CN112472023A

CN112472023A - Intelligent automatic eye disease screening robot

Info

Publication number: CN112472023A
Application number: CN202011441476.0A
Authority: CN
Inventors: 陈蔚; 李中文; 郑钦象
Original assignee: Ningbo Eye Hospital
Current assignee: Eye Medicine Wenzhou Biotechnology Co ltd
Priority date: 2020-12-08
Filing date: 2020-12-08
Publication date: 2021-03-12
Anticipated expiration: 2040-12-08
Also published as: CN112472023B

Abstract

The invention discloses an intelligent automatic eye disease screening robot, which comprises a main body for providing energy and data analysis, a positioning module for automatically positioning eyeballs, a shooting module for shooting human faces and eyes, and a head fixing frame for fixing the heads of patients, wherein a focusing barrel is arranged at the upper part of the rear side of the main body, the positioning module is embedded in the focusing barrel, the positioning module comprises a turntable for rotatably switching cameras and a positioning block for positioning the cameras, and the shooting module comprises an inner camera for automatically shooting the surfaces of the eyes, the front sections of the eyes and the eyegrounds and an outer camera for shooting the human faces. The invention can automatically position the eyeball of the patient, respectively focus the cornea, iris and retina of the examined eye, automatically shoot the corresponding pictures of the ocular surface, anterior segment and fundus, and automatically obtain the corneal curvature and diopter of the examined eye, can replace professional ophthalmologists to complete the overall examination of the ophthalmology of the patient in large scale, saves manpower and material resources, and is beneficial to popularization.

Description

Intelligent automatic eye disease screening robot

Technical Field

The invention relates to the technical field of ophthalmic medical instruments, in particular to an intelligent automatic eye disease screening robot.

Background

The ophthalmology inspection includes the eye surface inspection, anterior segment of the eye inspection and fundus inspection, the inspection means commonly used at present acquires information such as slit lamp microscope, front-mounted mirror, etc., and acquire this kind of eye information of the person being inspected through the mode of shooing, consequently need professional ophthalmologist to use the automatic optometry appearance to acquire the preliminary diopter degree of the person being inspected, acquire the information of patient's cornea curvature through the inspection of cornea topography, then use anterior segment of the eye camera, the eye ground camera people is for focusing the cornea, iris and retina of the eye to acquire the eye surface, anterior segment of the eye and fundus photo, whole process is comparatively loaded down with trivial details, it is difficult to promote on a large scale in the area that some sanitary conditions are laggard behind, lead to the eye disease can not obtain timely treatment.

Patent CN107788945A discloses an ophthalmic examination robot, comprising a head housing, the invention is internally provided with an inspection mechanism which comprises a head shell connecting seat, an illuminating device and a front-mounted camera device, wherein the head shell connecting seat is provided with a jaw support motion driving mechanism, a front-back focusing driving mechanism, a left-right motion driving mechanism and a facula horizontal rotation pupil-aligning driving mechanism, the invention can replace an experienced ophthalmologist to inspect the eyesight and diopter through a visual chart and a test lens, the front-mounted camera device which can move left and right and back and left and right and the illumination light source which can rotate left and right to adjust the angle are used for shooting and obtaining the image of the front segment of the eyeball of the exophthalmos and similar slit-lamp microscope, the examination result and the symptoms of the examined person can be transmitted to an experienced ophthalmologist or an expert, professor for consultation in the form of images and the like through the internet, but the shooting of the eyeground is difficult, and the eye position is not easy to align.

Therefore, at present, there is a need for an ophthalmic robot that can automatically focus and respectively shoot the ocular surface, anterior segment and fundus of a person to be examined and synchronously perform automatic optometry and corneal curvature detection, automatically, quickly and comprehensively acquire eye data to be examined, thereby improving the efficiency of large-scale population ophthalmic screening, and aiming at a mechanism or an area without ophthalmic related personnel, performing diagnosis and treatment analysis on the eye data acquired by the ophthalmic robot by an ophthalmic doctor of a previous-level hospital in a telemedicine manner, or performing automatic diagnosis and treatment analysis by implanting an artificial intelligent diagnosis and treatment algorithm into the ophthalmic robot.

Disclosure of Invention

The invention provides an intelligent automatic eye disease screening robot aiming at the existing problems.

The technical scheme of the invention is as follows:

an intelligent automatic eye disease screening robot comprises a main body for providing energy and data analysis, a positioning module for automatically positioning eyeballs, a shooting module for shooting human faces and eyes, a head fixing frame for fixing the head of a patient,

the bottom of the main body is provided with a base, the upper part of the rear side of the main body is provided with an inspection groove, a focusing barrel is embedded in the inspection groove, the focusing barrel extends to the outside of the main body, the upper part of the focusing barrel positioned in the main body is provided with a groove,

the positioning module is embedded in the focusing barrel and comprises a turntable for rotating to switch the camera and a positioning block for positioning the camera, a motor set for controlling the front and back inclination and the rotation of the turntable is arranged at the center of the back of the turntable, the motor set is fixed at the bottom in the focusing barrel, a plurality of empty slots are formed in the turntable at equal intervals in the circumferential direction, a rotating plate is arranged in each empty slot and is connected with the inner wall of each empty slot through rotating rods on two sides, when the turntable is inclined by a certain angle, the rotating plate is in contact with the positioning block and rights the angle of the rotating plate, the positioning block is embedded in the groove and can slide along the groove,

the shooting module comprises an inner camera for automatically shooting the eye surface, the anterior segment of the eye and the eye ground and an outer camera for shooting the human face, the inner camera is embedded on the rotating plate in the empty groove, the outer camera is fixedly arranged on the outer wall of the main body below the inspection groove,

the head fixing frame is connected with the base through a connecting rod located at the bottom of the head fixing frame, a fixing rod is perpendicularly arranged at the outer end of the connecting rod, a mandible pad is arranged at the top of the fixing rod, a group of clamping modules are respectively arranged on two sides of the fixing rod, and the tops of the clamping modules are fixedly connected through the connecting rod.

Further, the main part front side is equipped with the display screen, and the main part is inside to be equipped with the data analysis module that is used for acquireing eye refraction data and eye cornea curvature data for the storage module of storage data, base one side connection are equipped with the power, and body one side is equipped with the vent, can carry out analysis storage with the data of collecting, and ventilation cooling effect is good.

Furthermore, the dead slot and the inner camera are all three groups, the anti-slip mat is arranged on the rotating plate above the inner camera, the corresponding camera is rotated and adjusted as required to work, and the space utilization rate is improved.

Further, the motor set comprises a first motor for controlling the front and back inclination of the turntable and a second motor for controlling the rotation of the turntable, and the rotation and the front and back inclination of the turntable can be controlled.

Further, the center of the front surface of the turntable is provided with a light source, the light source comprises an illuminating light source and a near-infrared light source which is convenient for fundus shooting, and different light sources are used when the light source corresponds to different cameras.

Furthermore, the positioning block is arranged in parallel with the main body, the positioning block is connected with the output end of the push rod motor, the push rod motor is fixedly arranged on the inner wall of the main body above the inspection groove, the distance between the camera and human eyes is adjusted according to the required distance, and the camera is always kept to be correct in position.

Further, the centre gripping module includes stand, first spliced pole, second spliced pole and splint, the stand includes the thin stand on upper portion and the thick stand of lower part, thick stand top is equipped with the arc wall, first spliced pole is located in the arc wall, first spliced pole one end is connected with the flexible motor output that is located the stand, and the first spliced pole other end is connected with splint, the second spliced pole is connected with first spliced pole through a set of sloping block that runs through first spliced pole, can carry out centre gripping effectively to patient's head.

Furthermore, a pressure sensor is arranged in the clamping plate, the pressure sensor is electrically connected with the telescopic motor through a group of controllers, and the clamping pressure is monitored through the pressure sensor, so that the discomfort of the patient caused by the over-tight clamping of the head of the patient is avoided.

Furthermore, the lower end of the inclined block inclines towards one side of the first connecting column where the telescopic motor is located, and when the telescopic motor pushes the clamping plate to move, the second connecting column moves downwards under the driving of the inclined block, so that the top of the head of a patient can be fixed. First spliced pole bottom is equipped with a slider, arc tank bottom is equipped with and is used for making the gliding spout of slider, the spout sets up for the T type, and the inside that the spout is close to patient head one end is equipped with the rotation motor, the rotation motor rotates along the inside slide rail that is equipped with of stand, and the output connection of rotation motor is equipped with the clamping piece, the clamping piece upper end is equipped with and is used for making the gliding recess of slider, is equipped with in the stand of sloping block lower part to be used for making sloping block extension and pivoted recess, can drive first connecting block through rotating the motor and rotate when patient head locating position not just and assist the fine setting.

Further, a bolster is arranged below the connecting rod through bolt connection and used for fixing the top of the head of a patient.

The invention has the beneficial effects that:

(1) the intelligent automatic eye disease screening robot can automatically position the eyeballs of the patient through the head fixing frame and the positioning module, automatically focus the ocular surface, the anterior segment and the fundus of the patient, can replace professional ophthalmologists to complete large-scale ophthalmology comprehensive examination of the patient, saves manpower and material resources, and is beneficial to popularization.

(2) The intelligent automatic eye disease screening robot provided by the invention is provided with the shooting module which can complete automatic focusing and shoot photos at different angles simultaneously by rotating the plurality of cameras on the turntable, and the three cameras can work simultaneously without interference and can continuously form images, so that the inspection speed is accelerated.

(3) The head fixing frame of the intelligent automatic eye disease screening robot can effectively fix the head of a patient through the matching of the telescopic motor and the inclined block, does not cause discomfort to the patient, and enhances the stability of equipment in eye disease screening.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a front view of the overall structure of the present invention;

FIG. 3 is a schematic view of the positioning module of FIG. 2;

FIG. 4 is a schematic view of the turntable configuration of the present invention;

FIG. 5 is a side view of the overall structure and a schematic view of the internal structure of the clamping module according to the present invention;

FIG. 6 is a schematic view of the clamping module of FIG. 5 at B according to the present invention;

FIG. 7 is a schematic view of the structure of the upright post and the arc-shaped slot of the present invention;

FIG. 8 is a schematic view of a first connector post of the present invention;

FIG. 9 is a schematic view of the internal structure of the column of the present invention;

FIG. 10 is a schematic view showing the internal structure of the column when the rotary motor of the present invention is rotated;

fig. 11 is a schematic view of the structure of the rotating motor and the clip of the present invention.

Wherein, 1-main body, 11-base, 12-display screen, 13-inspection groove, 14-focusing barrel, 141-groove, 15-data analysis module, 16-storage module, 17-ventilation opening, 2-positioning module, 21-rotary table, 211-empty groove, 212-rotary plate, 213-rotary rod, 22-positioning block, 23-motor group, 231-first motor, 232-second motor, 24-light source, 241-lighting source, 242-near infrared light source, 25-push rod motor, 3-shooting module, 31-inner camera, 32-outer camera, 4-head fixing frame, 41-fixing rod, 42-mandibular pad, 43-connecting rod, 44-bolster, 5-clamping module, 51-upright column, 511-arc groove, 512-telescopic motor, 513-sliding groove, 514-sliding rail, 52-first connecting column, 521-sliding block, 53-second connecting column, 54-clamping plate, 55-inclined block, 56-pressure sensor, 57-rotating motor and 571-clamping piece.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention. The terms "front and back", "left and right" used in the embodiments of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the location of the indicated technical features.

Example 1

As shown in fig. 1, an intelligent automatic eye disease screening robot comprises a main body 1 for providing energy and data analysis, a positioning module 2 for automatic eyeball positioning, a shooting module 3 for face shooting and eye shooting, a head fixing frame 4 for fixing the head of a patient,

as shown in fig. 1 and 2, a base 11 is arranged at the bottom of a main body 1, a display screen 12 is arranged on the front side of the main body 1, an inspection groove 13 is formed in the upper portion of the rear side of the main body 1, a focusing barrel 14 is embedded in the inspection groove 13 and extends to the outside of the main body 1, a groove 141 is formed in the upper portion of the focusing barrel 14 located inside the main body 1, a data analysis module 15 for acquiring eye refraction data and eye cornea curvature data is arranged inside the main body 1, a storage module 16 for storing data is arranged, a power supply is connected to one side of the base 11, and a vent 17 is arranged on one side.

As shown in fig. 2-4, a positioning module 2 is embedded in the focusing barrel 14 at a position a in fig. 2, the positioning module 2 includes a turntable 21 for rotating and switching the camera and a positioning block 22 for positioning the camera, a motor set 23 for controlling the front-back tilt and rotation of the turntable 21 is disposed at the center of the back of the turntable 21, the motor set 23 includes a first motor 231 for controlling the front-back tilt of the turntable 21 and a second motor 232 for controlling the rotation of the turntable 21, the first motor 231 and the second motor 232 are commercially available speed reduction motors, the motor set 23 is fixed at the bottom inside the focusing barrel 14, a plurality of empty slots 211 are circumferentially disposed at equal intervals on the turntable 21, a rotating plate 212 is disposed inside the empty slots 211, the rotating plate 212 is connected with the inner wall of the empty slots 211 through rotating rods 213 at two sides, when the turntable 21 tilts by a certain angle, the rotating plate 212 contacts with the positioning block 22 and corrects the angle of the rotating plate 212, the positioning block 22, the positioning block 22 is arranged in parallel with the main body 1, the positioning block 22 is connected with the output end of the push rod motor 25, the push rod motor 25 is fixedly arranged on the inner wall of the main body 1 above the inspection groove 13, the light source 24 is arranged at the center of the front face of the rotary table 21, the light source 24 comprises an illumination light source 241 and a near-infrared light source 242 convenient for fundus shooting, and the illumination light source 241 and the near-infrared light source 242 are medical light sources sold in the market.

As shown in fig. 4 and 5, the photographing module 3 includes an inner camera 31 for automatically photographing the ocular surface, anterior segment of eye and fundus and an outer camera 32 for photographing human face, the inner camera 31 is embedded on a rotating plate 212 in an empty slot 211, the outer camera 32 is fixedly arranged on the outer wall of the main body 1 below the inspection slot 13, the empty slot 211 and the inner camera 31 are three groups, and an anti-slip pad is arranged on the rotating plate 212 above the inner camera 31.

As shown in fig. 5-8, the head fixing frame 4 is connected to the base 11 through a connecting rod at the bottom thereof, the outer end of the connecting rod is vertically provided with a fixing rod 41, the top of the fixing rod 41 is provided with a mandible pad 42, two sides of the fixing rod 41 are respectively provided with a group of clamping modules 5, the tops of the two groups of clamping modules 5 are fixedly connected through a connecting rod 43, the lower part of the connecting rod 43 is provided with a bolster 44 through a bolt connection, the clamping module 5 at the position B in fig. 5 comprises a vertical column 51, a first connecting column 52, a second connecting column 53 and a clamping plate 54, the vertical column 51 comprises a thin vertical column at the upper part and a thick vertical column at the lower part, the top of the thick vertical column is provided with an arc-shaped groove 511, the first connecting column 52 is located in the arc-shaped groove 511, one end of the first connecting column 52 is connected with the output end of a telescopic motor 512 located in the vertical column 51, the lower end of the inclined block 55 inclines towards one side of the first connecting column 52 where the telescopic motor 512 is located, a pressure sensor 56 is arranged in the clamping plate 54, the pressure sensor 56 is a commercially available high-precision pressure sensor, and the pressure sensor 56 is electrically connected with the telescopic motor 512 through a set of controllers.

The working principle and the operation flow of screening the eye diseases of the patient by using the intelligent automatic eye disease screening robot are as follows:

(1) patient head fixation

Firstly, a main body 1 of the intelligent automatic eye disease screening robot is arranged on an examination table, a patient sits at a position opposite to the main body 1, the head of the patient extends into a head fixing frame 4, the chin of the patient is placed on a jaw pad 25, two groups of telescopic motors 512 in a clamping module 5 are started, the telescopic motors 512 push corresponding first connecting columns 52 and corresponding clamping plates 54 to move towards the head of the patient until the head of the patient is clamped, meanwhile, in the moving process of the first connecting columns 52, inclined blocks 55 clamped on the first connecting columns 52 slide downwards along inclined grooves where the inclined blocks are located under the action of inclined force to drive the second connecting columns 53 to move downwards, so that the second connecting columns 53 drive a bolster 44 arranged below the connecting rods 43 to press the upper part of the head of the patient in an auxiliary mode, when a pressure sensor 56 on the clamping plates 43 monitors that the clamping force of the clamping plates 54 on the head of the patient is overlarge, the pressure sensor 56 transmits signals to a controller, controlling the telescopic motor 512 to stop moving;

(2) automatic detection of human face

Then, the second motor 232 is started to rotate the turntable 21 in the robot body 1, so that the inner camera 31 used for reading the video on the turntable 21 is rotated to the uppermost position corresponding to the positioning block 22, the first motor 231 is started to tilt the turntable 21 towards the positioning block 22, meanwhile, the vacancy block 22 is in contact with the anti-skid pad on the upper part of the rotating plate 212, the turntable 21 continues to tilt the rotating plate 212, and the rotating plate 212 is always kept parallel to the positioning block 22 under the blocking effect of the positioning block 22, namely, is vertical to the horizontal direction, so that the inner camera 31 on the lower part of the rotating plate 212 can detect the human face, the detected data is transmitted to the data analysis module 15, and the areas of the left eye and the right eye are intercepted according to the detected human face image.

(3) Eyeball center positioning

Then, the first motor 231 is started to tilt and reset the turntable 21, the second motor 232 is started to rotate the turntable 21 again, the inner camera 31 used for eyeball positioning on the turntable 21 is rotated to the uppermost position corresponding to the positioning block 22, the push rod motor 25 is started to drive the positioning block 22 to slide along the groove 141 to the position for eyeball center positioning, the first motor 231 is started again to tilt the turntable 21 towards the positioning block 22, meanwhile, the vacancy block 22 is contacted with the anti-skid pad on the upper part of the rotating plate 212, the rotating plate 212 is continuously tilted by the turntable 21, the rotating plate 212 is always kept parallel to the position of the positioning block 22 under the blocking effect of the positioning block 22, namely, the rotating plate is vertical to the horizontal direction, and the inner camera 31 on the lower part of the rotating plate 212 performs eyeball center detection and tracking according to the area automatically detected and intercepted by;

the algorithm for eye tracking mainly comprises three parts: face detection, left and right eye region interception and eyeball center positioning.

(4) Automatic photographing of ocular surface, anterior segment and fundus

The turntable 21 is tilted and then reset in the same manner as in the steps (2) and (3), and the inner camera 31 on the turntable 21 for automatically photographing the ocular surface, the anterior segment of the eye and the fundus oculi is rotated to the uppermost position corresponding to the positioning block 22, the position of the positioning block 22 is adjusted, the turntable 21 is inclined towards the positioning block 22, the vacancy block 22 is contacted with the anti-skid pad on the upper part of the rotating plate 212, the inner camera 31 on the lower part of the rotating plate 212 firstly guides the examinee to complete the positioning and focusing of the cornea through the fixation point, after the focus is positioned on the cornea, the eye surface picture is automatically taken, then the inner camera 31 further adjusts the focus to the iris to automatically take the picture of the anterior segment of the eye, the inner camera 31 is then switched from the outer eye mode to the inner eye mode, and the fundus image focusing stage is entered, the fundus itself does not emit light, and illumination is performed using the light source 24 for observation and photography. In order to finish the collection of the eye fundus images under the condition of non-mydriasis without causing excessive stimulation to the pupils, a near infrared light source 242 is used, the light intensity of the near infrared light source is enough to observe the eye fundus, the camera is provided with a black-white low-illumination camera in consideration of weak light, the focusing process of the eye fundus is finished, when the focus is positioned on the retina, the camera is switched to a flash lamp immediately, and the clear color eye fundus image shooting is finished automatically.

(5) Automatically acquiring refractive information of an eye to be examined

The outer camera 32 below the inspection groove 13 is opened, the outer camera 32 is composed of an optometry lens and an electronic sighting mark, the vergence of the sighting mark light passing through the optometry lens depends on the position of the sighting mark plate, the electronic sighting mark plate automatically moves the position, the most clear sighting mark position of the eye to be inspected is determined, and the diopter of the eye to be inspected can be obtained.

(6) Automatic acquisition of corneal curvature information of eye to be inspected

The light source for measuring the corneal curvature is projected on the cornea of the eyeball by the light source 24 in the body 1, then the object image is reflected back to the outer camera 32 by the cornea, and the corneal curvature value can be measured according to the size and shape of the reflected ring or ellipse. The monitored data is stored in the memory module 16.

Example 2

The present embodiment is substantially the same as embodiment 1, except that a set of rotating motors 57 for controlling the first connecting posts 52 to rotate in the arc-shaped slots 511 is further provided inside the clamping module 5;

as shown in fig. 9-11, a sliding block 521 is disposed at the bottom of the first connecting column 52, a sliding slot 513 for sliding the sliding block 521 is disposed at the bottom of the arc-shaped slot 511, the sliding slot 513 is T-shaped, a rotating motor 57 is disposed inside one end of the sliding slot 513 close to the head of the patient, the rotating motor 57 rotates along a sliding rail 514 disposed inside the upright post 51, a clamping piece 571 is connected to an output end of the rotating motor 57, a groove for sliding the sliding block 521 is disposed at an upper end of the clamping piece 571, and a groove for extending and rotating the oblique block is disposed inside the upright post 51 at the lower portion of the oblique block.

When the head of the patient is fixed by the clamp plate 54 and then the human face automatic detection finds that the deviation between the position of the eyes of the patient and the position angle of the focusing barrel 14 is large, the angle of the first connecting block 52 needs to be adjusted by the aid of the rotating motor 57, when the first connecting block 52 slides outwards, the sliding chute 513 of the sliding block 521 slides to the position above the rotating motor 57 and is matched and clamped with the groove formed in the clamping piece 571 above the rotating motor 57, as shown in the state of fig. 9, the rotating motor 57 is started to slide along the sliding rail 514, and meanwhile, the clamping piece 571 drives the sliding block 521 and the first connecting block 52 to rotate, so that the head of the patient rotates by a certain angle, the eyes of the patient and the focusing barrel 14 are on the same horizontal plane, and the next diagnosis is carried out;

examples of the experiments

The eye disease screening robot of the present invention was used in clinical trials, 100 patients with conjunctivitis, 100 patients with keratitis, 100 patients with ametropia, and 100 normal persons were selected and tested using the eye disease screening robot of the present invention, and the test results are shown in the following table:

TABLE 1 statistical table of examination results of various patients

Conjunctivitis	Keratitis	Ametropia	Is normal
				96	97	94	113

As can be seen from the detection results in the above table, the screening accuracy of the eye disease screening robot of the present invention for conjunctivitis patients is 96%, the screening accuracy for keratitis patients is 97%, and the screening accuracy for ametropia patients is 94%, so that the eye disease screening robot of the present invention can screen and diagnose eye diseases of patients with low misdiagnosis rate, and can meet the use requirements of various major eye disease hospitals for preliminary screening of eye diseases.

Claims

1. An intelligent automatic eye disease screening robot is characterized by comprising a main body (1) for providing energy and data analysis, a positioning module (2) for automatically positioning eyeballs, a shooting module (3) for shooting human faces and eyes, a head fixing frame (4) for fixing the head of a patient,

the bottom of the main body (1) is provided with a base (11), the upper part of the rear side of the main body (1) is provided with an inspection groove (13), a focusing barrel (14) is embedded in the inspection groove (13), the focusing barrel (14) extends to the outside of the main body (1), the upper part of the focusing barrel (14) positioned in the main body (1) is provided with a groove (141),

the positioning module (2) is embedded in the focusing barrel (14), the positioning module (2) comprises a turntable (21) used for rotating to switch a camera and a positioning block (22) used for positioning the camera, a motor set (23) used for controlling the front and back inclination and rotation of the turntable (21) is arranged at the center of the back of the turntable (21), the motor set (23) is fixed at the bottom in the focusing barrel (14), a plurality of hollow grooves (211) are circumferentially arranged on the turntable (21) at equal intervals, a rotating plate (212) is arranged in each hollow groove (211), the rotating plate (212) is connected with the inner wall of each hollow groove (211) through rotating rods (213) at two sides, the positioning block (22) is embedded in the groove (141) and can slide along the groove (141),

the shooting module (3) comprises an inner camera (31) for automatically shooting the ocular surface, the anterior segment of the eye and the fundus and an outer camera (32) for shooting the human face, the inner camera (31) is embedded on a rotating plate (212) in the hollow groove (211), the outer camera (32) is fixedly arranged on the outer wall of the main body (1) below the inspection groove (13),

head mount (4) through be located its bottom the connecting rod with base (11) are connected, connecting rod outer end is provided with dead lever (41) perpendicularly, and dead lever (41) top is equipped with jaw pad (42), and dead lever (41) both sides respectively are equipped with a set of centre gripping module (5), and are two sets of centre gripping module (5) top is passed through connecting rod (43) fixed connection.

2. The intelligent automatic eye disease screening robot as claimed in claim 1, wherein a display screen (12) is arranged on the front side of the main body (1), a data analysis module (15) for acquiring eye refraction data and eye corneal curvature data and a storage module (16) for storing data are arranged inside the main body (1), a power supply is connected to one side of the base (11), and a ventilation opening (17) is arranged on one side of the main body (1).

3. The intelligent automated eye disease screening robot according to claim 1, wherein the empty slots (211) and the inner cameras (31) are three groups, and a non-slip mat is arranged on the rotating plate (212) above the inner cameras (31).

4. The intelligent, automated eye screening robot of claim 1, wherein the motor assembly (23) includes a first motor (231) for controlling the front-to-back tilt of the turntable (21) and a second motor (232) for controlling the rotation of the turntable (21).

5. The intelligent automated eye disease screening robot according to claim 1, wherein a light source (24) is provided at the center of the front surface of the turntable (21), and the light source (24) comprises an illumination light source (241) and a near infrared light source (242) for facilitating fundus photography.

6. The intelligent automated eye disease screening robot according to claim 1, wherein the positioning block (22) is disposed in parallel with the main body (1), the positioning block (22) is connected to an output end of a push rod motor (25), and the push rod motor (25) is fixedly disposed on an inner wall of the main body (1) above the inspection slot (13).

7. The intelligent automated eye disease screening robot of claim 1, wherein the clamping module (5) comprises a vertical column (51), a first connecting column (52), a second connecting column (53) and a clamping plate (54), the vertical column (51) comprises an upper thin vertical column and a lower thick vertical column, an arc-shaped groove (511) is formed in the top of the thick vertical column, the first connecting column (52) is located in the arc-shaped groove (511), one end of the first connecting column (52) is connected with the output end of a telescopic motor (512) located in the vertical column (51), the other end of the first connecting column (52) is connected with the clamping plate (54), and the second connecting column (53) is connected with the first connecting column (52) through a set of inclined blocks (55) penetrating through the first connecting column (52).

8. The intelligent, automated eye screening robot of claim 7, wherein a pressure sensor (56) is disposed within the clamping plate (54), and wherein the pressure sensor (56) is electrically connected to the telescoping motor (512) via a set of controls.

9. The intelligent, automated eye disease screening robot of claim 7, the lower end of the inclined block (55) inclines to one side of the first connecting column (52) where the telescopic motor (512) is positioned, a sliding block (521) is arranged at the bottom of the first connecting column (52), a sliding groove (513) for enabling the sliding block (521) to slide is arranged at the bottom of the arc-shaped groove (511), the chute (513) is arranged in a T shape, a rotating motor (57) is arranged in the chute (513) close to one end of the head of the patient, the rotating motor (57) rotates along a sliding rail (514) arranged inside the upright post (51), the output end of the rotating motor (57) is connected with a clamping piece (571), the upper end of the clamping piece (571) is provided with a groove for sliding the sliding block (521), and the upright post (51) at the lower part of the inclined block (55) is internally provided with a groove for extending and rotating the inclined block.

10. The intelligent automated eye disease screening robot according to claim 1, wherein a bolster (44) is provided under the connecting rod (43) by bolting.