CN107564387A - A kind of ophthalmology puncturing operation training system - Google Patents
A kind of ophthalmology puncturing operation training system Download PDFInfo
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- CN107564387A CN107564387A CN201710761424.3A CN201710761424A CN107564387A CN 107564387 A CN107564387 A CN 107564387A CN 201710761424 A CN201710761424 A CN 201710761424A CN 107564387 A CN107564387 A CN 107564387A
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Abstract
The invention provides a kind of ophthalmology puncturing operation training system, it is related to surgical operation robot technical field.Ophthalmology puncturing operation training system includes Surgery Platform and operating theater instruments；Surgery Platform includes simulated eyeballs, the first torque sensor, upper mounting plate, telescopic branched chain, constrained branched chain and lower platform, simulated eyeballs are arranged on the first torque sensor, first torque sensor is arranged on upper mounting plate, upper mounting plate is supported on lower platform by telescopic branched chain and constrained branched chain, connected between telescopic branched chain and upper mounting plate, between telescopic branched chain and lower platform and between constrained branched chain and upper mounting plate by ball pivot, using being fixedly connected between constrained branched chain and lower platform；Operating theater instruments is used to be operated simulated eyeballs, and operating theater instruments includes the second torque sensor；According to the first torque sensor and the force signal of the second torque sensor, telescopic branched chain makes corresponding stretching motion, and the locus of simulated eyeballs is controlled precisely and adjustment is convenient.
Description
Technical field
The present invention relates to surgical operation robot technical field, and system is trained in particular to a kind of ophthalmology puncturing operation
System.
Background technology
Nowadays, advanced operating theater instruments and intelligent equipment provide very big guarantee for the success of ophthalmologic operation, still,
Operation for Clinical Ophthalmology patient with operation, because eyeball is not fixed, and a kind of unsure state is in, this
Doctor is just needed to have good hand eye coordination ability and the accuracy of operation, experience of these operations highly dependent upon doctor.
In the past, the approach that doctor obtained experience can only be obtained from the actual operation of clinic, but due to ophthalmologic operation
Operative region is smaller, and part tissue of eye is closer, so, operation unexpected situation occurs or Post-operative complications are big
Part is all due to the error of doctor's operation.With the development of science and technology, the development of surgical operation training system promotes clinical warp
The pace of learning tested, some of them are to be based on zoological specimens, and it connects very much for the operating habit of doctor and the actual conditions of operation
Closely, but zoopery is increasingly challenged by animal welfare, and the application process of zoopery becomes increasingly complex, and can not meet day
The training requirement that benefit increases.
In existing anterior segment surgery practicing device, the high and low position of simulated eyeballs is adjusted using bolt mostly, still, so
Form the positions of simulated eyeballs is fixed inaccurate, and adjust difficult.
Therefore, a kind of ophthalmology puncturing operation training system is designed, the physiological movement of eyeball can be simulated, to the position of eyeball
It is fixed accurate, regulation is convenient, ophthalmologic operation training can be applied to unlimited number, this is that technology urgently to be resolved hurrily at present is asked
Topic.
The content of the invention
It is an object of the invention to provide a kind of ophthalmology puncturing operation training system, and it is intended at least partly solve existing eye
Prosthomere is performed the operation, and position fixation of the exercising machine to simulated eyeballs is inaccurate, adjusts difficult technical problem.
The first technical scheme provided by the invention：
A kind of ophthalmology puncturing operation training system includes Surgery Platform and operating theater instruments；The Surgery Platform includes artificial eye
Ball, the first torque sensor, upper mounting plate, telescopic branched chain, constrained branched chain and lower platform, the simulated eyeballs are arranged on described first
On torque sensor, first torque sensor is arranged on the upper mounting plate, and the upper mounting plate passes through the telescopic branched chain
Be supported on the constrained branched chain on the lower platform, between the telescopic branched chain and the upper mounting plate, the telescopic branched chain with
Connected between the lower platform and between the constrained branched chain and the upper mounting plate by ball pivot, the constrained branched chain and institute
State between lower platform using being fixedly connected；The operating theater instruments is used to be operated the simulated eyeballs, the operation
Apparatus includes the second torque sensor；It is described to stretch according to the first torque sensor and the force signal of second torque sensor
Contracting side chain makes corresponding stretching motion.
Further, the quantity of the telescopic branched chain is 3,3 telescopic branched chains are evenly spaced be connected to it is described
The fringe region of upper mounting plate, the constrained branched chain are connected to the center of the upper mounting plate.
Further, the telescopic branched chain includes push rod, loop bar, motor, screw mandrel and alignment pin, wherein, the motor and
The screw mandrel is located at the inside of the loop bar；The top of the push rod is connected with the upper mounting plate, the bottom insertion of the push rod
The inside of the loop bar, the loop bar are connected with the lower platform, and the bottom of the push rod offers what is coordinated with the screw mandrel
Screwed hole, the screw mandrel are connected on the output shaft of the motor, and the alignment pin is used to limit the relatively described set of the push rod
Bar rotates.
Further, bar hole, length side of the bar hole along the push rod are offered on the outer peripheral face of the push rod
To extension, the alignment pin is fixedly mounted on the loop bar and inserts the bar hole；Or offered on the loop bar
Bar hole, length direction extension of the bar hole along the loop bar, the alignment pin are fixedly mounted on the push rod and inserted
Enter the bar hole.
Further, the loop bar includes mobile jib and bottom bar, and the inside of the mobile jib is inserted in the bottom of the push rod, described
Mobile jib is connected to the top of the bottom bar, and the bottom of the bottom bar is connected with the lower platform, and the motor is arranged on the bottom
The inside of bar, the screw mandrel are located at the inside of the mobile jib.
Further, the telescopic branched chain also includes bearing, and the inner ring of the bearing coordinates with the screw mandrel, the bearing
The inner surface of outer ring and the loop bar coordinate.
Further, the ophthalmology puncturing operation training system also includes emulation eye socket, upper junction plate and lower connecting plate, institute
State simulated eyeballs to be arranged in the emulation eye socket, the emulation eye socket is arranged on the upper junction plate, the upper junction plate
On first torque sensor, first torque sensor is arranged on the lower connecting plate, the lower connection
Plate is arranged on the upper mounting plate.
Further, the operating theater instruments also includes puncture portion and Handheld Division, and second torque sensor is arranged on institute
State between puncture portion and the Handheld Division.
Further, first torque sensor is sextuple torque sensor.
Second of technical scheme provided by the invention：
A kind of ophthalmology puncturing operation training system includes Surgery Platform and operating theater instruments；The Surgery Platform includes artificial eye
Ball and for supporting the parallel institution of the simulated eyeballs and between the simulated eyeballs and the parallel institution
First torque sensor, the parallel institution include constrained branched chain and Duo Gen telescopic branched chains；The operating theater instruments is used for described
Simulated eyeballs are operated, and the operating theater instruments includes the second torque sensor；According to the first torque sensor and described
The force signal of second torque sensor, the telescopic branched chain make corresponding stretching motion.
Compared to existing anterior segment surgery practicing device, the beneficial effect of ophthalmology puncturing operation training system provided by the invention
It is：
First, the simulated eyeballs are arranged on first torque sensor, and the first torque sensor can monitor imitative
The stressing conditions of true eyeball, the operating theater instruments include the second torque sensor, and the second torque sensor can monitor surgical device
The stressing conditions of tool.The simulated eyeballs are supported on the telescopic branched chain and the constrained branched chain.According to the first moment sensing
The force signal of device and second torque sensor, the active position of operating theater instruments is calculated, and according to the size of power, made described
Telescopic branched chain makes corresponding stretching motion, is precisely controlled the locus of simulated eyeballs, and realizes automation adjustment position,
Make medical worker using operating theater instruments to simulated eyeballs carry out operative training during, simulated eyeballs can rotate under stress,
Rotation in effective imitation ophthalmology department surgical procedure under eyeball stress, simplify the approach that trainer obtains surgical experience.
Secondly, the material of simulated eyeballs approaches with real eyeball, can bring more real feel, with true ophthalmology hand
Art is very close, trainer is obtained preferable experience.
Finally, ophthalmology puncturing operation training system compact structure, and can repeatedly utilize, before there is good utilization
Scape.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is the structural representation of ophthalmology puncturing operation training system provided in an embodiment of the present invention.
Fig. 2 is the structural representation of simulated eyeballs and its associated components in Fig. 1.
Fig. 3 is the structural representation of telescopic branched chain in Fig. 1.
Fig. 4 is along the complete section structural representation of line D-D in Fig. 3.
Fig. 5 is the structural representation of operating theater instruments in Fig. 1.
Fig. 6 is the workflow block diagram of ophthalmology puncturing operation training system provided in an embodiment of the present invention.
Icon：100- ophthalmology puncturing operation training systems；1- Surgery Platforms；11- simulated eyeballs；12- emulates eye socket；13-
Upper junction plate；The torque sensors of 14- first；15- lower connecting plates；16- upper mounting plates；17- telescopic branched chains；171- push rods；1711- bars
Shape hole；172- mobile jibs；173- bottom bars；174- motors；175- shaft couplings；176- screw mandrels；177- bearings；178- alignment pins；18- is about
Bundle branch chain；19- ball pivots；20- lower platforms；3- operating theater instruments；31- Handheld Divisions；The torque sensors of 32- second；33- punctures portion.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, rather than whole embodiments.The present invention implementation being generally described and illustrated herein in the accompanying drawings
The component of example can be configured to arrange and design with a variety of.
Therefore, below the detailed description of the embodiments of the invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.It is common based on the embodiment in the present invention, this area
The every other embodiment that technical staff is obtained under the premise of creative work is not made, belong to the model that the present invention protects
Enclose.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent accompanying drawing in individual accompanying drawing.
In the description of the invention, it is to be understood that term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, or should
Invention product using when the orientation usually put or position relationship, or the orientation or position that those skilled in the art usually understand
Relation is put, it is of the invention necessary with simplified description, rather than the equipment or element of instruction or hint meaning to be for only for ease of description
With specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second ", " the 3rd " etc. are only used for distinguishing description, and it is not intended that instruction or hint
Relative importance.
In the description of the invention, it is also necessary to explanation, unless otherwise clearly defined and limited, term " setting ",
" installation ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or one
Connect body；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirect by intermediary
It is connected, can is the connection of two element internals.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
Referring to Fig. 1, a kind of ophthalmology puncturing operation training system 100 is present embodiments provided, the training of ophthalmology puncturing operation
System 100 includes Surgery Platform 1 and operating theater instruments 3.Surgery Platform 1 includes simulated eyeballs 11, emulation eye socket 12, upper junction plate
13rd, the first torque sensor 14, lower connecting plate 15, upper mounting plate 16, parallel institution and lower platform 20, wherein, parallel institution includes
Constrained branched chain 18 and Duo Gen telescopic branched chains 17.
Parallel institution is 3-SPS/S models, has three spatial rotational frees degree, wherein, S represents ball pivot 19, and P, which is represented, to be moved
Dynamic pair.The quantity of telescopic branched chain 17 is 3, the evenly spaced fringe region for being connected to upper mounting plate 16 of 3 telescopic branched chains 17, about
Bundle branch chain 18 is connected to the center of upper mounting plate 16.
Upper mounting plate 16 is supported on lower platform 20 by telescopic branched chain 17 and constrained branched chain 18, telescopic branched chain 17 and upper mounting plate
Connected between 16, between telescopic branched chain 17 and lower platform 20 and between constrained branched chain 18 and upper mounting plate 16 by ball pivot 19,
Use and be fixedly connected between constrained branched chain 18 and lower platform 20.
Referring to Fig. 2, simulated eyeballs 11 are arranged in emulation eye socket 12, emulation eye socket 12 is arranged on upper junction plate 13,
Upper junction plate 13 is arranged on the first torque sensor 14, and the first torque sensor 14 is arranged on lower connecting plate 15, lower connection
Plate 15 is arranged on upper mounting plate 16.
The material properties of simulated eyeballs 11 are close with true eyeball tissue, and simulated eyeballs 11 are made by 3D printing technique.
First torque sensor 14 is sextuple torque sensor, model Mini40.
Fig. 3 and Fig. 4 are referred to, telescopic branched chain 17 includes push rod 171, loop bar, motor 174, screw mandrel 176, bearing 177, connection
Axle device 175 and alignment pin 178, wherein, loop bar includes mobile jib 172 and bottom bar 173, and the top of push rod 171 is connected with upper mounting plate 16,
The inside of the bottom insertion mobile jib 172 of push rod 171, mobile jib 172 are connected to the top of bottom bar 173, and the bottom of bottom bar 173 is put down with lower
Platform 20 connects, and motor 174 is arranged on the inside of bottom bar 173, and screw mandrel 176 is located at the inside of mobile jib 172, and screw mandrel 176 is preferably to roll
Ballscrew.
The bottom of push rod 171 offers the screwed hole coordinated with screw mandrel 176, and screw mandrel 176 is connected to electricity by shaft coupling 175
On the output shaft of machine 174, alignment pin 178 is used to limit push rod 171 relative to loop bar rotation.Motor 174 is preferably servomotor.
Bar hole 1711 is offered on the outer peripheral face of push rod 171, length direction of the bar hole 1711 along push rod 171 extends,
Alignment pin 178 is fixedly mounted on loop bar and inserts bar hole 1711.It is easily understood that can also be, be offered on loop bar
Bar hole 1711, length direction extension of the bar hole 1711 along loop bar, alignment pin 178 are fixedly mounted on push rod 171 and inserted
Bar hole 1711.
The inner ring of bearing 177 coordinates with screw mandrel 176, and the outer ring of bearing 177 and the inner surface of loop bar coordinate.Bearing 177 is excellent
Elect deep groove ball bearing as.
The operation principle of telescopic branched chain 17：It is connected by motor 174 with leading screw, leading screw is threadedly coupled with push rod 171, together
When push rod 171 on open up bar hole 1711 along its length, and push rod 171 is limited by alignment pin 178 can only be along bar hole
1711 direction is slided, and the circular motion of motor 174 is converted to the linear motion of push rod 171, push rod 171 will drive upper mounting plate
16 motions, so as to adjust the locus of simulated eyeballs 11.
Referring to Fig. 5, operating theater instruments 3 is used to be operated simulated eyeballs 11, operating theater instruments 3 includes Handheld Division
31st, the second torque sensor 32 and puncture portion 33.Second torque sensor 32 is arranged between puncture portion 33 and Handheld Division 31.The
The model Nano17 of two torque sensors 32.
The ophthalmology puncturing operation training system 100 that the present embodiment provides, can be according to the first torque sensor 14 and second
The force signal of torque sensor 32, quickly calculate active position of the puncture portion 33 of operating theater instruments 3 on simulated eyeballs 11 and
The size of power, telescopic branched chain 17 is made corresponding stretching motion, so as to adjust the locus of simulated eyeballs 11, make artificial eye
Ball 11 imitates the motion of true eyeball, and authentic and valid operating experience is obtained to trainer.
Referring to Fig. 6, the course of work of ophthalmology puncturing operation training system 100：
(1) judge whether the power monitored of the second torque sensor 32 is equal to 0, if so, then judging that parallel institution is again
It is no in default initial position, if so, then complete a work period, recycle Timer Controlling start after 1s it is next
Work period, that is, rejudge the second torque sensor 32 monitors whether power is equal to 0, so circulation.
(2) judge the second torque sensor 32 monitors whether power is equal to 0, if so, then whether judging parallel institution again
In default initial position, if it is not, then control parallel institution returns to default initial position, complete a work period, then profit
Start next work period after 1s with Timer Controlling, that is, rejudging the power that monitors of the second torque sensor 32 is
It is no to be equal to 0, so circulation.
(3) judge the second torque sensor 32 monitor power whether be equal to 0, if it is not, then judge parallel institution whether
Default initial position, if so, then being solved each to the active position of simulated eyeballs 11 and the size of power according to operating theater instruments 3
Length needed for telescopic branched chain 17, then, controlled motor 174 work, and each telescopic branched chain 17 is reached required length, then complete one
The individual work period, recycle Timer Controlling to start next work period after 1s, that is, rejudge the second moment sensing
Device 32 monitors whether power is equal to 0, so circulation.
(4) judge the second torque sensor 32 monitor power whether be equal to 0, if it is not, then judge parallel institution whether
Default initial position, if it is not, controlled motor 174 is stopped, and according to effect of the current procedure apparatus 3 to simulated eyeballs 11
Position and the size of power, the knots modification needed for the length of each telescopic branched chain 17 is solved, then, controlled motor 174 works, and makes each
The length of individual telescopic branched chain 17 reaches the required variable, then completes a work period, recycles Timer Controlling after 1s
Start next work period, that is, rejudge the second torque sensor 32 monitors whether power is equal to 0, so circulation.
The beneficial effect of ophthalmology puncturing operation training system 100 that the present embodiment provides is：
First, according to the first torque sensor 14 and the force signal of the second torque sensor 32, operating theater instruments 3 is calculated
Active position, and according to the size of power, telescopic branched chain 17 is made corresponding stretching motion, medical worker is used operating theater instruments
During 3 pairs of simulated eyeballs 11 carry out operative training, simulated eyeballs 11 can be rotated under stress, and effective imitation ophthalmology department was performed the operation
Rotation in journey under eyeball stress, simplify the approach that trainer obtains surgical experience.
Secondly, the material of simulated eyeballs 11 approaches with real eyeball, can bring more real feel, with true ophthalmology
Operation is very close, trainer is obtained preferable experience.
Finally, the compact structure of ophthalmology puncturing operation training system 100, and can repeatedly utilize, there is good utilization
Prospect.
The preferred embodiments of the present invention are these are only, are not intended to limit the invention, for those skilled in the art
For member, the present invention can have various modifications and variations.Any modification within the spirit and principles of the invention, being made,
Equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (10)
- A kind of 1. ophthalmology puncturing operation training system (100), it is characterised in that the ophthalmology puncturing operation training system (100) Including Surgery Platform (1) and operating theater instruments (3)；The Surgery Platform (1) includes simulated eyeballs (11), the first torque sensor (14), upper mounting plate (16), telescopic branched chain (17), constrained branched chain (18) and lower platform (20), the simulated eyeballs (11) are arranged on first torque sensor (14), First torque sensor (14) is arranged on the upper mounting plate (16), and the upper mounting plate (16) passes through the telescopic branched chain (17) it is supported on the constrained branched chain (18) on the lower platform (20), the telescopic branched chain (17) and the upper mounting plate (16) Between, between the telescopic branched chain (17) and the lower platform (20) and the constrained branched chain (18) and the upper mounting plate (16) Between by ball pivot (19) connect, between the constrained branched chain (18) and the lower platform (20) use be fixedly connected；The operating theater instruments (3) is used to be operated the simulated eyeballs (11), and the operating theater instruments (3) includes second Torque sensor (32)；It is described to stretch according to the first torque sensor (14) and the force signal of second torque sensor (32) Contracting side chain (17) makes corresponding stretching motion.
- 2. ophthalmology puncturing operation training system (100) according to claim 1, it is characterised in that the telescopic branched chain (17) quantity is 3,3 evenly spaced fringe regions for being connected to the upper mounting plate (16) of telescopic branched chain (17), The constrained branched chain (18) is connected to the center of the upper mounting plate (16).
- 3. ophthalmology puncturing operation training system (100) according to claim 1, it is characterised in that the telescopic branched chain (17) include push rod (171), loop bar, motor (174), screw mandrel (176) and alignment pin (178), wherein, the motor (174) and The screw mandrel (176) is located at the inside of the loop bar；The top of the push rod (171) is connected with the upper mounting plate (16), and the loop bar is inserted in the bottom of the push rod (171) Inside, the loop bar are connected with the lower platform (20), and the bottom of the push rod (171) offers matches somebody with somebody with the screw mandrel (176) The screwed hole of conjunction, the screw mandrel (176) are connected on the output shaft of the motor (174), and the alignment pin (178) is used to limit The push rod (171) rotates relative to the loop bar.
- 4. ophthalmology puncturing operation training system (100) according to claim 3, it is characterised in that the push rod (171) Bar hole (1711) is offered on outer peripheral face, length direction extension of the bar hole (1711) along the push rod (171) is described Alignment pin (178) is fixedly mounted on the loop bar and inserts the bar hole (1711)；Or offered on the loop bar Bar hole (1711), length direction extension of the bar hole (1711) along the loop bar, the alignment pin (178) are fixedly mounted On the push rod (171) and insert the bar hole (1711).
- 5. ophthalmology puncturing operation training system (100) according to claim 3, it is characterised in that the loop bar includes master The inside of the mobile jib (172) is inserted in bar (172) and bottom bar (173), the bottom of the push rod (171), and the mobile jib (172) is even The top of the bottom bar (173) is connected on, the bottom of the bottom bar (173) is connected with the lower platform (20), the motor (174) Installed in the inside of the bottom bar (173), the screw mandrel (176) is located at the inside of the mobile jib (172).
- 6. ophthalmology puncturing operation training system (100) according to claim 3, it is characterised in that the telescopic branched chain (17) bearing (177) is also included, inner ring and the screw mandrel (176) of the bearing (177) coordinate, outside the bearing (177) The inner surface of circle and the loop bar coordinates.
- 7. ophthalmology puncturing operation training system (100) according to claim 1, it is characterised in that the ophthalmology punctures hand Art training system (100) also includes emulation eye socket (12), upper junction plate (13) and lower connecting plate (15), the simulated eyeballs (11) In the emulation eye socket (12), the emulation eye socket (12) is arranged on the upper junction plate (13), the upper connection Plate (13) is arranged on first torque sensor (14), and first torque sensor (14) is arranged on the lower connecting plate (15) on, the lower connecting plate (15) is arranged on the upper mounting plate (16).
- 8. ophthalmology puncturing operation training system (100) according to claim 1, it is characterised in that the operating theater instruments (3) Also include puncture portion (33) and Handheld Division (31), second torque sensor (32) be arranged on the puncture portion (33) with it is described Between Handheld Division (31).
- 9. ophthalmology puncturing operation training system (100) according to claim 1, it is characterised in that first torque passes Sensor (14) is sextuple torque sensor.
- A kind of 10. ophthalmology puncturing operation training system (100), it is characterised in that the ophthalmology puncturing operation training system (100) Including Surgery Platform (1) and operating theater instruments (3)；The Surgery Platform (1) includes simulated eyeballs (11) and parallel institution and peace for supporting the simulated eyeballs (11) The first torque sensor (14) between the simulated eyeballs (11) and the parallel institution, the parallel institution are included about Bundle branch chain (18) and more telescopic branched chains (17)；The operating theater instruments (3) is used to be operated the simulated eyeballs (11), and the operating theater instruments (3) includes second Torque sensor (32)；It is described to stretch according to the first torque sensor (14) and the force signal of second torque sensor (32) Contracting side chain (17) makes corresponding stretching motion.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111166472A (en) * | 2020-02-27 | 2020-05-19 | 郑州医笃筑工智能科技有限公司 | Arm is used in ophthalmic surgery training |
| CN114176731A (en) * | 2021-12-24 | 2022-03-15 | 王延宏 | Auxiliary positioning device for low-temperature plasma radio frequency ablation |
| CN118538083A (en) * | 2024-07-18 | 2024-08-23 | 南昌虚拟现实研究院股份有限公司 | Operation simulation mechanism for eyeballs in ophthalmic surgery |
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| CN105989769A (en) * | 2015-02-02 | 2016-10-05 | 中国科学院沈阳自动化研究所 | Spine minimally invasive surgery simulation force feedback operation training device and method |
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| CN111166472A (en) * | 2020-02-27 | 2020-05-19 | 郑州医笃筑工智能科技有限公司 | Arm is used in ophthalmic surgery training |
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