CN111281649B

CN111281649B - Ophthalmic surgery robot system and control method thereof

Info

Publication number: CN111281649B
Application number: CN202010145434.6A
Authority: CN
Inventors: 张政; 贾浩然; 张小栋; 王宁
Original assignee: Xian Jiaotong University
Current assignee: Xian Jiaotong University
Priority date: 2020-03-03
Filing date: 2020-03-03
Publication date: 2021-08-13
Anticipated expiration: 2040-03-03
Also published as: CN111281649A

Abstract

The invention provides an ophthalmic surgery robot system and a control method thereof. The ophthalmic surgical robot system includes: an operation part which moves and rotates an operation tool to four degrees of freedom and directly performs an ophthalmic operation on a patient; a sensing part which generates high-resolution image data representing a surgical site and force data of a surgical tool tip and provides an information basis for visual feedback and tactile feedback; a control unit which generates a control command required by a surgeon to affect the parameters relating to the surgical unit and the sensing unit; and a calculation unit which stores the data relating to the sensing unit and the control unit and calculates the data according to a program. The control method is used for guiding and configuring the surgical tool before surgery. The invention can effectively improve the accuracy and efficiency of ophthalmic surgery, reduce the operation amount of surgeons and reduce the risk of surgical accidents.

Description

Ophthalmic surgery robot system and control method thereof

Technical Field

The present invention relates to a robot control method, and more particularly, to a surgical robot system used in performing an ophthalmic surgery and a control method thereof.

Background

For idiopathic macular hole, diagnosis and analysis are mainly carried out on the disease clinically by depending on ophthalmologist fundus examination and OCT auxiliary examination. Currently, loosening traction around the macular hole by vitrectomy, especially the removal of the posterior cortex, epiretinal membrane or inner limiting membrane of the vitreous, is the most prominent and effective treatment.

However, in the operation process, the hands of the doctor naturally shake, the doctor is tired when operating the scalpel for a long time, and the visual field angle of the eye space of the pathological change body is narrow, so that improper operation and other reasons can cause complications such as cataract, visual field defect, iatrogenic retinal hole rupture and the like. Therefore, how to accurately position the hierarchical structure of the traction factors, eliminate involuntary movements such as vibration, urge and low-frequency drift, overcome physiological barriers, develop a new intraocular surgery mode, improve the safety of the existing surgery operation, increase the visual field angle of a doctor, reduce iatrogenic injuries caused by surgery trauma or unclear visual field and the like is a difficult problem to overcome urgently.

Disclosure of Invention

In order to solve the problems in the prior art, the invention aims to provide a system of an ophthalmic surgical robot and a control method thereof, so that system integration and man-machine cooperative control of the ophthalmic surgical robot are realized, the existing intraocular surgical mode is improved, the safety, the accuracy and the implementation efficiency of surgical operation are improved, and the implementation difficulty of the ophthalmic operation and the operation amount of a surgeon are reduced.

In order to achieve the purpose, the invention adopts the following technical means:

a surgical robotic system for ophthalmic surgery, comprising:

an operation part which is provided with a bionic mechanical slave hand, wherein an operation tool is attached to the bionic mechanical slave hand from the tail end of the hand, and the bionic mechanical slave hand is used for moving and rotating the operation tool with four degrees of freedom;

a sensing unit that generates image data of a surgical site and force data of a surgical tool tip;

the control part is provided with a master hand, and the control part is used for enabling the bionic machinery slave hand to complete corresponding actions and perform operations by holding the master hand, generating operation control instructions and further influencing relevant parameters of the operation part and the sensing part; and

and an operation unit for storing the data related to the sensing unit and the control unit, performing an operation according to the program, and feeding back the data to the control unit.

As a further improvement of the present invention, the surgical portion includes:

a surgical tool connected to the rotating portion;

a rotation unit to which the surgical tool is attached, which rotates the surgical tool, and which determines a posture of the surgical tool in proximity to a surgical target;

a moving unit that moves the rotating unit in three orthogonal axial directions and brings a surgical tool to a predetermined position; and

and a bionic mechanical arm which connects the rotating part and the moving part.

As a further improvement of the present invention, the sensing portion includes:

a force sensor attached to a distal end of the surgical tool for sensing a reaction force applied to the surgical tool when the surgical operation is performed on the surgical site; and

the surgical microscope imaging system is used for observing eyeballs at multiple visual angles and carrying out OCT imaging.

As a further improvement of the present invention, the control section includes:

a touch screen display attached to the back side of the headrest for the patient, receiving the data signal transmitted from the visual sensing part, and further adjusting the parameters and motion control function of the ophthalmic surgical robot system according to the operation parameters;

a master hand controller for hand motion signal input and activating the coupling between the master hand and the slave hand of the biomimetic mechanical; and

a control pedal for switching a motion state of the surgical robot.

As a further improvement of the present invention, the master hand controller is attached with a joystick, and when two switches on the joystick are simultaneously engaged by pressure of a thumb and an index finger, coupling of the master hand and the biomimetic mechanical slave hand of the surgical portion is activated, so that the surgical tool of the surgical portion is moved according to the motion of the master hand.

As a further improvement of the present invention, the control pedal includes:

a microscope pedal which controls the switching of the angle of view of the surgical microscope imaging system of the sensing part;

and the operation pedal can interrupt the current movement when the operation part of the ophthalmic operation robot moves before the operation, and enter a coordination control mode, so that the operation part is controlled by the operation master hand of a surgeon.

As a further improvement of the present invention, the arithmetic unit includes:

and the computer is used for acquiring the magnitude of the reaction force collected by the force sensor at the tail end of the hand of the bionic machine in real time, judging whether the reaction force is overlarge according to a program and transmitting a feedback signal to the main hand.

As a further improvement of the invention, the master hand has the same degree of freedom as the slave hand of the bionic mechanical hand.

A control method of an ophthalmic surgical robot system, comprising the steps of:

adjusting the configuration of an imaging system of the operating microscope according to the currently acquired image information;

storing the designated position of the surgical tool target;

activating a motion function of the operation part to move the operation part to the target object at a first moving speed;

when the surgical tool approaches the target object, the surgical part is switched to a second moving speed, and the surgical part continues to move towards the target object;

when the surgical tool reaches the designated position, the movement is stopped.

Preferably, the operation part can step the operation pedal to stop moving at any time in the moving process; and whether the master hand and the slave hand of the bionic machinery are directly adopted for cooperative control is selected.

Compared with the prior art, the invention has the following advantages:

the bionic mechanical slave hand operation control device comprises an operation part, a sensing part, an operation part and a control part, wherein the control part enables a bionic mechanical slave hand to finish corresponding actions and perform an operation by holding a master hand for operation, and generates an operation control instruction; the operation part stores the relevant data of the sensing part and the control part, performs operation according to a program and feeds back the data to the control part. Therefore, the system integration and man-machine cooperative control of the ophthalmic surgery robot are realized, the existing intraocular surgery mode is improved, the safety, the accuracy and the implementation efficiency of the surgery operation are improved, and the implementation difficulty of the ophthalmic surgery and the operation amount of a surgeon are reduced. The invention can effectively improve the accuracy and efficiency of ophthalmic surgery, reduce the operation amount of surgeons and reduce the risk of surgical accidents.

Drawings

Fig. 1 is a schematic block diagram of each part of a surgical robot system according to the present invention;

FIG. 2 is a working plan view of an ophthalmic surgical robotic system according to the present invention;

FIG. 3 is a schematic cooperative block diagram of portions of an ophthalmic surgical robotic system according to the present invention;

FIG. 4 is a simplified operational diagram of a master hand of an ophthalmic surgical robot according to the present invention;

FIG. 5 is a block flow diagram of an ophthalmic surgical robot control method according to the present invention;

fig. 6 is a diagrammatic side view of an ophthalmic surgical robot of the present invention during preoperative guidance.

Detailed Description

In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.

As shown in fig. 1 to 2, an ophthalmic surgical robot system according to the present invention includes: an operation section that moves and rotates an operation tool up to four degrees of freedom; a sensing part which generates high-resolution image data representing a surgical site and force data of a surgical tool tip; a control unit which generates a control command required by a surgeon to affect the parameters relating to the surgical unit and the sensing unit; and a calculation unit which stores the data relating to the sensing unit and the control unit and calculates the data according to a program.

The operation part includes: a rotating part for attaching the surgical tool to rotate, and a moving part for moving the rotating part along three orthogonal axes; and the bionic mechanical arm is used for connecting the rotating part and the moving part. A surgical tool is made to reach a position designated by a surgeon through the moving part; the rotary part can determine the posture of the surgical tool when the surgical tool approaches the designated target. The operating part of the ophthalmic surgical robot can meet the requirements of operation and is beneficial to computer control.

The sensing part comprises a force sensor attached to the tail end of the surgical tool and is used for sensing the reaction force applied to the surgical tool when the surgical part performs surgery; and a surgical microscope imaging system that generates a high resolution image with a magnification. Wherein, the system adopts Optical Coherence Tomography (OCT). The ophthalmic surgery robot has the advantages that the ophthalmic surgery robot can provide visual feedback and tactile feedback in surgery, so that a surgeon can adjust surgery operation in time conveniently, and surgery risks are reduced.

The control section includes: a touch screen display attached to the back side of the headrest for the patient, facing the surgeon during the operation, capable of receiving and visualizing the data signal transmitted by the sensing part, and further adjusting the parameters and motion control function of the ophthalmic surgical robot system according to the operation of the surgeon; a master hand controller available for surgeon hand motion input; and a control pedal, which is used by the surgeon during the operation and switches the motion state of the surgical robot. The ophthalmic surgical robot has the advantages that the various controllers of the ophthalmic surgical robot can fully utilize eyes, hands and feet of a surgeon, and the control by the surgeon is convenient.

The master hand controller is attached with a joystick, and when two switches on the joystick are simultaneously engaged by pressure of a thumb and an index finger, the coupling of the master hand and the biomimetic mechanical slave hand of the surgical portion is activated, thereby causing the surgical tool of the surgical portion to move according to the action of the surgeon on the master hand. The ophthalmic surgical robot has the advantages that the master hand controller of the ophthalmic surgical robot can be activated by pressing of the most common index finger and thumb, and the operation is simple and convenient.

The control pedal includes: and the microscope pedal can control the imaging visual angle of the surgical microscope of the switching sensing part. And the operation pedal can interrupt the current movement when the operation part of the ophthalmic operation robot moves before the operation, and enter a coordination control mode, so that the operation part is controlled by the operation master hand of a surgeon. The pedal controller of the ophthalmic surgical robot has the advantages that the pedal controller can be started in the surgical operation, so that a doctor can conveniently check the surgical condition of the eyes of a patient at any time.

As shown in fig. 3 to 6, the present invention further provides a control method of an ophthalmic surgical robot, which is mainly used for guiding and configuring a surgical tool before surgery. The control method mainly comprises the following steps: adjusting the configuration of an imaging system of the operating microscope according to the currently acquired image information; storing the position of the surgical tool in the eyeball; activating the movement function of the operation part to move towards the eyes of the patient at a first movement speed; when the surgical tool approaches the retina, the surgical part is switched to a second moving speed and continuously moves towards the patient; when the surgical tool reaches the designated position, the movement is stopped, and the doctor performs the subsequent surgical operation. The ophthalmologic operation robot has the advantages that the ophthalmologic operation robot can move the operation instrument to the position designated by a surgeon before an operation, so that the directional input of the surgeon is avoided, and the operation amount of the surgeon is reduced.

In the moving process of the surgical part of the ophthalmic surgical robot in the preoperative guiding link, a surgeon can step on the surgical pedal at any time to stop moving. The bionic mechanical slave hand movement control device has the advantages that an ophthalmologist can interrupt the movement of the bionic mechanical slave hand at any time, so that the safety of an ophthalmic operation is guaranteed, and accidents are prevented.

Preferred embodiments of an ophthalmic surgical robot system according to the present invention will be described in detail below with reference to the accompanying drawings.

Examples

FIG. 1 shows a block diagram of portions of a surgical robotic system that may be used to perform ophthalmic surgery in accordance with an embodiment of the present invention. As shown in the drawings, the ophthalmic surgical robot system according to the present invention mainly includes:

a sensing part 110 which is responsible for collecting information related to a patient in real time during an operation, and which generates high resolution image data representing an operation site and force data of a surgical tool tip;

a calculation part 120 which is responsible for receiving the data collected by the sensing part, storing and calculating the data, storing the related data of the sensing part and the control part and calculating the data according to a program;

a control unit 130 for receiving the data processed by the operation unit 120, presenting the data to the surgeon, and generating a control command required by the surgeon to affect the parameters related to the surgical unit and the sensing unit;

the surgical unit 140 is responsible for executing a control command issued by the control unit 130, and directly acts on the patient's affected part, and moves and rotates the surgical tool up to four degrees of freedom.

FIG. 2 illustrates a working plan view of a surgical robotic system that may be used to perform ophthalmic surgery in accordance with an embodiment of the present invention; fig. 3 shows a cooperative block diagram of portions of an ophthalmic surgical robotic system of an embodiment of the present invention.

Next, an embodiment of the ophthalmic surgical robot system according to the present invention will be described in more detail with reference to the embodiments of fig. 2 and 3.

Referring to fig. 2, the ophthalmic surgical robot according to the present invention can be explained as follows: a master hand 133, which is a component of the control section, and is operated by a surgeon directly holding the hand with both hands, so that the slave hand 141 of the biomimetic machine performs a corresponding action and performs an operation; the bionic mechanical slave hand 141, the end of which is attached with a surgical tool, and the surgical tool is attached with a force sensor; has four degrees of freedom in movement and rotation along three orthogonal axes, is used for performing an operation on a patient, and is a main component of an operation part.

The headrest display 134 is used for fixing the head of the patient, is attached with a display screen, and is a component of the control part, so that a surgeon can adjust partial parameters of the ophthalmic surgical robot and observe details of the patient part which is displayed in an enlarged mode.

The operation microscope 111 is responsible for collecting high-resolution images of the diseased part, and is a composition of the sensing part; a microscope pedal 131 by which the surgeon can switch different viewing angles of the operating microscope 111; the surgical pedal 132, through which the surgeon can change the movement speed of the biomimetic mechanical slave hand 141 and interrupt the directional movement of the biomimetic mechanical slave hand 141 at the preoperative guidance stage, is provided for the surgeon, and the surgical pedal 132 and the microscope pedal 131 are all components of the control portion.

The computer 121, which functions to store and calculate the data related to the sensing unit and the control unit, is a main component of the arithmetic unit.

As a preferred embodiment, the ophthalmologist may use the master hand 133, headrest display 134, microscope pedals 131 and surgical pedals 132 to control the biomimetic mechanical slave hand 141 and surgical microscope 111.

As a preferred embodiment, the master hand 133 has the same degrees of freedom as the biomimetic mechanical slave hand 141 to facilitate master-slave control.

Referring to fig. 4, the surgeon mainly touches both the connecting rod 31 and the controller 32 when operating the master hand 133. The connecting rod 31 is responsible for transmitting the motion of the hands of the doctor; there are two switches on the controller 32, and when the surgeon presses the switches with thumb and forefinger simultaneously, the clutch of the master hand 133 is engaged and the coupling between the master and slave hands is activated, when the ophthalmic surgical robot adopts master-slave control mode.

When any one of the surgeon's fingers is removed from the controller 32, the clutch is disengaged, the biomimetic mechanical slave hand 141 is immediately stopped and fixed at the current static position, and the ophthalmic surgical robot enters a standby state.

When the surgeon performs the surgical operation using the main hand 133, the biomimetic machine collects the magnitude of the reaction force in real time from the force sensor at the end of the hand 141 and transmits a feedback signal to the computer 121, and the computer 121 determines whether the reaction force is excessive according to the program and transmits the feedback signal to the main hand 133. If the reaction force is too large, it indicates that the eyes of the patient are injured, and the main hand 133 is forcibly decoupled, so that the surgeon cannot apply further force, thereby reducing the probability of operation accidents.

In a preferred embodiment, the bionic robot has four degrees of freedom from the hand 141, and the surgical tool at the distal end thereof can move in the three orthogonal axes and rotate around the axis of the bionic robot to adjust the posture of the surgical tool. The bionic machinery is also attached with a force sensor from the tail end of a hand, and is used for realizing tactile feedback.

When an ophthalmologist performs an operation, the slave hand of the bionic machine adopts master-slave control, and the motion of the slave hand is generated by the motion of the master hand 133 and directly acts on the eyes of a patient. In addition to the master-slave control described above, the biomimetic mechanical slave can also be directly controlled by the computer 121 to move from the initial position at the start of the biomimetic robotic system to the surgeon-specified eye position at the preoperative guidance session.

As a preferred embodiment, the surgical microscope 111 is primarily controlled by a microscope pedal 131 and an assistant. Before the operation formally begins, the assistant moves the operation microscope to the eyes of the patient, and then focuses the operation microscope until the position of the diseased part can be clearly observed.

The operation microscope 111 has 3 microlenses for observing the eyeball at multiple angles and performing OCT imaging. In operation, the surgeon views high resolution magnified images of the eye at different viewing angles by stepping on the microscope pedal. For example, if the surgeon knows the position of the diseased part in the XOY plane of the eyeball, but needs to know the depth position of the diseased part in the Z axis, the surgeon only needs to step the microscope pedal 131 to switch the viewing angle without extra hand movements.

Wherein, the operation microscope imaging system of the sensing part adopts an Optical Coherence Tomography (OCT).

As a preferred embodiment, the headrest display 134 displays a high resolution magnified image acquired by the surgical microscope 111. During the pre-operative guidance session, the surgeon may select, via the user interface, an initial position to which the surgical tool should be brought. This position is sent to the computer 121 via the headrest display 134, stored by the computer 121 and the corresponding three-dimensional coordinate point is generated and the biomimetic machine is driven from the hand 141 to this coordinate point.

In the preoperative guiding link, the slave hand 141 of the biomimetic mechanical is controlled by the computer 121, and when the slave hand moves to a point designated by a surgeon, the surgeon can step on the operation pedal 132 at any time to interrupt the movement of the slave hand 141 of the biomimetic mechanical, and can select whether to directly adopt master-slave cooperative control or not.

As a preferred embodiment, the control method in the above-described ophthalmic surgical robot is generally configured to be implemented by the computer 121. The computer is provided with a memory and a processor, wherein the memory is used for storing corresponding programs; the processor is used for loading and executing programs, and the computer programs are configured to be loaded by the processor and execute the steps of the control method for realizing the above-mentioned embodiments.

Referring to fig. 5, the ophthalmic surgical robot control method according to the present invention may be implemented by the surgical robot system according to the present invention, and is mainly used for guiding and configuring surgical tools before surgery.

The invention relates to a control method of an ophthalmic surgical robot, which comprises the following steps:

in step S10, it is checked on the headrest display 134 whether or not the surgical microscope 111 accurately captures the image of the patient at an appropriate magnification and position.

In this step S10, if the observed image does not clearly recognize the position of the diseased part in the eyeball, the position and posture of the surgical microscope 111 should be adjusted by an assistant until the observed image satisfies the requirements for performing the surgery, otherwise, the procedure cannot proceed to the subsequent step.

In step S11, the headrest display 134 is operated to designate an initial position on the screen where the surgical tool at the distal end of the hand 141 of the biomimetic machine should reach, and the initial position is stored.

In step S11, the computer 121 receives the high-resolution image provided by the surgical microscope 111, generates three-dimensional imaging model information of the eyeball, transmits the three-dimensional imaging model information to the headrest display 134, and after the surgeon selects the surgical tool position point, saves the information to the memory of the computer 121 for use in the subsequent steps.

In step S12, the headrest display 134 is operated, and the "go to the specified position" function is activated on the screen thereof. When this function is activated, the biomimetic machine starts moving from hand 141 at a first speed towards the patient's eyes.

In step S12, the computer 121, upon receiving the determination command, transmits a control signal to the bionic machine slave hand 141 to move the bionic machine to the eye at the first speed. The first speed can be set by the doctor in advance to meet the actual requirements under different environments. Generally, at this time, the surgical tool at the end of the hand 141 of the bionic machine is far away from the eyes of the patient, and the speed can be set to be larger, so as to save the surgical time and improve the surgical efficiency.

In step S12, the biomimetic apparatus first aims at the target position with the hand 141, performs XY plane motion, then performs axial rotation, and after adjusting the posture by the axial rotation, advances along the Z axis to approach the eye.

Referring to fig. 6, 41 is a moving part of the bionic

mechanical slave hand

141, 42 is a rotating part thereof, 43 is a distal end surgical tool, and 61 is an eye of a patient. In step S12, the bionic machine slave hand 141 first moves on the XOY plane, then axially rotates around the direction of the X axis, and after the posture is adjusted by the axial rotation, vertically translates downward along the Z axis to approach the eye 61 of the patient.

In step S12, the surgeon may step the surgical pedal 132 at any time to interrupt the movement of the slave hand 141 of the biomimetic machine. After the motion is interrupted, the physician may also choose to continue the motion or take over the subsequent motion of the slave hand 141 of the biomimetic machine with the master hand 133.

In step S13, when the bionic machine moves from the hand 141 to the eye at the first speed, the computer 121 determines whether the surgical tool is close to the retina according to the distance between the surgical tool at the end of the hand 141 and the set position, and if so, switches to the second speed and continues to move to the set position.

In step S13, the critical distance and the second speed for determining whether or not the approach is performed are freely set by the doctor according to actual conditions. The second speed should in principle be less than the first speed to ensure that the surgeon has sufficient response time when the surgical tool is close to the retina, thereby reducing the risk of surgical accidents.

In step S13, the surgeon may step the surgical pedal 132 at any time to interrupt the movement of the slave hand 141 of the biomimetic machine. After the motion is interrupted, the physician may also choose to continue the motion or take over the subsequent motion of the slave hand 141 of the biomimetic machine with the master hand 133. (same step S12)

In step S14, after the bionic mechanical slave hand 141 is moved at the second speed, the surgical tool stays at the designated position. At this time, the surgeon can confirm his/her position on the screen and can directly use the master hand 133 to control the slave hand 141 of the biomimetic machine to perform the surgical operation.

Therefore, the surgical robot system and the control method thereof can achieve the following beneficial effects:

firstly, according to the surgical robot system and the control method provided by the invention, the master hand 133 records the position and speed information of each joint, and then completes coordinate mapping according to the scale factor to obtain the position and speed information of the corresponding joint of the slave hand 141 of the bionic machine, so that the motion of the master hand 133 is copied into the slave hand 141 of the bionic machine according to a certain proportion, thereby realizing the implementation of the surgical process by the slave hand 141 of the bionic machine, and improving the stability and accuracy of the surgery.

Secondly, according to the ophthalmic surgical robot system and the control method thereof, an ophthalmic surgeon can complete the positioning operation of a patient and an instrument by using the ophthalmic surgical robot system before performing a surgical operation, thereby reducing the workload of the surgical operation and improving the surgical efficiency.

Thirdly, according to the surgical robot system and the control method related by the present invention, the bionic mechanical slave hand 141 is provided with a sensor at the end thereof, which can sense the force, transmit the signal to the computer 121, and transmit the signal to the master hand 133 after being processed by the computer, so that the ophthalmologist can sense the tactile feedback transmitted by the master hand 133 during the surgery, thereby providing conditions for adjusting the surgery operation in time, improving the safety of the ophthalmic surgery, and reducing the occurrence rate and risk of the surgery accident.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

It is to be understood that the above description is intended to be illustrative, and not restrictive. Many embodiments and many applications other than the examples provided would be apparent to those of skill in the art upon reading the above description. The scope of the present teachings should, therefore, be determined not with reference to the above description, but should instead be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. The disclosures of all articles and references, including patent applications and publications, are hereby incorporated by reference for all purposes. The omission in the foregoing claims of any aspect of subject matter that is disclosed herein is not intended to forego such subject matter, nor should the applicant consider that such subject matter is not considered part of the disclosed subject matter.

Claims

1. A surgical robot system for ophthalmic surgery, comprising:

a calculation part for storing the relevant data of the sensing part and the control part, calculating the data according to the program and feeding back the data to the control part;

the operation part includes:

a surgical tool connected to the rotating portion;

a bionic mechanical arm which connects the rotating part and the moving part;

the sensing part includes:

the operation microscope imaging system is used for observing eyeballs at multiple visual angles and carrying out OCT imaging;

the control section includes:

a control pedal for switching a motion state of the surgical robot;

the master hand controller is attached with a control lever, when two switches on the control lever are simultaneously jointed by the pressure of a thumb and a forefinger, the coupling of the master hand and the bionic mechanical slave hand of the operation part is activated, so that the operation tool of the operation part moves according to the action of the master hand;

the arithmetic unit includes:

2. A surgical robotic system for ophthalmic surgery according to claim 1,

the control pedal includes:

3. A surgical robotic system for ophthalmic surgery according to claim 1,

the master hand has the same degree of freedom as the slave hand of the bionic machine.

4. The control method of a surgical robot system for ophthalmic surgery according to any one of claims 1 to 3, characterized by comprising the steps of:

storing the designated position of the surgical tool target;

5. The control method according to claim 4,

the operation part can step on the operation pedal at any time to stop moving in the moving process; and whether the master hand and the slave hand of the bionic machinery are directly adopted for cooperative control is selected.