CN109549775A - Robot arm towards eye ground micrurgy - Google Patents

Robot arm towards eye ground micrurgy Download PDF

Info

Publication number
CN109549775A
CN109549775A CN201811487948.9A CN201811487948A CN109549775A CN 109549775 A CN109549775 A CN 109549775A CN 201811487948 A CN201811487948 A CN 201811487948A CN 109549775 A CN109549775 A CN 109549775A
Authority
CN
China
Prior art keywords
cantilever
linear guide
module
axis linear
axis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201811487948.9A
Other languages
Chinese (zh)
Other versions
CN109549775B (en
Inventor
张赫
廖博
廖一博
赵杰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Harbin Institute of Technology
Original Assignee
Harbin Institute of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Harbin Institute of Technology filed Critical Harbin Institute of Technology
Priority to CN201811487948.9A priority Critical patent/CN109549775B/en
Publication of CN109549775A publication Critical patent/CN109549775A/en
Application granted granted Critical
Publication of CN109549775B publication Critical patent/CN109549775B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F9/00Methods or devices for treatment of the eyes; Devices for putting-in contact lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
    • A61F9/007Methods or devices for eye surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • A61B34/72Micromanipulators
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • A61B34/75Manipulators having means for prevention or compensation of hand tremors

Abstract

Robot arm towards eye ground micrurgy, it is related to a kind of minimally invasive executing agency.There are the precision of surgical procedure and stability are poor in order to solve the problems, such as existing surgical instrument by the present invention.The present invention includes cantilever-rotating module (1);It further includes link assembly (2), end effector component (3), pedestal (A), X-axis linear guide module (B), Y-axis linear guide module (C) and Z axis linear guide module (D), X-axis linear guide module (B) is horizontally arranged on pedestal (A), Y-axis linear guide module (C) is mounted in X-axis linear guide module (B), Z axis linear guide module (D) is mounted in Y-axis linear guide module (C), cantilever-rotating module (1) is mounted in Z axis linear guide module (D), link assembly (2) is mounted on cantilever-rotating module (1), end effector component (3) is on link assembly (2).The present invention is used for eyeground micrurgy.

Description

Robot arm towards eye ground micrurgy
Technical field
The present invention relates to a kind of robot arms, and in particular to a kind of robot towards eye ground micrurgy Motion arm.
Background technique
When the angiogenesis obstruction or lesion phenomenon being located on eye ground, most simple effective method is in lesion Drug is injected at blood vessel, plays the effect for suiting the remedy to the case and leading to plug.In traditional Ophthalimic microsurgery, operating doctor hand is needed Hold ophthalmological instruments and complete corresponding accurate operation under the microscope, due to the small volume of eyeball, eyeball tissue construction it is fine and Fragility, so, Ophthalimic microsurgery requires doctor to have high hand eye coordination ability and the sensing capability to accurate operation.Compared with High operating difficulty is but also patient is easy to generate postoperative complications because of the microtrauma in art.
In recent years, with the fast development of medical robot, pinpoint accuracy, high stability of the medical robot relative to people The features such as, more safe and efficient surgery solutions are provided for patient.And it is aobvious to use medical robot to carry out minimally invasive eyeground When micro- operation, difficult point is that surgical instrument needs do not causing pore membrane to expand inside the eyeball that scleral spur access point is pierced into patient In the case where around be pierced into point a flexible rotating, complete corresponding surgical procedure.This point of rotation be referred to as RCM, RCM (English are as follows: Remote center of motion) refer to fixed point.
Since human eyesight is limited, manipulation scalpel accurate movement is limited in scope, moreover when hand-held scalpel, manpower can not The Physiological tremor of inhibition causes Ophthalimic microsurgery precision bad stability.Therefore, existing surgical instrument is needed from sclera Be pierced into point be pierced into patient eyeball inside when, there is a problem of the precision of surgical procedure and stability difference.
Summary of the invention
The purpose of the present invention is to solve existing surgical instruments to need out of, scleral spur access point is pierced into patient eyeball When portion, there is a problem of the precision of surgical procedure and stability difference.And then one kind is provided towards eye ground micrurgy Robot arm.
The technical scheme is that the robot arm towards eye ground micrurgy, including cantilever-rotating Module;It further includes link assembly, end effector component, pedestal, X-axis linear guide module, Y-axis linear guide module and Z Axis linear guide module, X-axis linear guide module level are installed on the base, and Y-axis linear guide module is mounted on X-axis straight line and leads In rail module, Z axis linear guide module is mounted in Y-axis linear guide module, and cantilever-rotating module is mounted on Z axis linear guide In module, link assembly is mounted in cantilever-rotating module, and end effector component is mounted on link assembly;Cantilever-rotating mould Block includes rotary module, cantilever base, cantilever, cantilever linear guide module, cantilever sliding block, cantilever sliding block connector and rotating mould Block shell, one end of cantilever base are connect with external mobile device, and the other end of cantilever base is connect with rotary module, cantilever with Rotary module connection, cantilever linear guide module are mounted in cantilever, and cantilever sliding block is slidably mounted on cantilever linear guide module On, cantilever sliding block connector is mounted on cantilever sliding block, and rotary module jacket is on rotary module and cantilever base;Connection rod set Part includes the parallelogram linkage of drive rod and single-degree-of-freedom, and one end of drive rod is hinged on cantilever sliding block connector On, the bottom of the parallelogram linkage of single-degree-of-freedom is hinged on the other end of cantilever, the other end and list of drive rod The side side end face of the parallelogram linkage of freedom degree is attached;End effector component includes end pedestal, six Dimensional force sensor, end effector linear guide module, operation syringe and be based on FBG fiber grating Micro-force sensor, end The other side side end face of pedestal and the parallelogram linkage of single-degree-of-freedom carries out hinged, end effector linear guide mould Block is mounted on the pedestal of end, and six-dimension force sensor is mounted between end pedestal and end effector linear guide module, hand Art syringe and the sliding block in end effector linear guide module are affixed, are mounted on based on FBG fiber grating Micro-force sensor It performs the operation on syringe, the intersection point of the extended line of the extended line and cantilever central axis for syringe tip of performing the operation forms RCM point.
The present invention has the effect that compared with prior art
1, the present invention carries out the determination of RCM point using the four-bar mechanism of parallelogram.The key of Ophthalimic microsurgery exists In RCM point if it is six shaft mechanical arm of human hand held, need some positions of end operation actuator constant, posture is not but The variation stopped, this requires each joint of mechanical arm that will carry out complicated adjustment, so that increasing seeking mechanical arm against difficulty when solving Add, there is also singular point situation sometimes.The present invention is by the Machine Design by four-bar mechanism, so that determining for fixed point becomes Obtain extremely simple, the intersection point formation RCM point of the perform the operation extended line at the tip syringe 3-4 and the extended line of cantilever 1-3 central axis;Make It obtains while guaranteeing minimally invasive executing agency's high intensity high stability, the difficulty for constructing RCM substantially reduces.
2, the present invention, being capable of high quality, high efficiency, high reliability by the minimally invasive executing agency for being suitable for eyeground micrurgy Eye ground micrurgy is completed on ground, greatly improves the consistency of Ophthalimic microsurgery effect.
The You Qiu mechanism, mechanism and arc orbit mechanism of existing determining fixed point, the wherein centre of sphere of spherical mechanism, circular arc The center of circle of track is RCM, but because circular arc, spherical track footprint area are big, installs driving device on it and increases quality, leads Device rigidity is caused to be deteriorated, eventually leading to operation actuator precision reduces.
By using four-bar linkage design, RCM is determined simply the present invention, is directly used after primary correction, driving device is just In configuration.These all ensure that operation can be carried out efficiently.The high rigidity of structure designs, and cooperates control system, eliminates doctor's physiology It trembles, and then realizes high quality ophthalmologic operation.
3, present invention employs four-bar mechanism, hinged cantilever, the configurations of each straight line mould group precise displacement;And by being based on The inhibition of trembling of modern digital filtering, which is realized, eliminates shake, and then the robot arm towards eye ground micrurgy, The precision and stability of surgical procedure are improved, end effector resolution ratio controls within 50um.
4, the guide rail of the present invention uses X-axis linear guide module, Y-axis linear guide module and Z axis linear guide module Lead be 5mm, the lead of cantilever linear guide is 2mm, and the lead of end linear guide is 5mm.It can be realized a wide range of shifting It is dynamic rapid, quickly reach shift position.Cantilever initial angle is arranged to 65 °, has not only met operation needs, but also is cantilever in operation Lower end reserves sufficient activity space.To increase apparatus work range.
Detailed description of the invention
Fig. 1 is schematic perspective view of the invention.Fig. 2 is main view of the invention;Fig. 3 is the entirety after removing pedestal Structural schematic diagram (link assembly therein uses the extension rod being different from specific embodiment one and support rod-shape);Figure 4 be the structural schematic diagram that cantilever-rotating module 1, link assembly 2 and end effector component 3 fit together;Fig. 5 is that X-axis is straight The structural schematic diagram of line rail module B.
Specific embodiment
Specific embodiment 1: illustrate present embodiment in conjunction with Fig. 1 to Fig. 5, present embodiment towards eye ground The robot arm of micrurgy, it includes cantilever-rotating module 1;It further includes link assembly 2 and end effector component 3, cantilever-rotating module 1 is sliding including rotary module 1-1, cantilever base 1-2, cantilever 1-3, cantilever linear guide module 1-4, cantilever Block 1-5, cantilever sliding block connector 1-6 and rotary module shell 1-7, one end of cantilever base 1-2 are connect with external mobile device, The other end of cantilever base 1-2 is connect with rotary module 1-1, and cantilever 1-3 is connect with rotary module 1-1, cantilever linear guide mould Block 1-4 is mounted in cantilever 1-3, and cantilever sliding block 1-5 is slidably mounted on cantilever linear guide module 1-4, the connection of cantilever sliding block Part 1-6 is mounted on cantilever sliding block 1-5, and rotary module shell 1-7 is covered on rotary module 1-1 and cantilever base 1-2;Connection rod set Part 2 includes the parallelogram linkage of drive rod 2-1 and single-degree-of-freedom, and one end of drive rod 2-1 is hinged on cantilever sliding block On connector 1-6, the bottom of the parallelogram linkage of single-degree-of-freedom is hinged on the other end of cantilever 1-3, drive rod The side side end face of the parallelogram linkage of the other end and single-degree-of-freedom of 2-1 is attached;End effector component 3 Including end pedestal 3-1, six-dimension force sensor 3-2, end effector linear guide module 3-3, operation syringe 3-4 and it is based on The other side side of FBG fiber grating Micro-force sensor 3-5, end pedestal 3-1 and the parallelogram linkage of single-degree-of-freedom End face carries out hingedly, and end effector linear guide module 3-3 is mounted on the pedestal 3-1 of end, six-dimension force sensor 3-2 installation Between end pedestal 3-1 and end effector linear guide module 3-3, operation syringe 3-4 is led with end effector straight line Sliding block on rail module 3-3 is affixed, is mounted on operation syringe 3-4 based on FBG fiber grating Micro-force sensor 3-5, operation The intersection point of the extended line of the extended line and cantilever 1-3 central axis at the tip syringe 3-4 forms RCM point.
In the cantilever-rotating module 1 of present embodiment, cantilever base 1-2 is processed into two groups in 30 ° of ring flange Zoarium, one end of cantilever base 1-2 are connected with external mobile device, and the other end and rotary module 1-1 of cantilever base 1-2 is solid Even;Comprehensive rotation can be carried out convenient for cantilever base 1-2, guarantee the flexibility in position of the movement of end effector component 3.
The rotary module shell 1-7 of present embodiment is fixed on cantilever base 1-2, plays protection to rotary module 1-1 Effect.
The bottom of cantilever sliding block connector 1-6 on the cantilever linear guide module 1-4 of present embodiment and cantilever sliding block 1-5 is connected, while being processed through-hole on top, realizes hinged with the drive rod 1-1 of link assembly 2.
The end pedestal 3-1 of the end effector component 3 of present embodiment and the end aperture of the first, second end support bar Hingedly, connected effect is actually played.
Present embodiment is then arranged in operation syringe 3-4 syringe needle end based on FBG fiber grating Micro-force sensor 3-5 End can perceive the micro power variation of operation syringe 3-4, so that operation is more accurate.
Minimally invasive executing agency suitable for eyeground micrurgy of the invention adjusts cantilever base 1-2's by work in-process Angle, so that cantilever 1-3 just has an angle in initial position with horizontal plane;Cantilever 1-3 can be rotated around cantilever axis, thus band The rotation of dynamic end effector;By cantilever linear guide module 1-4 and link assembly 2, then can bow to end effector The elevation angle carries out ± 45 ° of adjustment;Link assembly 2 is designed using the structure of parallelogram, and 2 end of link assembly is enabled to take The intersection point of the extended line of the extended line and cantilever central axis at the operation tip syringe 3-4 of load forms RCM (fixed point), so that When cantilever linear guide module 1-4 movement drives the pitch angle variation of end effector, the position RCM does not change, meanwhile, by It is located on the axis of cantilever 1-3 simultaneously in RCM, so that the position of RCM does not generate variation when cantilever 1-3 rotates yet;It holds end Row device linear guide module 3-3 can then make operation syringe complete the operation inside insertion eyeball.
The robot arm towards eye ground micrurgy of present embodiment being capable of high quality, high efficiency, height Eye ground micrurgy is completed to reliability, the consistency of surgical effect is greatly improved;By to robot manipulation The comprehensive wound of the possible configurations of arm and corresponding control mechanism is at the robot arm towards eye ground micrurgy improves The precision and stability of surgical procedure, increase apparatus work range, eliminate inevitable physiology of manually performing the operation and quiver It trembles, so that original intraocular surgery is operated more safety and is stablized, improve the success rate of operation, expanded treatment means.
The Y-axis linear guide module level of present embodiment is placed, and bottom is connect with the sliding block of X-axis linear guide, can It moves linearly under X-axis linear guide module drive along X-axis;Z axis linear guide module is disposed vertically, and guide rail end is straight with Y-axis The sliding block of line rail module connects, and can move linearly under Y-axis linear guide module drive along Y-axis;Y-axis linear guide module 3 optoelectronic switches and 1 increment type grating scale, structure and X-axis linear guide mould are equally fitted with Z axis linear guide module Block is similar.
Specific embodiment 2: embodiment is described with reference to Fig. 4, the rotary module 1-1 of present embodiment include motor, The output end of transmission device, worm and worm wheel, motor is connect with transmission device, and the output end of transmission device is connect with worm gear, snail Bar is mounted on the inboard of cantilever 1-3, and worm and wheel engages.In actual use, the producer of rotary module 1-1 is raw for Parker The R150M of production.So set, driving entire cantilever 1-3 around the rotation of cantilever axis;Connection type is simple, reliably, other compositions And connection relationship is same as the specific embodiment one.
Specific embodiment 3: embodiment is described with reference to Fig. 1, the cantilever linear guide module 1-4 of present embodiment The model KK40-01P-150A-F2ES2 (PNP) of use.So set, stroke is big, manufacture easy to produce is at low cost.It is other Composition and connection relationship are the same as one or two specific embodiments.
Specific embodiment 4: illustrating present embodiment in conjunction with Fig. 1 to Fig. 4, the cantilever-rotating module 1 of present embodiment is also Including cantilever increment type grating scale and multiple cantilever optoelectronic switches, cantilever increment type grating scale and the installation of multiple cantilever optoelectronic switches On rotary module 1-1, wherein cantilever increment type grating scale is mounted on rotary module 1-1 along the length direction of rotary module 1-1 A side end face on, multiple cantilever optoelectronic switches are symmetrically installed on the both ends side end face of the length direction of rotary module 1-1.So Setting, it is more accurate to detect.Other compositions and connection relationship are identical as specific embodiment one, two or three.
When starting zero correction, linear guide, first to an end motion, reaches just present embodiment under motor driven It is detected when at beginning by optoelectronic switch, stop motor movement, sliding block stops;Motor reversal later manually adjusts, and moves to zero When point position, motor stops rotating, and at this moment records the umber of pulse on grating scale, derives the linear distance of slide block movement, after It can first allow motor to rotate to initial end before every task, stop under optoelectronic switch effect, remembered later according to grating scale The corresponding circle number of data direct-driving motor rotation is recorded, calibration position is reached.Similarly, each by high-precision grating scale Linear guide can accurate movement.
Specific embodiment 5: embodiment is described with reference to Fig. 4, the drive rod 2-1 of present embodiment is solid driving Bar, the both ends of drive rod 2-1 are fork shape.So set, ensure that the mechanical strength of drive rod 2-1;Drive rod 2-1 shift fork The both ends of shape are opened hole, hinged with the intermediate extension rod 2-2 of cantilever sliding block connector 1-6 and first respectively.Other compositions and company It is identical to meet relationship and specific embodiment one, two, three or four.
Specific embodiment 6: embodiment is described with reference to Fig. 4, the parallelogram of the single-degree-of-freedom of present embodiment Link mechanism includes the first intermediate extension rod 2-2, the second intermediate extension rod 2-3, first end support rod 2-4 and second end branch The lower end of strut 2-5, the lower end of the first intermediate extension rod 2-2 and the second intermediate extension rod 2-3 are hinged on the another of cantilever 1-3 End, wherein the side end face of the first intermediate extension rod 2-2 and drive rod 2-1 are hinged, one end and second of first end support rod 2-4 The upper end of the upper end and the second intermediate extension rod 2-3 of one end of end support bar 2-5 and the first intermediate extension rod 2-2 is hinged, the The other end of one end support bar 2-4 and the other end of second end support rod 2-5 are connect with end pedestal 3-1.RCM determines letter It is single, it is directly used after primary correction, driving device is convenient for configuration.Other compositions and connection relationship and specific embodiment one, two, Three, four or five is identical.
The parallelogram linkage of the single-degree-of-freedom of present embodiment is the four-bar mechanism of double parallel quadrangle.Wherein First intermediate extension rod 2-2, the second intermediate extension rod 2-3, first end support rod 2-4 and second end support rod 2-5 are Double parallel connecting rod passes through rod piece between two parallel bars and connects.
The intermediate extension rod 2-3 structure of the intermediate extension rod 2-2 and second of the first of present embodiment is similar, and length is identical, all There are the hinge joints of three identical corresponding positions, respectively with cantilever 1-3, first end support rod 2-4, second end support rod 2-5 is hinged, and difference is that the first intermediate extension rod 2-2 increases the hinge hole connecting with drive rod 2-1;First end branch Strut 2-4 is similar with second end support rod 2-5 structure, and length is identical, in addition to among the first intermediate extension rod 2-2 and second The hinge joint of an end is increased outside the hinge joint of extension rod 2-3;First, second intermediate extension rod and the first, second end Support rod constitutes the parallelogram linkage of single-degree-of-freedom, parallelogram mechanism is with drive rod together with end pedestal 3-1 2-1 movement realizes that the pitch angle to the operation syringe 3-4 on the pedestal 3-1 of end controls;The control angle of the pitch angle is ±45°。
Bar assembly 2 is designed using the structure of parallelogram, the operation syringe for enabling to 2 end of link assembly to carry The intersection point of the extended line of the extended line and cantilever 1-3 central axis at the tip 3-7 forms RCM (fixed point), minimum to the wound of eyeball, The only wound of this point is realized minimally invasive.
Specific embodiment 7: embodiment is described with reference to Fig. 4, the parallelogram of the single-degree-of-freedom of present embodiment Link mechanism further includes multiple self lubrication bearing 2-6, the first intermediate extension rod 2-2, the second intermediate extension rod 2-3, first end The hinged place of support rod 2-4 and second end support rod 2-5 pass through a self lubrication bearing 2-6 respectively and carry out hingedly.So set It sets, is connected at the hinge joint of link assembly 2 by self lubrication bearing 2-6, not only ensure that the seamless assembly at hinge joint, but also guarantee Smooth pivotal between a rod piece.Other compositions and connection relationship and specific embodiment one, two, three, four, five or six are identical.
Specific embodiment 8: illustrating present embodiment, the end effector straight line of present embodiment in conjunction with Fig. 1 to Fig. 4 The model KC30-01P-100A-F2ES2 (PNP) of rail module 3-3.It is low in cost.Other compositions and connection relationship and specific Embodiment one, two, three, four, five, six or seven are identical.
Specific embodiment 9: embodiment is described with reference to Fig. 4, present embodiment based on the micro- power of FBG fiber grating Sensor 3-5 is mounted on the syringe needle end of operation syringe 3-4.The resonance wavelength of FBG fiber grating is to ess-strain and temperature Variation it is sensitive, so being mainly used for the measurement of temperature and ess-strain.This sensor is that (temperature is answered by extraneous parameter Stress-strain) central wavelength of Bragg fiber grating is modulated to obtain heat transfer agent.Therefore, transducer sensitivity is high, resists dry It is strong to disturb ability, it is low to energy of light source and stability requirement, it is suitable for accurate, precise measurement.Other compositions and connection relationship and tool Body embodiment one, two, three, four, five, six, seven or eight are identical.
Specific embodiment 10: embodiment is described with reference to Fig. 4, the end effector component 3 of present embodiment is also wrapped End increment type grating scale and multiple end optoelectronic switches are included, end increment type grating scale and multiple end optoelectronic switches are mounted on On actuator linear guide module 3-3, model KC30-01P-100A-F2ES2 (PNP).So set, record operation note The calibration to RCM point is completed in the position RCM at the tip emitter 3-4 and cantilever 1-3 axis extended line.Simultaneously, additionally it is possible to which detection is sold Whether art syringe 3-4 has been inserted into retinal vessel, and stops the movement of robot arm after being inserted into blood vessel, ensures patient Drug can accurately be injected blood vessel while safe.Other compositions and connection relationship and specific embodiment one, two, three, four, Five, six, seven, eight or nine are identical.
Specific embodiment 11: illustrate present embodiment in conjunction with Fig. 1 to 2, the pedestal A of present embodiment includes stem Divide A-1, elbow part A-2 and terrace part A-3, stem portion A-1 is horizontally disposed, and terrace part A-3 is horizontally set on rod-shaped One end of part A-1 is connected between stem portion A-1 and terrace part A-3 by elbow part A-2.So set, to hang The position adjustment of arm rotary module 1, link assembly 2 and end effector component 3 is more flexible, and activity space is big, other Composition and connection relationship and specific embodiment one, two, three, four, five, six, seven, eight, nine or ten are identical.
The stem portion of present embodiment can be connect with corresponding Ophthalimic microsurgery operating table or medical davit, expand hand The operating space of art;Terrace part is connect by screw-nut with X-axis linear guide module.
Specific embodiment 12: the X-axis linear guide module B packet for present embodiment that embodiment is described with reference to Fig.5, Include X-axis linear guide B-1, slide block B -2, X-axis increment grating scale B-3 and two X-axis optoelectronic switch B-4, X-axis increment grating scale B- 3 are mounted on a side end face of X-axis linear guide B-1 along X-axis linear guide B-1 length direction, two X-axis optoelectronic switch B-4 Another side end face both ends of X-axis linear guide B-1 are mounted on along X-axis linear guide B-1 length direction, slide block B -2 is slidably installed On X-axis linear guide B-1.
So set, X-axis linear guide module B is horizontal positioned, bottom is fixed on the terrace part of pedestal;Y-axis straight line The side of guide rail is separately installed with optoelectronic switch in initial position and middle position, and the other side is then equipped with increment type grating scale one It is a;The design of left and right sides corresponding position metal pedestal protrusion on sliding block in linear guide, for installing optoelectronic switch and grating The component of ruler.It using optoelectronic switch, perceives out whether sliding block reaches starting or midpoint, using increment type grating scale, then can Enough accurately measure the mobile location information of sliding block;Sliding block both ensure that Y-axis linear guide module by rationally designing height Pedestal is not in contact with the shell of X-axis linear guide module, in turn ensures the compactedness of robot arm.Other compositions and company It is identical to connect relationship and specific embodiment one, two, three, four, five, six, seven, eight, nine, ten or 11.
The present invention is to be sensed by the dragging of the end effector linear guide module to tow-armed robot by six-dimensional force Increment type grating scale perceived position on the direction of device perception, each linear guide module, passes through the phase to robot arm Should control, realize operation syringe fast move on a large scale and the adjustment of rough pose, filled by matched 3D micro-imaging It sets and robot manipulation's arm controller, passes through the control to cantilever-rotating module and link assembly.It realizes to operation syringe Carry out accurate pose adjustment;By end effector linear guide module, the operation of operation syringe insertion pore membrane is realized, and It is directed at lesions position operation syringe linear motion.Using operation syringe on the Micro-force sensor based on FBG fiber grating, It is then capable of detecting when whether syringe has been inserted into retinal vessel, and stops the movement of robot arm after being inserted into blood vessel, It will be in infusion of medicine blood vessel.
Specific work process of the invention is as follows:
First: under the initial angle of cantilever 1-3,30 ° of itself two assembly of cantilever base are by adjusting cantilever Linear guide module 1-4 makes the central axes of operation syringe 3-4 and patient s pupil in 65 °, and (patient lies low, and is operated by doctor Determining and 65 ° of operating bed plane) simultaneously, utilize the optoelectronic switch and increment on end effector linear guide module 3-3 Formula grating scale, the position RCM at record the operation tip syringe 3-4 and cantilever 1-3 axis extended line, completes the calibration to RCM point.
Then, the end effector rail module 3-3 that operating doctor holds tow-armed robot is dragged, by six-dimensional force Increment type grating scale perceived position on the direction of sensor 3-2 perception, each linear guide module, by robot manipulation The XYZ axis direction of arm is mobile, by hand-held mode realize operation syringe fast move on a large scale and rough pose adjustment, So that operation syringe tip close to pore membrane, positioned at the oblique upper of pore membrane.Later by matched external 3D microscopic imaging device And robot manipulation's arm controller, accurate pose adjustment is carried out to operation syringe, so that RCM, syringe needle of operation syringe At pore membrane.
After the completion of the above work, by end effector linear guide module 3-3, operation syringe 3-4 is inserted into pore membrane In, and it is directed at lesions position operation syringe linear motion, it is accurate real using cantilever linear guide module 1-4 and link assembly 2 Now operation syringe 3-4 ± 45 ° of pitch angle control inside eyeball, using the rotation function of cantilever-rotating module 1, realize around The rotation of RCM.By being capable of detecting when to perform the operation by the Micro-force sensor 3-5 based on FBG fiber grating on operation syringe Whether syringe 3-4 has been inserted into retinal vessel, and stops the movement of robot arm after being inserted into blood vessel, ensures patient's peace Drug can accurately be injected blood vessel while complete.
Operation syringe 3-4 is finally exited, corresponding postoperative operation is completed.

Claims (9)

1. a kind of robot arm towards eye ground micrurgy, it includes cantilever-rotating module (1);Its feature exists In: it further includes that link assembly (2), end effector component (3), pedestal (A), X-axis linear guide module (B), Y-axis straight line are led Rail module (C) and Z axis linear guide module (D), X-axis linear guide module (B) are horizontally arranged on pedestal (A), and Y-axis straight line is led Rail module (C) is mounted in X-axis linear guide module (B), and Z axis linear guide module (D) is mounted on Y-axis linear guide module (C) on, cantilever-rotating module (1) is mounted in Z axis linear guide module (D), and link assembly (2) is mounted on cantilever-rotating module (1) on, end effector component (3) is mounted on link assembly (2);
Cantilever-rotating module (1) includes rotary module (1-1), cantilever base (1-2), cantilever (1-3), cantilever linear guide module (1-4), cantilever sliding block (1-5), cantilever sliding block connector (1-6) and rotary module shell (1-7), the one of cantilever base (1-2) End is connect with external mobile device, and the other end of cantilever base (1-2) is connect with rotary module (1-1), cantilever (1-3) and rotation Module (1-1) connection, cantilever linear guide module (1-4) are mounted in cantilever (1-3), and cantilever sliding block (1-5) is slidably mounted on In cantilever linear guide module (1-4), cantilever sliding block connector (1-6) is mounted on cantilever sliding block (1-5), rotary module shell (1-7) is covered on rotary module (1-1) and cantilever base (1-2);
Link assembly (2) includes the parallelogram linkage of drive rod (2-1) and single-degree-of-freedom, and the one of drive rod (2-1) End is hinged on cantilever sliding block connector (1-6), and the bottom of the parallelogram linkage of single-degree-of-freedom is hinged on cantilever (1- 3) on the other end, the side side end face of the parallelogram linkage of the other end and single-degree-of-freedom of drive rod (2-1) into Row connection;
End effector component (3) includes end pedestal (3-1), six-dimension force sensor (3-2), end effector linear guide mould Block (3-3) performs the operation syringe (3-4) and is based on FBG fiber grating Micro-force sensor (3-5), and end pedestal (3-1) and list are freely The other side side end face of the parallelogram linkage of degree carries out hinged, end effector linear guide module (3-3) installation On end pedestal (3-1), six-dimension force sensor (3-2) is mounted on end pedestal (3-1) and end effector linear guide mould Between block (3-3), performs the operation syringe (3-4) and the sliding block in end effector linear guide module (3-3) is affixed, be based on FBG Fiber grating Micro-force sensor (3-5) be mounted on operation syringe (3-4) on, perform the operation the tip syringe (3-4) extended line with The intersection point of the extended line of cantilever (1-3) central axis forms RCM point.
2. the robot arm according to claim 1 towards eye ground micrurgy, it is characterised in that: cantilever Rotary module (1) further includes cantilever increment type grating scale and multiple cantilever optoelectronic switches, cantilever increment type grating scale and multiple outstanding Arm optoelectronic switch is mounted on rotary module (1-1).
3. the robot arm according to claim 2 towards eye ground micrurgy, it is characterised in that: driving Bar (2-1) is solid drive rod, and the both ends of drive rod (2-1) are fork shape.
4. the robot arm according to claim 3 towards eye ground micrurgy, it is characterised in that: list is certainly It include the first intermediate extension rod (2-2), the second intermediate extension rod (2-3), first end by the parallelogram linkage spent Support rod (2-4) and second end support rod (2-5), the lower end of the first intermediate extension rod (2-2) and the second intermediate extension rod (2- 3) lower end is hinged on the other end of cantilever (1-3), wherein the side end face of the first intermediate extension rod (2-2) and drive rod (2-1) Hingedly, one end and the first intermediate extension rod (2- of one end of first end support rod (2-4) and second end support rod (2-5) 2) upper end of the intermediate extension rod in upper end and second (2-3) is hinged, the other end and second end of first end support rod (2-4) The other end of support rod (2-5) is connect with end pedestal (3-1).
5. the robot arm according to claim 4 towards eye ground micrurgy, it is characterised in that: list is certainly It further include multiple self lubrication bearings (2-6) by the parallelogram linkage spent, the first intermediate extension rod (2-2), in second Between extension rod (2-3), first end support rod (2-4) and second end support rod (2-5) hinged place pass through respectively one from Lubricative axle sleeve (2-6) carries out hinged.
6. the robot arm according to claim 5 towards eye ground micrurgy, it is characterised in that: be based on FBG fiber grating Micro-force sensor (3-5) is mounted on the syringe needle end of operation syringe (3-4).
7. the robot arm according to claim 6 towards eye ground micrurgy, it is characterised in that: end Actuator assembly (3) further includes end increment type grating scale and multiple end optoelectronic switches, end increment type grating scale and multiple End optoelectronic switch is mounted in actuator linear guide module (3-3).
8. the robot arm according to claim 1 or claim 7 towards eye ground micrurgy, it is characterised in that: Pedestal (A) includes stem portion (A-1), elbow part (A-2) and terrace part (A-3), and stem portion (A-1) is horizontally disposed, Terrace part (A-3) is horizontally set on one end of stem portion (A-1), leads between stem portion (A-1) and terrace part (A-3) Cross elbow part (A-2) connection.
9. the robot arm according to claim 8 towards eye ground micrurgy, it is characterised in that: X-axis Linear guide module (B) includes X-axis linear guide (B-1), sliding block (B-2), X-axis increment grating scale (B-3) and two X-axis photoelectricity It switchs (B-4), X-axis increment grating scale (B-3) is mounted on X-axis linear guide (B-1) along X-axis linear guide (B-1) length direction A side end face on, two X-axis optoelectronic switches (B-4) are mounted on X-axis linear guide along X-axis linear guide (B-1) length direction (B-1) another side end face both ends, sliding block (B-2) are slidably mounted on X-axis linear guide (B-1).
CN201811487948.9A 2018-12-06 2018-12-06 Robot operating arm for fundus retina microsurgery Active CN109549775B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811487948.9A CN109549775B (en) 2018-12-06 2018-12-06 Robot operating arm for fundus retina microsurgery

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811487948.9A CN109549775B (en) 2018-12-06 2018-12-06 Robot operating arm for fundus retina microsurgery

Publications (2)

Publication Number Publication Date
CN109549775A true CN109549775A (en) 2019-04-02
CN109549775B CN109549775B (en) 2021-09-03

Family

ID=65869350

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201811487948.9A Active CN109549775B (en) 2018-12-06 2018-12-06 Robot operating arm for fundus retina microsurgery

Country Status (1)

Country Link
CN (1) CN109549775B (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110227008A (en) * 2019-07-03 2019-09-13 中山大学 A kind of cataract is without sewing angle film kerf control strategy and path setting method
CN110279469A (en) * 2019-05-16 2019-09-27 中国科学院深圳先进技术研究院 A kind of robot
CN110368185A (en) * 2019-08-08 2019-10-25 哈尔滨工业大学 A kind of retinal vessel medicine injecting device for ophthalmologic operation robot
CN110711033A (en) * 2019-10-21 2020-01-21 浙江大学 Six-degree-of-freedom puncture surgical robot
CN112336458A (en) * 2020-09-18 2021-02-09 极限人工智能有限公司 Medical instrument
CN112704563A (en) * 2020-12-25 2021-04-27 天津市第三中心医院 Remote ultrasonic operation simulation system for hepatobiliary surgery based on ultrasonic knife
CN113288577A (en) * 2021-05-24 2021-08-24 北京航空航天大学 Eyeground puncture injection robot system
CN114191100A (en) * 2021-11-10 2022-03-18 深圳市爱博医疗机器人有限公司 Portal frame for supporting interventional operation robot

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103068348A (en) * 2010-08-02 2013-04-24 约翰霍普金斯大学 Method for presenting force sensor information using cooperative robot control and audio feedback
CN105559850A (en) * 2015-12-17 2016-05-11 天津工业大学 Robot-assisted surgery surgical drill instrument with force sensing function
CN106535809A (en) * 2014-05-30 2017-03-22 约翰霍普金斯大学 Multi-force sensing instrument and method of use for robotic surgical systems
CN107009365A (en) * 2016-11-16 2017-08-04 温州医科大学附属眼视光医院 Injector robot
CN107280764A (en) * 2017-05-12 2017-10-24 上海交通大学 Cranium craniofacial orthopedics surgical operation robot

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103068348A (en) * 2010-08-02 2013-04-24 约翰霍普金斯大学 Method for presenting force sensor information using cooperative robot control and audio feedback
CN106535809A (en) * 2014-05-30 2017-03-22 约翰霍普金斯大学 Multi-force sensing instrument and method of use for robotic surgical systems
CN105559850A (en) * 2015-12-17 2016-05-11 天津工业大学 Robot-assisted surgery surgical drill instrument with force sensing function
CN107009365A (en) * 2016-11-16 2017-08-04 温州医科大学附属眼视光医院 Injector robot
CN107280764A (en) * 2017-05-12 2017-10-24 上海交通大学 Cranium craniofacial orthopedics surgical operation robot

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110279469A (en) * 2019-05-16 2019-09-27 中国科学院深圳先进技术研究院 A kind of robot
CN110227008B (en) * 2019-07-03 2022-03-22 中山大学 Mechanical operation arm for controlling cataract suture-free corneal incision and setting path
CN110227008A (en) * 2019-07-03 2019-09-13 中山大学 A kind of cataract is without sewing angle film kerf control strategy and path setting method
CN110368185A (en) * 2019-08-08 2019-10-25 哈尔滨工业大学 A kind of retinal vessel medicine injecting device for ophthalmologic operation robot
CN110711033A (en) * 2019-10-21 2020-01-21 浙江大学 Six-degree-of-freedom puncture surgical robot
CN110711033B (en) * 2019-10-21 2021-02-05 浙江大学 Six-degree-of-freedom puncture surgical robot
CN112336458A (en) * 2020-09-18 2021-02-09 极限人工智能有限公司 Medical instrument
CN112336458B (en) * 2020-09-18 2022-05-17 极限人工智能有限公司 Medical instrument
CN112704563A (en) * 2020-12-25 2021-04-27 天津市第三中心医院 Remote ultrasonic operation simulation system for hepatobiliary surgery based on ultrasonic knife
CN112704563B (en) * 2020-12-25 2022-04-01 天津市第三中心医院 Remote ultrasonic operation simulation system for hepatobiliary surgery based on ultrasonic knife
CN113288577A (en) * 2021-05-24 2021-08-24 北京航空航天大学 Eyeground puncture injection robot system
CN113288577B (en) * 2021-05-24 2022-06-24 北京航空航天大学 Eyeground puncture injection robot system
CN114191100A (en) * 2021-11-10 2022-03-18 深圳市爱博医疗机器人有限公司 Portal frame for supporting interventional operation robot

Also Published As

Publication number Publication date
CN109549775B (en) 2021-09-03

Similar Documents

Publication Publication Date Title
CN109549775A (en) Robot arm towards eye ground micrurgy
CN109549774B (en) Minimally invasive actuating mechanism suitable for fundus microsurgery
CN109602499B (en) Auxiliary double-arm robot operating system for ophthalmic microsurgery
CN112754670B (en) Operation arm and operation robot
CN109602498B (en) Ophthalmic micro-surgery auxiliary robot calibration mechanism
JP2022000161A (en) Surgical instrument for robot surgery and robot surgery assembly
Vander Poorten et al. Robotic retinal surgery
CN113015498A (en) Decoupling a tool shaft from a cable drive load
CN111544198B (en) Flexible operation driving system of ophthalmic surgery robot
RU135957U1 (en) ROBOT MANIPULATOR
JP7127128B2 (en) Surgical robot system and its surgical instrument
CN209464087U (en) A kind of laparoscope machinery holds mirror arm
CN109602500B (en) Ophthalmic microsurgery auxiliary robot system
Yang et al. Optical coherence tomography scanning with a handheld vitreoretinal micromanipulator
Smits et al. Development and experimental validation of a combined fbg force and oct distance sensing needle for robot-assisted retinal vein cannulation
CN109363832B (en) Ophthalmologic robot end device for vitreous body-retina operation
CN111887992A (en) Intelligent surgical robot system based on optical coherence tomography
WO2015161101A1 (en) Fiber optic distal sensor controlled micro-manipulation systems and methods
CN110772219A (en) Adjustable ophthalmic multi-mode imaging device and imaging method thereof
CN116616995A (en) Fundus blood vessel injection equipment and control method
Wang et al. A 5-DOFs robot for posterior segment eye microsurgery
Yang et al. Improvement of optical coherence tomography using active handheld micromanipulator in vitreoretinal surgery
CN107564387B (en) A kind of ophthalmology puncturing operation training system
Yang Handheld micromanipulator for robot-assisted microsurgery
CN211270681U (en) Multi-mode imaging device for ophthalmology

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant