser part emits the line laser beams via the guide part such that the needle insertion point is marked at a predetermined distance away from the needle guide apparatus.

Abstract: Disclosed is a apparatus for generating a needle insertion path for an interventional robot, which provides a needle insertion path for intervention by inserting a needle. The apparatus includes a patient-side optical tool located on a patient for showing a position of an intervention target part among parts of the patient, a robot-side optical tool located on an interventional robot for showing a position of the interventional robot, and a needle path calculator configured to track positions of the patient-side optical tool and the robot-side optical tool to perform spatial registration on a local coordinate system of the patient-side optical tool based on the position of the patient-side optical tool with respect to a robot base coordinate system based on the position of the robot-side optical tool, and calculate a needle insertion path with respect to robot base coordinate system, based on a result of the spatial registration.