CN109549775A - Robot arm towards eye ground micrurgy - Google Patents
Robot arm towards eye ground micrurgy Download PDFInfo
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS 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
- A61F9/00—Methods 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
- A61F9/007—Methods or devices for eye surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/72—Micromanipulators
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/75—Manipulators having means for prevention or compensation of hand tremors
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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
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).
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| CN201811487948.9A CN109549775B (en) | 2018-12-06 | 2018-12-06 | Robot operating arm for fundus retina microsurgery |
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| CN201811487948.9A CN109549775B (en) | 2018-12-06 | 2018-12-06 | Robot operating arm for fundus retina microsurgery |
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