KR102277148B1 - Eye surgery apparatus and method for controlling the same - Google Patents

Abstract

According to an embodiment, an eye surgery apparatus includes: a support frame; a first slave device connected to one end of the support frame; a second slave device connected to the other end of the support frame; and a microscope module disposed between the first slave device and the second slave device and movable on the support frame.

Description

EYE SURGERY APPARATUS AND METHOD FOR CONTROLLING THE SAME

The description below relates to an eye surgery device and a method for controlling the same.

The master device and the slave device electrically send and receive signals with each other. A user may directly drive the master device, and based on the movement of the master device, the slave device may be remotely controlled. For example, master-slave devices are used in surgical fields that require fine work.

An ocular surgical device includes a surgical instrument that penetrates the surface of the eye and is inserted into the eye. While moving the surgical tool, there is a need for a technique that does not damage the surface of the eyeball. In addition, since the inner region of the eyeball that can be observed through the pupil is limited, there is a problem that it is difficult to observe the inside of the eyeball.

An object of one embodiment is to provide an eye surgery apparatus and a method for controlling the same.

According to an embodiment, an eye surgery apparatus includes: a support frame; a first slave device connected to one end of the support frame; a second slave device connected to the other end of the support frame; and a microscope module disposed between the first slave device and the second slave device and movable on the support frame.

The first slave device and the second slave device may each include a lower shaft; an upper shaft slidably connected to the lower shaft by one degree of freedom; a lower gripper rotatably supporting the lower shaft; an upper gripper rotatably supporting the upper shaft; a lower delta robot that movably supports the lower gripper; an upper delta robot that movably supports the upper gripper; and a surgical tool provided at the lower end of the lower shaft and capable of penetrating the eyeball.

The lower delta robot and the upper delta robot, respectively, include three support rods; three moving parts moving along the longitudinal direction of the support rod; and three arms connecting the moving part and the gripper.

The eye surgery apparatus may further include a controller configured to sense a position of each surgical tool of the first slave device and the second slave device, and control the position of the microscope module based on the position of the surgical tool.

According to an embodiment, a support frame, a first slave device connected to one end of the support frame and driving a first surgical tool, and a second slave device connected to the other end of the support frame and driving a second surgical tool And, a method of controlling an eye surgery device including a microscope module disposed between the first slave device and the second slave device, the method comprising: receiving rotation amount information of the eyeball from a master device; establishing an initial remote center of rotation of each of the first and second surgical tools on the surface of the eye; calculating a target remote rotation center of each of the first surgical tool and the second surgical tool based on the rotation amount information of the eyeball; On the surface of the eyeball, moving the remote center of rotation of the first surgical tool from the initial remote center of rotation to the target remote center of rotation, and moving the remote center of rotation of the second surgical tool from the initial remote center of rotation to the target remote center of rotation It may include the step of

The eye rotation amount information may include: first rotation amount information about a first rotation axis passing through the center of the eyeball; and second rotation amount information about a second rotation axis passing through the center of the eyeball and orthogonal to the first rotation axis.

The method of controlling the eye surgery apparatus includes maintaining the distance between the remote rotation centers of the first and second surgical tools, respectively, and moving the first surgical tool from an initial remote rotation center to a target remote rotation center. generating a desired first movement speed profile during arrival; and a second movement speed required while the second surgical tool reaches from the initial remote center of rotation to the target remote center of rotation while maintaining the distance between the remote centers of rotation of each of the first and second surgical tools. The method may further include generating a profile.

Calculating the target remote rotation center of each of the first surgical tool and the second surgical tool may include: setting a spherical coordinate system based on the center of the eyeball; calculating an angular change from an initial remote rotation center of the first surgical tool to a target remote rotation center on the spherical coordinate system; and calculating an angular change from an initial remote rotation center of the second surgical tool to a target remote rotation center on the spherical coordinate system.

The method of controlling the eye surgery apparatus may further include moving the microscope based on the rotation amount information of the eyeball.

The method of controlling the eye surgery apparatus may further include moving the microscope based on a target remote rotation center of each of the first surgical tool and the second surgical tool.

According to an eye surgery apparatus and a method for controlling the same according to an embodiment, by moving the two surgical tools while maintaining the distance on the eye surface between the two surgical tools and the portion in contact with the surface of the eyeball, the eye surface is may not damage it.

According to an eye surgery apparatus and a method for controlling the same according to an embodiment, even when the eyeball rotates, the position of the microscope is changed according to a change in the position of the pupil of the eyeball to facilitate observation of the inside of the eyeball.

The following drawings attached to this specification illustrate a preferred embodiment of the present invention, and serve to further understand the technical spirit of the present invention together with the detailed description of the present invention, so the present invention is limited to the matters described in those drawings It should not be construed as limited.
1 is a perspective view illustrating an eye surgery system according to an embodiment.
2 is a perspective view illustrating a slave device and a microscope according to an embodiment.
3 is a perspective view schematically illustrating an internal structure of a slave device according to an exemplary embodiment.
4 is a plan view schematically illustrating a surgical tool according to an embodiment.
5 is a front view schematically illustrating a lower shaft and a surgical tool according to an embodiment.
6 is a diagram illustrating a relationship between movement of the lower gripper and the upper gripper and the movement of the lower shaft and the upper shaft according to an exemplary embodiment;
7 is a front view schematically illustrating a state in which a lower shaft and an upper shaft rotate when a lower gripper and an upper gripper are positioned relatively close, according to an exemplary embodiment;
8 is a front view schematically illustrating a state in which a lower shaft and an upper shaft rotate when a lower gripper and an upper gripper are relatively far apart, according to an exemplary embodiment;
9 is a block diagram of a slave device according to an embodiment.
10 is a perspective view of a slave device according to an embodiment.
11 is a flowchart illustrating a method of controlling a slave device according to an embodiment.
12 and 13 are diagrams schematically illustrating a state in which the eyeball rotates according to the driving of the first and second slave devices, and the microscope moves according to the rotation of the eyeball.
14 is a flowchart illustrating a method of controlling an eye surgery apparatus according to an exemplary embodiment.
15 to 17 are plan views illustrating a state in which an eyeball is rotated by an eye surgery apparatus.
18 is a flowchart illustrating a step of calculating a target rotation center of each of the first and second surgical tools according to an embodiment.

Hereinafter, embodiments will be described in detail with reference to exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same components are given the same reference numerals as much as possible even though they are indicated on different drawings. In addition, in the description of the embodiment, if it is determined that a detailed description of a related known configuration or function interferes with the understanding of the embodiment, the detailed description thereof will be omitted.

In addition, in describing the components of the embodiment, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only for distinguishing the components from other components, and the essence, order, or order of the components are not limited by the terms. When it is described that a component is “connected”, “coupled” or “connected” to another component, the component may be directly connected or connected to the other component, but another component is between each component. It will be understood that may also be "connected", "coupled" or "connected".

Components included in one embodiment and components having a common function will be described using the same names in other embodiments. Unless otherwise stated, a description described in one embodiment may be applied to another embodiment, and a detailed description in the overlapping range will be omitted.

1 is a perspective view illustrating an eye surgery system according to an embodiment.

Referring to FIG. 1 , the eye surgery system 100 may be used by a user U to observe or operate on a patient's eye. The eye surgery system 100 may include a master device 1 , slave devices 2 , 2 ′, a microscope 3 , a support 6 and a display 8 .

The master device 1 may generate a signal for moving the slave devices 2 and 2' according to the manipulation of the user U.

The slave devices 2 and 2' pass through the first part of the patient's eyeball to observe or operate on the inside of the eyeball, and the first slave device 2 passes through the second part of the eye to observe or operate the inside of the eyeball. It may include a second slave device (2') to operate. For example, the first portion and the second portion of the eyeball may be portions located opposite to each other with respect to the pupil of the eyeball.

The microscope 3 can observe the eyeball through the pupil of the eyeball.

The support 6 can support the slave devices 2 , 2 ′ and the microscope 3 .

The display 8 may display the image observed by the microscope 3 and provide it to the user U in real time.

2 is a perspective view illustrating a slave device and a microscope according to an embodiment.

Referring to FIG. 2 , the first slave device 2 and the second slave device 2 ′ may be connected to the lower portion of the support 6 . The microscope 3 may be connected to the top of the support 6 . The support part 6 supports the first support frame 61 for supporting the first slave device 2 , the second support frame 62 for supporting the second slave device 2 ′, and the microscope 3 . It may include a support base 63 that is. For example, the support base 63 may be hinge-connected to be relatively rotatable and may have a plurality of link structures provided in series.

The first support frame 61 and the second support frame 62 may have a hole formed through the lower side of the microscope 3, and the microscope 3 may observe the eye of the patient through the hole. . The microscope 3 may be movably mounted on the support 6 . For example, the microscope 3 is movable on the first support frame 61 and the second support frame 62 while maintaining the angle of the lens. The microscope 3 is movable on a plane. For example, the microscope is movable along a first path P1 parallel to the first support frame 61 and a second path P2 perpendicular to the first path P1 ( FIGS. 13 12 and 14 ). 13). For example, at least one of the first support frame 61 , the second support frame 62 , and the support base 63 accommodates the microscope 3 , and provides a movable space for the microscope 3 . space can be provided. For example, the support 6 includes a first linear actuator (not shown) for moving the microscope 3 along a first path, and a second linear actuator (not shown) for moving the microscope 3 along a second path. not shown) may be included.

The first slave device 2 includes a first surgical tool 250 , and the second slave device 2 ′ includes a second surgical tool 250 ′. The first surgical tool 250 may include a rotation module 251 and a surgical tip 252 inserted into the patient's eye and rotated by the rotation module 251 . The second surgical tool 250' may include a rotation module 251' and a surgical tip 252' inserted into the patient's eye and rotated by the rotation module 251'. For example, only one of the first surgical tool 250 and the second surgical tool 250 ′ is inserted into the eyeball to perform observation or surgery.

3 is a perspective view schematically illustrating an internal structure of a slave device according to an exemplary embodiment.

Referring to FIG. 3 , the slave device includes a lower delta robot 210 , an upper delta robot 220 , a lower shaft 231 , an upper shaft 232 , a lower gripper 241 , an upper gripper 242 , and a surgical tool. 250 , a lower frame 280 and an upper frame 290 may be included.

The lower delta robot 210 may movably support the lower gripper 241 . The upper delta robot 220 may movably support the upper gripper 242 . The lower delta robot 210 and the upper delta robot 220 are, respectively, three support rods 211 and 221 and three moving parts 212 and 222 moving along the longitudinal direction of the support rods 211 and 221 , respectively. ), three arms 213 and 223 connecting the moving parts 212 and 222 and the grippers 241 and 242, and a driving source 214 that provides power to move the three moving parts 212 and 222 , 224) may be included. The lower delta robot 210 and the upper delta robot 220 are driven by a linear actuator method, and precise movement with little vibration and backlash is possible. The three support rods 211 and 221 may be disposed between the lower frame 280 and the upper frame 290 .

Each of the arms 213 and 223 and the corresponding moving parts 212 and 222 may be rotatably connected to each other, and each of the arms 213 and 223 and the corresponding grippers 241 and 242 are connected to each other. It may be connected rotatably relative to the .

The support rod 211 of the lower delta robot 210 may be parallel to the support rod 221 of the upper delta robot 220 . For example, the support rod 211 of the lower delta robot 210 and the support rod 221 of the upper delta robot 220 may be a lower portion and an upper portion of any one support rod, respectively. In other words, the support rod 211 of the lower delta robot 210 and the support rod 221 of the upper delta robot 220 may be bonded to each other without boundaries. According to this structure, since only three support rods can guide six moving parts, the structure can be simply designed. Meanwhile, the support rod 211 of the lower delta robot 210 may be spaced apart from the support rod 221 of the upper delta robot 220 (see FIG. 10 ).

The lower shaft 231 may be driven by the lower delta robot 210 . The lower shaft 231 may be rotatably connected to the lower gripper 241 in two degrees of freedom. For example, the lower shaft 231 may include a joint to be rotatably connected to the lower gripper 241 in two degrees of freedom, for example, a ball joint or a universal joint. The lower shaft 231 may be fixed to the lower gripper 241 at a point where the joint is disposed. One point of the lower shaft 231 may be fixed to the lower gripper 241 . Hereinafter, a point of the lower gripper 241 at which the lower shaft 231 is fixed may be referred to as a center point of the lower gripper 241 .

The upper shaft 232 may be driven by the upper delta robot 220 . The upper shaft 232 may be rotatably connected to the upper gripper 242 in two degrees of freedom. For example, the upper shaft 232 may include a joint for rotatably connected to the upper gripper 242 in two degrees of freedom, for example, a ball joint or a universal joint. The upper shaft 232 may be fixed to the upper gripper 242 at the point where the joint is disposed. One point of the upper shaft 232 may be fixed to the upper gripper 242 . Hereinafter, a point at which the upper shaft 232 is fixed among the upper grippers 242 may be referred to as a center point of the upper gripper 242 .

The lower shaft 231 and the upper shaft 232 are relatively slidable. For example, while driving the lower delta robot 210 and/or the upper delta robot 220 to change the position of the lower gripper 241 and/or the upper gripper 242 , the lower shaft 231 and the upper shaft Reference numeral 232 is slidable in one degree of freedom. The lower shaft 231 is rotatable in two degrees of freedom with respect to the lower gripper 241 , and the rotation of the lower shaft 231 is between the lower gripper 241 and the upper gripper 242 in the axial direction of the lower shaft 231 . irrespective of the change in distance. According to this structure, the slave device can move only the upper shaft 232 while the lower shaft 231 is fixed.

For example, any one of the lower shaft 231 and the upper shaft 232 may include a hollow part, and the other shaft may include a slider slidable while inserted into the hollow part. For example, as shown in FIG. 3 , the lower shaft 231 includes a hollow portion accommodating at least a portion of the upper shaft 232 , and the upper shaft 232 is inserted into the hollow portion of the lower shaft 231 . It may include a slider slidable with For example, the slider can slide in one degree of freedom while in surface contact with the inner wall of the lower shaft 231 .

The lower gripper 241 may rotatably support the lower shaft 231 . The lower gripper 241 is supported by the three arms 213 of the lower delta robot 210 , and its position may be changed based on the movement of the three moving parts 212 .

The upper gripper 242 may rotatably support the upper shaft 232 . The upper gripper 242 is supported by the three arms 223 of the upper delta robot 220 , and its position may be changed based on the movement of the three moving parts 222 .

The lower gripper 241 and the upper gripper 242 are, in a state where the surgical tool 250 is spaced apart from the center point of the lower gripper 241 in the axial direction (longitudinal direction) of the lower shaft 231 . The distance between the gripper 241 and the upper gripper 242 may be adjusted. In this case, the lower gripper 241 is fixed, and the upper gripper 242 moves along a path parallel to the longitudinal direction of the lower shaft 231 .

The surgical tool 250 may include a rotation module 251 and a surgical tip 252 . Surgical tip 252 may be a longitudinal member. For example, surgical tip 252 can be side-by-side with lower shaft 231 and upper shaft 232 . For example, the central axis of the surgical tip 252 may pass through the central axis of each of the lower shaft 231 and the upper shaft 232 . The surgical tip 252 has a thinner thickness than the lower shaft 231 , and may penetrate the surface of the eyeball and be inserted into the eyeball. The rotation module 251 is mounted on the lower shaft 231 and can rotate the surgical tip 252 . For example, surgical tip 252 may rotate about an axis parallel or parallel to the longitudinal axis of lower shaft 231 .

4 is a plan view schematically illustrating a surgical tool according to an embodiment, and FIG. 5 is a front view schematically illustrating a lower shaft and a surgical tool according to an embodiment. FIG. 4 shows the internal mechanism of the rotation module 251 schematically illustrated in FIG. 5 .

4 and 5 , the rotation module 251 may be installed at the lower end of the lower shaft 231 . Alternatively, of course, the rotation module 251 may be installed elsewhere on the lower shaft 231 .

The rotation module 251 includes a main body 2511 , a first gear 2512 installed on the side of the main body 2511 , a gear shaft 2513 for rotating the first gear 2512 , and a first gear 2512 . ) may include a second gear 2514 meshing with the. Surgical tip 252 may be rotated along with rotation of second gear 2514 . For example, the rotation axis of the second gear 2514 may be parallel to or coincident with the central axis of the lower shaft 231 .

The driving source installed in the rotation module 251 first rotates the gear shaft 2513, and thus the first gear 2512 rotates the second gear 2514, and then the surgical tip 252 rotates. . Through this, yaw rotation using the longitudinal direction of the lower shaft 231 as the gear axis may be achieved.

6 is a diagram illustrating a relationship between movement of the lower gripper and the upper gripper and the movement of the lower shaft and the upper shaft according to an exemplary embodiment;

With reference to FIG. 6 , inverse kinematics, forward kinematics, and Jacobian of the dual delta structure constituting the slave device will be described in detail. The dual delta robot uses two delta robots (lower delta robot and upper delta robot) that move only in the x-axis, y-axis and z-axis directions by connecting them with a passive joint.

The variables used in the kinematics of the double delta structure are defined as follows.

는 상부 그리퍼의 수심이며, 상부 샤프트를 고정하는 지점을 의미한다. 상부 샤프트는 일 지점이 상부 그리퍼에 고정된 상태로 2자유도로 회전 가능하다. 여기서 상부 그리퍼의 수심이란, 상부 델타 로봇의 3개의 암이 상부 그리퍼에 연결된 지점(H_A, H_B, H_C)의 수심을 의미한다. 본원에서,

는 상부 그리퍼의 중심점이라고도 지칭한다.

is the water depth of the upper gripper, and means the point at which the upper shaft is fixed. The upper shaft is rotatable in two degrees of freedom with one point fixed to the upper gripper. Here, the water depth of the upper gripper means the depth of the points (HA _, H _B , H _C ) where the three arms of the upper delta robot are connected to the upper gripper. here,

is also referred to as the center point of the upper gripper.

는 하부 그리퍼의 수심이며, 하부 샤프트를 고정하는 지점을 의미한다. 하부 샤프트는 일 지점이 하부 그리퍼에 고정된 상태로 2자유도 회전 가능하다. 여기서 하부 그리퍼의 수심이란, 하부 델타 로봇의 3개의 암이 하부 그리퍼에 연결된 지점(L_A, L_B, L_C)의 수심을 의미한다. 하부 샤프트가 하부 그리퍼에 고정된 상태이므로,

로부터 수술 도구까지의 거리는 항상 일정할 수 있다. 본원에서,

는 하부 그리퍼의 중심점이라고도 지칭한다.

is the water depth of the lower gripper, and means the point at which the lower shaft is fixed. The lower shaft is rotatable in two degrees of freedom with one point fixed to the lower gripper. Here, the water depth of the lower gripper means the depth of the points (LA _, L _B , L _C ) where the three arms of the lower delta robot are connected to the lower gripper. Since the lower shaft is fixed to the lower gripper,

The distance from to the surgical tool may always be constant. here,

is also referred to as the center point of the lower gripper.

는 상부 델타 로봇의 암의 길이를 의미하고,

는 하부 델타 로봇의 암의 길이를 의미한다.

는 상부 및 하부 그리퍼 각각이 암과 연결된 포인트를 의미한다.

는 하단 프레임 중 3개의 지지 로드와 연결된 지점을 의미한다.

상부 및 하부 델타 구조의 이동부의 변위를 의미한다.

는 수술 도구의 끝점으로부터

까지의 거리를 의미한다.

는 수술 도구의 끝점으로부터

까지의 거리를 의미한다.

는

중 어느 2개 사이의 길이를 의미한다.

는 각각

중 어느 2개의 사이의 길이와,

중 어느 2개의 사이의 길이를 의미한다.

는

의 수심에서 모서리까지의 거리를 의미한다.

는 각각

중 어느 2개를 연결하는 선으로부터

까지의 거리와, 하부 그리퍼의

중 어느 2개를 연결하는 선으로부터

까지의 거리를 의미한다.

는

의 수심으로부터

중 어느 하나까지의 거리를 의미한다.

는 각각

로부터

중 어느 하나까지의 거리와,

로부터

중 어느 하나까지의 거리를 의미한다.

means the length of the arm of the upper delta robot,

is the length of the arm of the lower delta robot.

denotes a point where each of the upper and lower grippers is connected to the arm.

means the point connected to the three support rods among the lower frames.

It means the displacement of the moving parts of the upper and lower delta structures.

is from the endpoint of the surgical tool.

means the distance to

is from the endpoint of the surgical tool.

means the distance to

is

It means the length between any two of them.

are each

the length between any two of them,

It means the length between any two of them.

is

is the distance from the water depth to the edge of

are each

from the line connecting any two

distance to and of the lower gripper

from the line connecting any two

means the distance to

is

from the depth of

distance to any one of them.

are each

from

distance to any one of the

from

distance to any one of them.

inverse kinematics

Based on the rotation information received from the master device, the position of the lower and upper grippers may be determined through a spherical coordinate system, and the displacement of the surgical tool may be obtained through this. The overall inverse kinematics can be calculated by calculating the kinematics of the lever and the delta robot respectively and then combining them. For hardware scale adjustment, which is a characteristic of the proposed structure, the distance between the end point of the surgical tool (the end of the surgical tip) and the upper gripper _{is expressed as Len 2 as} a variable.

In the first step, using the kinematics of the lever, the center positions of the lower and upper grippers are obtained from the position of the end point of the surgical tool. Here, it is assumed that the position and inclination value of the end point of the surgical tool are given from the master device. Len ₂ is assumed to be a constant. In the second step, the position of the lower and upper grippers is calculated using the kinematics of the double delta structure.

과, 하부 그리퍼의 중심점

과, 상부 그리퍼의 중심점

사이의 관계를 보여준다. Len₂는 수술 도구 끝점에서부터 상부 그리퍼의 중심점까지의 거리를 의미하고, 하드웨어 스케일을 조정하는 변수로 활용한다. ?낫? Pitch 축 방위각, Θ는 Roll 축 방위각을 의미한다.The kinematics of the lever structure are the endpoints of the surgical tool.

and the center point of the lower gripper

and the center point of the upper gripper

show the relationship between Len ₂ means the distance from the end point of the surgical tool to the center point of the upper gripper, and is used as a variable to adjust the hardware scale. ?sickle? Pitch axis azimuth, Θ means Roll axis azimuth.

The azimuth expressed in the spherical coordinate system is expressed in the following form by the Cartesian coordinate system.

과 수술 도구 끝단으로부터 하부 그리퍼 사이의 거리인

를 통해 하부 델타 로봇의 중심점을 구할 수 있다.

는 장착된 수술 도구의 길이에 의해 결정되는 거리이기 때문에 변하지 않는 상수 값이다. 같은 방법으로 수술 도구의 끝단으로부터 상부 그리퍼 사이의 길이인

를 통해 상부 그리퍼의 중심점을 구할 수 있다.Using the principle of lever, the tip of the surgical tool is

and the distance between the tip of the surgical tool and the lower gripper.

to find the center point of the lower delta robot.

is a constant value that does not change because it is a distance determined by the length of the mounted surgical tool. In the same way, the length between the tip of the surgical tool and the upper gripper is

to find the center point of the upper gripper.

을 결정하게 된다. 상하부 그리퍼의 중심점과 prismatic joint와의 관계식은 아래와 같다.Next, the relationship between the center point of the upper and lower grippers and the prismatic joint through the kinematics of the delta robot is as follows. The previously determined center point of each delta is the value of 6 prismatic joints.

will decide The relation between the center point of the upper and lower grippers and the prismatic joint is as follows.

As a result, the values of the double delta prismatic joint are as follows.

Kinematically, each prismatic joint can have two solutions, so various combinations can occur, but the slave device according to an embodiment is designed to have only positive solutions through structural constraints.

net kinematics

는 다음과 같이 구한다. 식(7)에서 식(8)을 뺌으로써 아래와 같은 식을 만들어낼 수 있다.First, the center point of the upper gripper

is obtained as follows. By subtracting Equation (8) from Equation (7), the following expression can be obtained.

에 관한 식으로 나타내는 다음과 같다.this

It is expressed in terms of the following.

After subtracting Equation (9) from Equation (7), substitute Equation (20) to make the following expression.

에 대한 식으로 표현하고 이를 근의 공식을 사용하여 해를 구한다.Equation (9)

Express it as an expression for , and find the solution using the quadratic formula.

Substituting equation (23) into equations (20) and (21),

의 값을 구할 수 있다. 상부 그리퍼의 위치 및 하부 그리퍼의 위치를 바탕으로 수술 도구 끝단의 좌표인

를 구하면 다음과 같다.According to Equations (23)-(25), the possible solutions appear as two sets according to the sign. Just like finding a single solution in inverse kinematics, structural constraints are used to have only positive solutions in forward kinematics. If the same method is applied to the lower gripper,

value can be obtained. Based on the position of the upper gripper and the position of the lower gripper, the coordinates of the tip of the surgical tool are

If you find it, you get:

Jacobian

와 구면 좌표계를 기준으로 하는 속도성분인

을 조합하여 사용한다. 미분된 역기구학 구속 조건을 통해,

(

,

,

),

(

,

,

),

,

,

,

,

및

과의 관계를 아래와 같이 나타낸다.As the first step to find the Jacobian of the double delta structure, partial differentiation of the inverse kinematics relation of the lever structure is performed. The state variable is the velocity component of the tip of the surgical tool based on the Cartesian coordinate system.

and the velocity component based on the spherical coordinate system

are used in combination. Through the differential inverse kinematic constraint,

(

,

,

),

(

,

,

),

,

,

,

,

and

The relationship with the is shown below.

로 표기하고 아래와 같이 나타낼 수 있다.matrix this relationship

and can be expressed as follows.

의 구속조건식을 통한

과,

의 관계를 아래와 같이 나타낼 수 있다.In the second step, the relationship between the velocities of the upper and lower grippers calculated above in the Cartesian coordinate system and the velocities of the prismatic joints can be found through partial differentiation of the inverse kinematics relation of the delta structure.

through the constraint expression of

and,

The relationship can be expressed as follows.

,

,

,

을 시간에 대하여 편미분한다.in the above expression

,

,

,

partial differentiation with respect to time.

로 나누면 식(40)을 얻을 수 있다.Equation (39)

Dividing by , we get Equation (40).

를 다음과 같이 정리할 수 있다.Calculating the velocity of the remaining prismatic joints gives the matrix

can be arranged as follows.

와

를 서로 곱하면 수술 도구 끝단과 구동기 관절 사이의 자코비안 행렬을 구할 수 있다.Finally,

Wow

By multiplying with each other, the Jacobian matrix between the tip of the surgical tool and the actuator joint can be obtained.

7 is a front view schematically illustrating a state in which a lower shaft and an upper shaft rotate when a lower gripper and an upper gripper are positioned relatively close, according to an exemplary embodiment; 8 is a front view schematically illustrating a state in which a lower shaft and an upper shaft rotate when a lower gripper and an upper gripper are relatively far apart, according to an exemplary embodiment;

7 and 8 , when the distance between the lower gripper 241 and the upper gripper 242 is relatively close ( FIG. 7 ), the lower and upper grippers 241 and 242 are perpendicular to the ground from the initial state. , when the upper gripper 242 moves to the right by a distance d, the angle at which the lower and upper grippers 241 and 242 are inclined is Θ1, and the distance between the lower gripper 241 and the upper gripper 242 is relatively When the upper gripper 242 moves to the right by a distance d from the initial state in which the lower and upper grippers 241 and 242 are perpendicular to the ground when far (FIG. 8), the lower and upper grippers 241 and 242 are tilted. When the falling angle is Θ2, Θ1 may be greater than Θ2.

The user may maximize the distance between the lower gripper 241 and the upper gripper 242 within the movable range, thereby increasing the precision of the slave device. In addition, even while the distance between the center point C1 of the lower gripper 241 and the center point C2 of the upper gripper 242 is adjusted, the surgical tool 250 with respect to the center point C1 of the lower gripper 241 The position may be fixed. According to this structure, even while the surgical tool 250 performs a surgical operation on a portion of the eyeball, the level of precision can be adjusted without changing the position of the surgical tool 250 .

9 is a block diagram of a slave device according to an embodiment.

Referring to FIG. 9 , the operations of the lower delta robot 210 , the upper delta robot 220 , and the rotation module 251 are controlled by the controller 270 , respectively. The lower delta robot 210 controls the position of the lower gripper 241 , and the upper delta robot 220 controls the position of the upper gripper 242 .

The controller 270 may separately control the operation of each of the three driving sources 214 of the lower delta robot 210 . The moving part 212 moves according to the operation of the driving source 214 , and the arm 213 connected to the moving part 212 moves, thereby moving the lower gripper 241 . The lower gripper 241 finally moves the lower shaft.

In addition, the controller 270 may separately control the operation of each of the three driving sources 224 of the upper delta robot 220 . The moving part 222 moves according to the operation of the driving source 224 , and the arm 223 connected to the moving part 222 moves, thereby moving the upper gripper 242 . The upper gripper 242 finally moves the upper shaft.

The movement of the surgical tip 252 may proceed in conjunction with the movement of the lower and upper shafts. The surgical tip 252 can be rotated in a total of three degrees of freedom. The control unit 270 may control the 2-DOF rotation of the surgical tip 252 through the lower delta robot 210 and the upper delta robot 220, and control the remaining 1-DOF rotation through the rotation module 251. have.

According to the above-described embodiment, precision movement with less vibration and backlash is possible by using a robust structure called a delta robot, and by using a double delta robot, the limitation of the small movable range of the existing delta robot is overcome. can be surpassed

In addition, by utilizing the precise delta robot structure used throughout the existing industry, the precision and range of motion can be adjusted as needed, so not only the medical robot but also all fields that require precise movement and wide range of motion as needed can be used for

10 is a perspective view of a slave device according to an embodiment.

Referring to FIG. 10 , the lower delta robot 210 and the upper delta robot 220 are, respectively, three support rods 211 and 221 , three moving parts 212 and 222 , and three arms 213 . , 223 ), three driving sources 214 and 224 , and three guide rods 215 and 225 .

The support rods 211 and 221 and the moving parts 212 and 222 may have, for example, a ball-screw linear sliding structure. The driving sources 214 and 224 may cause the moving parts 212 and 222 to move in the longitudinal direction of the support rods 211 and 221 by rotating the support rods 211 and 221 . According to such a structure, a more precise operation is possible, and a rigid structure can be implemented with respect to an external impact.

The support rod 211 of the lower delta robot 210 and the support rod 221 of the upper delta robot 220 may be spaced apart from each other. For example, any one support rod 211 of the lower delta robot 210 may be disposed between two adjacent support rods 221 of the upper delta robot 220 . As such, when the support rods 211 and 221 of the lower delta robot 210 and the upper delta robot 220 are spaced apart, the support rods 211 and 221 of the lower delta robot 210 and the upper delta robot 220 are spaced apart. ) can increase the movable range of the moving parts (212, 222) compared to the side-by-side arrangement.

The guide rods 215 and 225 are disposed parallel to the support rods 211 and 221 , and may guide the movement of the moving parts 212 and 222 . By moving along the guide rods 215 and 225 and the support rods 211 and 221, the moving parts 212 and 222 can move up and down more stably. The guide rods 215 and 225 may increase the position control accuracy of the moving parts 212 and 222 , and as a result, the position control accuracy of the surgical tool 250 may be increased.

The moving parts 212 and 222 may move along the support rods 211 and 221 and the guide rods 215 and 225 to control the position of the surgical tip 252 . The rotation module 251 may rotate the surgical tip 252 about a central axis of the surgical tip 252 . By the moving parts 212 and 222 and the rotation module 251, the roll (roll), pitch (pitch) and yaw rotation of the surgical tip 252 can be implemented.

11 is a flowchart illustrating a method of controlling a slave device according to an embodiment.

Referring to FIG. 11 , the method of controlling the slave device includes the steps of determining the remote rotation center of the surgical tool ( S110 ), receiving the target point of the tip of the surgical tool ( S120 ), and the remote rotation center and operation Based on the target point of the tip of the tool, determining the arrival point of the lower gripper for positioning the tip of the surgical tool at the target point (S130), and based on the remote rotation center and the arrival point of the lower gripper, the upper gripper Determining the reaching point (S140), determining whether the tip of the surgical tool can reach the target point (S150), and when it is determined that the tip of the surgical tool cannot reach the target point, the lower gripper and the upper A step of calculating the position closest to the target point based on the state in which the distance between the grippers is minimum (S160), and correcting the target point of the tip of the surgical tool based on the location, and setting the target point of the tip of the modified surgical tool Correcting the reaching point of the lower gripper based on the step (S170), moving the lower gripper to the reaching point of the lower gripper, and moving the upper gripper to the upper gripper with at least one point of the surgical tool set to pass through the remote center of rotation It may include moving the gripper to the reaching point ( S180 ).

In step S110, the control unit may determine the remote rotation center of the surgical tool. First, the controller moves the moving parts of the upper and lower delta robots, respectively, to change the positions of the lower gripper and the upper gripper so that the tip of the surgical tool touches the surface of the patient's eyeball. When the tip of the surgical tool touches the surface of the eyeball, the controller may determine the position of the tip of the surgical tool at the corresponding position as the remote rotation center.

In step S120, the control unit may receive a target point of the tip of the surgical tool. The target point of the tip of the surgical tool may be received from the master device 1 (refer to FIG. 1 ). The master device may transmit an operation signal to the control unit. The control unit may operate the slave device based on the operation signal. For example, the target point may be any location inside the eyeball.

In step S130 , the controller may determine the arrival point of the lower gripper for positioning the tip of the surgical tool at the target point based on the remote rotation center and the target point of the tip of the surgical tool. The controller may control the position of the surgical tip while maintaining a state in which at least a portion of the surgical tip of the surgical tool passes through the remote center of rotation. For example, the surgical tip is a longitudinal member, a point must pass through the remote rotation center, and when the position (target point) of the tip is determined, the reaching point of the lower gripper may be determined as a single value.

In step S140 , the controller may determine the arrival point of the upper gripper based on the remote rotation center and the arrival point of the lower gripper. Since the reaching point of the lower gripper is determined in step S130 and the target point of the surgical tool is determined in step S120, the position and angle of the lower shaft are determined, and accordingly, the reaching point of the upper gripper is the length of the lower gripper It can be determined at any point in the path parallel to the direction. In other words, the reaching point of the upper gripper can be determined on an imaginary extension line passing through the remote center of rotation and the reaching point of the lower gripper. The target point of the tip of the surgical tool may be determined as any one point as the remote rotation center is determined, and the reaching point of the lower gripper may also be determined as any one position as the position and angle of the surgical tool are determined. . On the other hand, the position of the upper gripper may be determined as a predetermined area. In the predetermined area, the reaching point of the upper gripper may be determined as a point having the greatest distance from the lower gripper. According to such a structure, the precision of the slave device may be improved (refer to FIG. 8 ).

In step S150 , the controller may determine whether the tip of the surgical tool can reach the target point. For example, when the target point of the tip of the surgical tool is determined, the position of the lower gripper is determined as any one point, and the lower gripper may not actually reach the corresponding point due to structural limitations. For example, although the lower gripper may reach the reach point, the upper gripper may not be able to reach the reach point due to structural limitations. As such, when the lower gripper and/or the upper gripper cannot reach the reaching point due to the structural limitation, the process may proceed to step S160. When the lower gripper and/or the upper gripper cannot reach the reaching point, the process may proceed to step S180.

In step S150 , the controller may determine whether the tip of the surgical tool can reach the target point based on the size, for example, the diameter of the operation target, for example, the eyeball. In other words, by determining that the target point cannot be reached when it leaves the internal space of the eye even at a position that can be implemented on the slave device, surgical stability can be improved. Here, the boundary surface of the inner space of the eyeball may be set, for example, as a value input by the user, or may be automatically determined by detecting the diameter of the eyeball through processing of an image observed through a microscope. For example, when the size of the eyeball is large, the size of the area reachable by the tip of the surgical tool may be relatively large.

In operation S160 , the controller may calculate a position closest to the target point based on a state in which the distance between the lower gripper and the upper gripper is minimum. When the distance between the lower gripper and the upper gripper is minimal, constraints due to the structural limitations of the upper gripper can be minimized. For example, when the initial position of the surgical tool is S1 and the target position is S2, the position closest to the target point means the point closest to S2 in the imaginary line segment region connecting S1 and S2. can

In step S170 , the controller may correct the target point of the tip of the surgical tool based on the position calculated in step S160 , and may modify the arrival point of the lower gripper based on the target point of the tip of the surgical tool.

In step S180, the controller moves the lower gripper to the reaching point of the lower gripper and the upper gripper to the reaching point of the upper gripper while setting at least one point of the surgical tool to pass through the remote center of rotation. have. The upper gripper may be controlled to adjust the angle of the lower gripper so that at least one point of the surgical tool passes through the remote center of rotation while the lower gripper is moved from the initial position to the arrival point.

Since the slave device controls the surgical tool in real time by receiving a signal from the master device in real time, the initial position and the target point of the tip of the surgical tool may be located substantially adjacent to each other. When the slave device operates by receiving a signal from the master device in real time at short time intervals, if it is determined in step S150 that the tip of the surgical tool cannot reach the target point, the target point of the tip of the modified surgical tool is set before modification The end of the surgical tool may be the same as the target point, and the surgical tool may not move any further.

12 and 13 are diagrams schematically illustrating a state in which the eyeball rotates according to the driving of the first and second slave devices, and the microscope moves according to the rotation of the eyeball.

12 and 13 , the microscope 3 is disposed between the first slave device 2 and the second slave device 2 ′, and is movable on the support frames 61 and 62 . The microscope 3 is movable along two paths P1 and P2 orthogonal to each other. The two paths P1 and P2 include a first path P1 and a second path P2 each orthogonal to an arbitrary line perpendicular to the lens of the microscope 3 . The microscope 3 is movable on a plane comprising a first path P1 and a second path P2 . For example, the microscope 3 may include two linear actuators that are orthogonal to each other.

The first slave device 2 and the second slave device 2' may include a first surgical tool 250 and a second surgical tool 250' passing through the surface of the eyeball E, respectively. The first slave device 2 and the second slave device 2 ′ may rotate the eyeball E by changing the angles of the first surgical tool 250 and the second surgical tool 250 ′. The eyeball (E) is rotatable about a first axis of rotation A1 passing through the center of the eyeball, and a second axis of rotation A2 perpendicular to the first axis of rotation A1 and passing through the center of the eyeball (see Fig. 15) can be rotated around the center. The first axis of rotation A1 and the second axis of rotation A2 may be orthogonal to an imaginary extension line passing through the center of the pupil P from the center of the eyeball E, for example.

The microscope 3 can move based on the rotation of the eyeball E. By moving the microscope 3 in response to a change in the position of the pupil P, the lens may be positioned in parallel with the pupil P. For example, the movement amount of the microscope 3 can be determined by the amount of change in the position where the central position of the pupil P is projected onto the movable plane of the microscope 3 . According to this method, as shown in FIGS. 12 and 13 , the area that can be observed inside the eyeball E can be increased.

For example, as shown in FIG. 13 , the slave devices 2 and 2' rotate the eyeball E while the relative positions and angles of the surgical tools 250 and 250' with respect to the eyeball E are fixed. can do it According to such a control method, since the distance between the two surgical tools 250 and 250' does not change, it is possible to prevent the eyeball E from being damaged in the process of rotating the eyeball E.

14 is a flowchart illustrating a method of controlling an eye surgery apparatus according to an embodiment, FIGS. 15 to 17 are plan views illustrating rotation of an eyeball by the eye surgery apparatus, and FIG. 18 is an exemplary embodiment It is a flowchart showing the steps of calculating the target rotation center of each of the first and second surgical tools.

14 to 18 , the method of controlling the eye surgery apparatus includes the steps of receiving information on the amount of rotation of the eyeball from the master apparatus ( S210 ), and the first surgical tool and the second surgical tool on the surface of the eyeball, respectively. Setting the initial remote rotation center of (S220) and, based on the information on the amount of rotation of the eyeball, calculating the target remote rotation center of each of the first surgical tool and the second surgical tool (S230); generating a desired first movement speed profile while the first surgical tool reaches from the initial remote center of rotation to the target remote center of rotation while maintaining a distance between the remote centers of rotation of each of the tool and the second surgical tool; S240) and the second movement required while the second surgical tool reaches from the initial remote center of rotation to the target remote center of rotation while maintaining the distance between the remote centers of rotation of the first and second surgical tools, respectively. generating a velocity profile (S250), moving, on the surface of the eyeball, the remote center of rotation of the first surgical tool from the initial remote center of rotation to the target remote center of rotation, and shifting the remote center of rotation of the second surgical tool to the initial remote rotation It may include moving from the center to the target remote rotation center (S260), and moving the microscope (S270).

In step S210, the control unit may receive the eyeball rotation amount information from the master device. The rotation amount information of the eyeball includes the first rotation amount information about the first rotation axis A1 passing through the center of the eyeball E, and the first rotation amount information passing through the center of the eyeball E and orthogonal to the first rotation axis A1. The second rotation amount information about the second rotation axis A2 may be included.

In step S220, the control unit may set the initial remote rotation center of each of the first surgical tool and the second surgical tool on the surface of the eyeball. For example, when the tip of the first surgical tool touches the surface of the eyeball E, the controller may determine the position of the tip of the first surgical tool as the initial remote rotation center RCM1. Similarly, when the tip of the second surgical tool touches the surface of the eyeball E, the controller may determine the position of the tip of the second surgical tool as the initial remote rotation center RCM1'.

In step S230 , the controller may calculate target remote rotation centers RCM3 and RCM3 ′ of each of the first surgical tool and the second surgical tool based on the information on the amount of rotation of the eyeball. Step S230 includes the steps of setting a spherical coordinate system based on the center of the eyeball (S231), and calculating an angle change from the initial remote rotation center of the first surgical tool to the target remote rotation center on the spherical coordinate system ( S232) and, on the spherical coordinate system, calculating an angular change from the initial remote rotation center of the second surgical tool to the target remote rotation center (S233).

In step S231, the controller may set the spherical coordinate system based on the center of the eyeball. The controller may reset the initial remote rotation centers RCM1 and RCM1' determined in the Cartesian coordinate system to the spherical coordinate system. The initial remote center of rotation RCM1, RCM1' may be represented by two angles.

In step S232 , the controller may calculate an angular change from the initial remote rotation center RCM1 to the target remote rotation center RCM3 of the first surgical tool on the spherical coordinate system. For example, by rotating by Θ about the first rotational axis A1 from the initial remote rotational center RCM1, the remote rotational center can move to RCM2, and in that state, by Φ about the second rotational axis A2. By further rotation, the remote center of rotation may move to the target remote center of rotation RCM3. The controller may calculate Θ and Φ, respectively.

In step S233 , the controller may calculate an angular change from the initial remote rotation center RCM1 ′ of the second surgical tool to the target remote rotation center RCM3 ′ on the spherical coordinate system. The controller may calculate an angular change from the initial remote center of rotation RCM1' of the second surgical tool to the target remote center of rotation RCM3' on the spherical coordinate system. For example, by rotating by Θ about the first rotation axis A1 from the initial remote rotation center RCM1', the remote rotation center may move to RCM2', and in that state, the second rotation axis A2 as the center By further rotation by ?, the remote center of rotation can move to the target remote center of rotation RCM3'. The controller may calculate Θ and Φ, respectively.

In step S240, the control unit maintains the distance between the remote rotation centers of the first surgical tool and the second surgical tool, respectively, while the first surgical tool reaches the target remote rotation center from the initial remote rotation center. It is possible to create a first moving speed profile that is. In step S250, the control unit maintains the distance between the remote rotation centers of the first surgical tool and the second surgical tool, respectively, while the second surgical tool reaches the target remote rotation center from the initial remote rotation center. It is possible to create a second movement speed profile. For example, as shown in FIGS. 15 to 17 , when viewed in a plan view, the eyeball E moves from the pupil P around the first rotation axis A1 to the initial remote rotation center of the second surgical tool. After rotating in the direction toward (RCM1'), when rotating about the second axis of rotation (A2), the eyeball (E) from the initial remote center of rotation (RCM1) of the first surgical tool to the target remote center of rotation (RCM3) ) the distance on the surface may be greater than the distance on the surface of the eyeball E from the initial remote center of rotation RCM1' of the second surgical tool to the target remote center of rotation RCM3'. In this case, the moving speed of the first surgical tool must be faster than the moving speed of the second surgical tool, so that the distance between the remote rotation centers of the first surgical tool and the second surgical tool can be maintained. Through step S240, it is possible to maintain the distance between the remote centers of rotation of the first and second surgical tools, respectively, so that while the remote centers of rotation of the first and second surgical tools change, the eyeball E can be prevented from being damaged.

In step S260, the control unit moves, on the surface of the eyeball, the remote center of rotation of the first surgical tool from the initial remote center of rotation to the target remote center of rotation, and sets the remote center of rotation of the second surgical tool from the initial remote center of rotation to the target. It can be moved to a remote center of rotation.

In step S270, the controller may move the microscope. For example, the position of the microscope may be moved from the first position L1 to the second position L2 as the remote rotation centers of the first surgical tool and the second surgical tool are moved. For example, the controller may move the microscope based on the rotation amount information of the eyeball. For example, the controller may control the position of the microscope based on the rotation amount information of the eye received from the master device. As another example, the controller may move the microscope based on the remote rotation centers of the first surgical tool and the second surgical tool. For example, the control unit may change the position of the pupil (P) through a change in the remote rotation centers of the first surgical tool and the second surgical tool, the first path (P1, see FIG. 13) and the second path (P2, FIG. 13), the position of the microscope can be set based on the change in the position of the pupil P in the plane after projecting it on a plane parallel to the plane containing the

As described above, although the embodiments have been described with reference to the limited drawings, various modifications and variations are possible from the above description by those of ordinary skill in the art. For example, the described techniques are performed in an order different from the described method, and/or the described components of structures, devices, etc. are combined or combined in a different form than the described method, or other components or equivalents are used. Appropriate results can be achieved even if substituted or substituted by

Claims (10)

A surgical device for operating an eyeball, comprising:
support frame;
a first slave device connected to one end of the support frame;
a second slave device connected to the other end of the support frame; and
and a microscope module disposed between the first slave device and the second slave device and movable on the support frame,
The first slave device and the second slave device are each,
lower shaft;
an upper shaft slidably connected to the lower shaft by one degree of freedom;
a lower gripper rotatably supporting the lower shaft;
an upper gripper rotatably supporting the upper shaft;
a lower delta robot that movably supports the lower gripper;
an upper delta robot that movably supports the upper gripper; and
An eye surgery apparatus provided at a lower end of the lower shaft and including a surgical tool capable of penetrating the eye.
delete The method of claim 1,
The lower delta robot and the upper delta robot, respectively,
3 support rods;
three moving parts moving along the longitudinal direction of the support rod; and
and three arms connecting the moving part and the gripper.
The method of claim 1,
The eye surgery apparatus further comprising a control unit for detecting the position of each of the first slave device and the second slave device, and controlling the position of the microscope module based on the position of the surgical tool.
A support frame, a first slave device connected to one end of the support frame for driving a first surgical tool, a second slave device connected to the other end of the support frame for driving a second surgical tool, and the first slave A method of controlling an eye surgery device comprising a microscope module disposed between the device and a second slave device, the method comprising:
Receiving the rotation amount information of the eyeball from the master device;
establishing an initial remote center of rotation of each of the first and second surgical tools on the surface of the eye;
calculating a target remote rotation center of each of the first surgical tool and the second surgical tool based on the rotation amount information of the eyeball;
On the surface of the eyeball, moving the remote center of rotation of the first surgical tool from the initial remote center of rotation to the target remote center of rotation, and moving the remote center of rotation of the second surgical tool from the initial remote center of rotation to the target remote center of rotation comprising the steps of
Information on the amount of rotation of the eyeball,
first rotation amount information about a first rotation axis passing through the center of the eyeball; and
A method of controlling an eye surgery apparatus including second rotation amount information about a second rotation axis that passes through the center of the eyeball and is orthogonal to the first rotation axis.
delete 6. The method of claim 5,
While maintaining the distance between the remote centers of rotation of each of the first and second surgical tools, the first movement velocity profile required while the first surgical tool reaches from the initial remote center of rotation to the target remote center of rotation. creating a; and
While maintaining the distance between the remote centers of rotation of each of the first and second surgical tools, a desired second movement speed profile while the second surgical tool reaches from an initial remote center of rotation to a target remote center of rotation. A method of controlling an ocular surgical device further comprising generating a.
6. The method of claim 5,
Calculating the target remote center of rotation of each of the first surgical tool and the second surgical tool comprises:
setting a spherical coordinate system based on the center of the eyeball;
calculating an angular change from an initial remote rotation center of the first surgical tool to a target remote rotation center on the spherical coordinate system; and
and calculating an angular change from an initial remote center of rotation of the second surgical tool to a target remote center of rotation on the spherical coordinate system.
6. The method of claim 5,
Based on the information on the amount of rotation of the eyeball, the method of controlling an eye surgery apparatus further comprising the step of moving the microscope.
6. The method of claim 5,
The method of controlling an eye surgery apparatus further comprising the step of moving the microscope based on the target remote rotational centers of each of the first surgical tool and the second surgical tool.

Images