CN112891058A - Robot remote fixed-point control method for human eye subretinal injection - Google Patents
Robot remote fixed-point control method for human eye subretinal injection Download PDFInfo
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- CN112891058A CN112891058A CN202110063385.6A CN202110063385A CN112891058A CN 112891058 A CN112891058 A CN 112891058A CN 202110063385 A CN202110063385 A CN 202110063385A CN 112891058 A CN112891058 A CN 112891058A
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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
- A61F9/00736—Instruments for removal of intra-ocular material or intra-ocular injection, e.g. cataract instruments
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to a robot remote fixed-point control method for subretinal injection of human eyes, which comprises the following steps: the method comprises the following steps: selecting a needle inserting position, and setting a motion path of the mechanical arm; step two: obtaining injection by using an injector; step three: controlling the mechanical arm to move along a set motion path, and enabling the tail end of the needle tip to move to a turning point along the motion path; step four: the tail end of the needle point is driven by the mechanical arm to execute RCM movement at the turning point; step five: the mechanical arm drives the tail end of the needle point to continuously move to the target position of the retina layer according to the movement path set in the step two; step six: a fixed amount of the injection solution is injected into the target site. The method provides a control mode which can ensure the freedom degree of the movement of the mechanical arm and accurately complete the closed-loop movement under the high-precision environment with resistance, overcomes the precision limit of manually operating the mechanical arm to complete the retinal injection operation, improves the precision, reduces the difficulty of manual operation and avoids unnecessary damage.
Description
Technical Field
The invention relates to the field of mechanical arm control, in particular to a robot remote fixed-point control method for human eye subretinal injection.
Background
The retinal injection is a novel method for treating fundus diseases, and compared with a vitreous injection therapy, the retinal injection can more accurately transport the medicine to fundus disease areas, so that the curative effect can be improved, and the side effect can be reduced. However, due to the difficulty of operation and high precision limit, it is still very difficult for experienced doctors to complete the retinal injection operation.
The Chinese patent application with the publication number of "CN 109602499A" and the publication date of 2019, 4, month and 12 discloses a method for operating a man-machine cooperation type ophthalmic microsurgical auxiliary robot system, which comprises the following steps: a coarse positioning stage; in the rough positioning stage of ophthalmic microsurgery, the end effector of the double-operation-arm robot is manually dragged in a handheld mode, and the six-dimensional force sensor senses the direction of force to control the double-operation-arm robot to move so as to realize rough pose adjustment of the operation end effector; step two: a fine positioning stage; treading a foot switch, and with the help of a 3D microscopic device, utilizing a rocker on a control panel of a doctor of a main knife to enable a surgical injector to enter a hole membrane on the sclera of the eye of a patient, and adjusting the posture of the surgical injector under the illumination of a light source on an auxiliary operation arm to align the position of a focus; step three: and (5) injecting the medicine. The invention is used for fundus microsurgery.
However, in the above method, the main surgeon needs to manually operate the robot, and even though the precision is improved by the assistance of the robot, the difficulty of retinal injection can be reduced, but the method is still limited to manual operation because it is still difficult for the experienced surgeon to complete retinal injection operation, and the surgeon is likely to damage biological tissues during the cutting operation.
Disclosure of Invention
The invention aims to solve the problem that the manual operation of a robot is difficult to perform retina injection operation in the prior art, and provides a robot remote fixed-point control method for human eye retina injection.
In order to solve the technical problems, the invention adopts the technical scheme that: the robot remote fixed-point control method for human subretinal injection comprises a mechanical arm and an injector arranged on the mechanical arm, wherein the mechanical arm comprises a clamping device for clamping the injector and a driving arm for driving the clamping device to swing; the driving arm comprises a first joint and a second joint connected with the first joint, the first joint drives the clamping device to swing, and the second joint drives the first joint to swing; the first joint comprises a first linear motor and a second linear motor; the second joint comprises a third linear motor and a fourth linear motor; the clamping device is provided with a fifth linear motor for driving the syringe to move linearly and a sixth linear motor for driving the syringe piston to move; the method comprises the following steps:
the method comprises the following steps: selecting a needle inserting position, and setting a motion path of the mechanical arm;
step two: controlling a sixth linear motor to drive the injector piston to retreat and absorb the injection; then the piston is controlled to advance, and air in the injector is discharged;
step three: controlling the mechanical arm to move along a set motion path, and enabling the mechanical arm to drive the tail end of the needle point of the syringe to move to a turning point along the motion path;
step four: the tail end of the needle point is driven by the mechanical arm to execute RCM movement at a turning point, a turning angle of 30-40 degrees is completed, and the tail end of the needle point and the horizontal plane form an inclination angle of 60-80 degrees and approach to a retina layer; when the needle point enters the eye through the needle entering tunnel on the sclera on the surface of the eyeball, a relatively vertical angle is needed, and after the needle point enters the eye, in order to reach the retina layer of the eye fundus without damaging the vitreous body, a rotation angle of 30-40 degrees is needed to be completed, so that the needle can advance to the eye fundus area at a larger inclination angle with the vertical plane. The inclination angle is completed so that the movement of the needle in the vitreous body can be reduced, so that the moving path of the needle tip in the eye does not damage the vitreous body, and the vitreous body is damaged, such as turbidity and the like. Because the retinal layer is curved and located at the posterior end of the eyeball, it is necessary to reach the retinal layer at an angle of 30-40 degrees from horizontal as described herein before it can enter the retinal layer and complete the injection.
Step five: the mechanical arm drives the tail end of the needle point to continuously move to the target position of the retina layer according to the movement path set in the step two;
step six: and controlling a sixth linear motor of the mechanical arm to inject a fixed amount of injection into the target position.
In the technical scheme, the position of the needle and the motion path of the mechanical arm are both conventional surgical methods, the motion path is set according to the existing cutting path of retinal injection and is consistent with the cutting path strength, and the methods are not improved in the scheme. The technical scheme is characterized in that how to control the mechanical arm to drive the injector to automatically advance along a set motion path so that the injector can automatically enter a retina layer to inject under the driving of the mechanical arm, and the method does not belong to a disease diagnosis or treatment method. The mechanical arm is an existing medical mechanical arm device and is provided with two rotary joints, two linear motors of each rotary joint are arranged in parallel, the rotation of the joints is realized through the position difference of the two linear motors, and the fifth linear motor can drive the clamping device to do linear motion to enable the injector to move forwards. When the mechanical arm drives the syringe to move forwards, the set movement path needs to turn, and the mechanical arm drives the needle tip tail end of the syringe to execute RCM movement, so that the needle tip tail end of the syringe rotates at a turning point, and the whole movement path is smoothly completed. In the whole process, the movement without the injector is completed by calculation according to the movement track of the mechanical arm along the set movement track, and manual operation is not needed.
Preferably, in the fourth step, the position in the RCM motion of the tip end is calculated as follows:
s4.1: acquiring physical parameters of the mechanical arm;
s4.2: calculating the angle of the driving arm, specifically:
in the formula, theta 1 is an angle formed by the first joint and a vertical plane; l1 is the linear displacement of the first linear motor; l2 is the linear displacement of the second linear motor; dm is the vertical distance of the third linear motor to the horizontal axis of the first or second linear motor; θ 2 is an angle formed by the second joint and the vertical plane; l3 is the linear displacement of the third linear motor; l4 is the linear displacement of the fourth linear motor.
S4.3: calculating the tip end position as follows:
in the formula, θ 2 is an angle formed by the second joint and the vertical plane; l5 is the current position of the fifth linear motor; h is the linear distance between the first linear motor and the second linear motor; the Ltool is the distance between the clamping device and the tail end of the needle tip; l1 is the linear displacement of the first linear motor; l2 is the linear displacement of the second linear motor.
The set motion path has a coordinate point of each step position, the needle tip end position and the angle of the driving arm are calculated, and then the needle tip end position is fed back according to the calculation result of the needle tip end position and the angle of the driving arm, so that the mechanical arm drives the needle tip end to move forward step by step according to the difference between the positions.
Preferably, the tip end rotates around the RCM point, and the set motion track is as follows:
where Δ L1, Δ L2, Δ L5 are target displacement amounts of the first linear motor, the second linear motor, and the third linear motor, respectively; j is a Jacobian matrix.
The next arriving position of the tip end can be mapped to the displacement of each linear motor needing to move when the RCM moves through the Jacobian matrix and the motion trail formula. The movement amount of each linear motor is controlled through the reverse derivation, so that the movement angle of the RCM at the tail end of the needle point can be accurately controlled.
Preferably, the jacobian matrix is specifically:
in the formula, θ 2 is an angle formed by the second joint and the vertical plane; l1 is the linear displacement of the first linear motor; l2 is the linear displacement of the second linear motor; dm is the vertical distance of the third linear motor to the horizontal axis of the first linear motor or the second linear motor; l3 is the current position of the third linear motor; l5 is the linear displacement of the fifth linear motor; h is the linear distance between the first linear motor and the second linear motor.
Preferably, when the tip end performs RCM movement, the movement displacement of the first linear motor, the second linear motor and the third linear motor is further acquired according to the jacobian matrix of the tip end position obtained in S4.3 each time; and simultaneously calculating the moving tracks of the first linear motor, the second linear motor and the third linear motor to control the movement of the tail end of the needle tip. The movement of the tail end of the needle point is reflected by timely acquiring the movement displacement and the movement track of the three linear motors, so that the mechanical arm can timely control and adjust the movement of the tail end of the needle point according to the set movement track.
Preferably, when the tip end performs the RCM motion, the position of the tip end after moving is taken as a new RCM point coordinate every time the tip end moves forward. The position of the tail end needle tip may slightly change after each movement, and the RCM point coordinate adopts the position coordinate of the tail end needle tip after the movement, namely the RCM point coordinate is always consistent with the position coordinate of the tail end needle tip, so that the movement precision of the RCM is improved.
Preferably, the target position of each step of the tip end is obtained by calculating the change rate of the included angle between the tip end and the vertical plane when the tip end performs the RCM motion. The change rate of the included angle indicates that the change of the included angle between the tail end of the needle point and the vertical surface is slight before and after each step of movement. The method is adopted to calculate the target position of each step, and the precision of the rotary motion can be ensured under the condition that the RCM point is continuously changed.
Preferably, in the fifth step, after the RCM point movement is completed, the tip end is caused to enter the target position of the retinal layer in a fixed step by controlling a fifth limiting motor; after the injection is completed in step six, the mechanical arm does the same motion in the opposite direction to enable the tip end to leave the retina layer. After injection is finished, the injector moves along the entering movement path through reverse movement, so that the injector smoothly exits from the retina to finish retracting the cutter, and the damage to biological tissues is avoided when the cutter retracts.
Preferably, in the first step, the needle insertion position is selected by observing the eye image through a microscope system. Under the assistance of a microscope system, the needle inserting position can be found more accurately.
Preferably, the tip end of the needle only advances along the movement path set in the second step without displacement in other directions, so that the efficiency of the movement path of the needle tip is ensured, and injuries such as retinal rupture or injection leakage caused by accidental dragging are avoided.
Compared with the prior art, the beneficial effects are: the method provides a control mode which can ensure the freedom degree of the movement of the mechanical arm and accurately complete the closed-loop movement under the high-precision environment with resistance, realizes the movement of the injector along the set movement track until the retinal injection operation is completed by controlling the mechanical arm, adopts an RCM fixed-point movement mode, guides the mechanical arm to drive the tip end of the needle to rotate on the retinal layer by setting a path and calculating a formula of the movement of a linear motor of the mechanical arm, and completes the specified corner, overcomes the precision limit of the retinal injection operation completed by manually operating the mechanical arm, improves the precision, reduces the difficulty of manual operation, avoids unnecessary damage, and improves the safety of the auxiliary operation of the mechanical arm in the retinal operation.
Drawings
FIG. 1 is a schematic view of a robotic arm of the present invention;
fig. 2 is a flow chart of a robotic remote pointing control method for subretinal injection of a human eye of the present invention.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "long", "short", etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the drawings, it is only for convenience of description and simplicity of description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationships in the drawings are only used for illustrative purposes and are not to be construed as limitations of the present patent, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.
The technical scheme of the invention is further described in detail by the following specific embodiments in combination with the attached drawings:
example 1
Fig. 1-2 show an embodiment of a robot remote fixed-point control method for human subretinal injection, which includes a mechanical arm 1 and an injector 2 mounted on the mechanical arm 1, wherein the mechanical arm 1 includes a clamping device 3 for clamping the injector 2 and a driving arm for driving the clamping device 3 to swing; the driving arm comprises a first joint 4 and a second joint 5 connected with the first joint 4, the first joint 4 drives the clamping device 3 to swing, and the second joint 5 drives the first joint 4 to swing; the first joint 4 includes a first linear motor 6 and a second linear motor 7; the second joint 5 comprises a third linear motor 8 and a fourth linear motor 9; the clamping device 3 is provided with a fifth linear motor 10 for driving the injector 2 to move linearly and a sixth linear motor 11 for driving the injector 2 to move in a piston manner; the method comprises the following steps:
the method comprises the following steps: the needle inserting position is selected by observing an eye image through a microscope system, and the motion path of the mechanical arm 1 is set;
step two: controlling a sixth linear motor 11 to drive a piston of the injector 2 to retreat and absorb the injection; then the piston is controlled to move forward, and air in the injector 2 is discharged;
step three: controlling the mechanical arm 1 to move along a set motion path, and enabling the mechanical arm 1 to drive the tail end of the needle point of the syringe 2 to move to a turning point along the motion path;
step four: the tail end of the needle point is driven by the mechanical arm 1 to execute RCM movement at a turning point, a turning angle of 30-40 degrees is completed, and the tail end of the needle point and a horizontal plane form an inclination angle of 60-80 degrees and approach to a retina layer;
the position in the RCM motion of the tip end is calculated as follows:
s4.1: acquiring physical parameters of the mechanical arm 1;
s4.2: calculating the angle of the driving arm, specifically:
in the formula, θ 1 is an angle formed by the first joint 4 and a vertical plane; l1 is the linear displacement of the first linear motor; l2 is the linear displacement of the second linear motor; dm is the vertical distance of the third linear motor to the horizontal axis of the first or second linear motor; θ 2 is an angle formed by the second joint 5 and the vertical plane; l3 is the linear displacement of the third linear motor; l4 is the linear displacement of the fourth linear motor.
S4.3: calculating the tip end position as follows:
in the formula, θ 2 is an angle formed by the second joint 5 and a vertical plane; l5 is the current position of the fifth linear motor; h is the linear distance between the first linear motor and the second linear motor; ltool is the distance between the clamping device 3 and the tail end of the needle tip; l1 is the linear displacement of the first linear motor; l2 is the linear displacement of the second linear motor.
The set motion path has a coordinate point of each step position, the needle tip end position and the angle of the driving arm are calculated, and then the needle tip end position is fed back according to the calculation result of the needle tip end position and the angle of the driving arm, so that the mechanical arm 1 drives the needle tip end to move forward step by step according to the difference between the positions.
The tip end of the needle rotates around the RCM point, and the set motion track is as follows:
where Δ L1, Δ L2, Δ L5 are target displacement amounts of the first linear motor 6, the second linear motor 7, and the fifth linear motor 8, respectively; j is a Jacobian matrix.
The next arriving position of the tip end can be mapped to the displacement of each linear motor needing to move when the RCM moves through the Jacobian matrix and the motion trail formula. The movement amount of each linear motor is controlled through the reverse derivation, so that the movement angle of the RCM at the tail end of the needle point can be accurately controlled.
The jacobian matrix is specifically:
in the formula, θ 2 is an angle formed by the second joint 5 and a vertical plane; l1 is the linear displacement of the first linear motor 6; l2 is the linear displacement of the second linear motor 7; dm is the vertical distance of the third linear electric machine 8 to the horizontal axis of the first linear electric machine 6 or the second linear electric machine 7; l3 is the current position of the third linear motor 8; l5 is the linear displacement of the fifth linear motor 10; h is the linear distance between the first linear motor and the second linear motor.
Step five: the mechanical arm 1 drives the tail end of the needle point to continuously move to the target position of the retina layer according to the motion path set in the step two; after the RCM point movement is finished, the tail end of the needle point is enabled to enter the target position of the retina layer in a fixed step length by controlling a fifth limiting motor; after the injection is completed in step six, the mechanical arm 1 moves in the same direction to make the tip end leave the retina layer.
Step six: the sixth linear motor 11 of the robot arm 1 is controlled to inject a fixed amount of the injection solution to the target position.
Specifically, when the tip end performs RCM movement, the movement displacement of the first linear motor 62, the second linear motor 73, and the third linear motor 84 is further acquired according to the jacobian matrix of the tip end position obtained in S4.3 each time; and simultaneously calculates the moving traces of the first linear motor 62, the second linear motor 73 and the third linear motor 84 to control the movement of the tip end of the needle. The movement of the tail end of the needle point is reflected by timely acquiring the movement displacement and the movement track of the three linear motors, so that the mechanical arm 1 can timely control and adjust the movement of the tail end of the needle point according to the set movement track.
When the tip end moves in the RCM mode, the position of the tip end after moving is taken as a new RCM point coordinate every time the tip end moves forward. The position of the tail end needle tip may slightly change after each movement, and the RCM point coordinate adopts the position coordinate of the tail end needle tip after the movement, namely the RCM point coordinate is always consistent with the position coordinate of the tail end needle tip, so that the movement precision of the RCM is improved.
When the tail end of the needle tip moves in an RCM mode, the target position of each step of the tail end of the needle tip is obtained by calculating the change rate of the included angle between the tail end of the needle tip and the vertical plane.
In the fifth step, after the RCM point movement is completed, the tail end of the needle point enters the target position of the retina layer in a fixed step length of 100um by controlling a fifth limiting motor; after the injection is completed in step six, the mechanical arm 1 moves in the same direction to make the tip end leave the retina layer. After injection is finished, the injector 2 is moved along the entering movement path through reverse movement, so that the injector can smoothly exit from the retina to finish retracting the cutter, and the damage to the biological tissue when the cutter is retracted is avoided.
In the embodiment, the tail end of the needle point only advances along the movement path set in the step two, and displacement in other directions is not carried out, so that the efficiency of the movement path of the needle point is ensured, and injuries such as retina rupture or injection leakage caused by accidental dragging are avoided.
The working principle of the embodiment is as follows: the mechanical arm 1 is an existing medical mechanical arm 1 device and is provided with two rotary joints, two linear motors of each rotary joint are arranged in parallel, the rotation of the joints is realized through the position difference of the two linear motors, and the fifth linear motor 10 can drive the clamping device 3 to do linear motion so as to enable the injector 2 to move forwards. When the mechanical arm 1 drives the syringe 2 to move forward, the set movement path needs to turn, and the mechanical arm 1 drives the needle tip tail end of the syringe 2 to execute RCM movement, so that the needle tip tail end of the syringe 2 rotates at a turning point, and the whole movement path is smoothly completed. In the whole process, the motion of the injector 2 is not needed, and the operation is performed according to the set motion track of the mechanical arm 1, so that the manual operation is not needed.
The beneficial effects of the embodiment are as follows: the method provides a control mode which can ensure the freedom degree of the movement of the mechanical arm 1 and accurately complete the closed-loop movement under the high-precision environment with resistance, the injector 2 is controlled to move along the set movement track until the retinal injection operation is completed, an RCM fixed-point movement mode is adopted, the mechanical arm 1 is guided to drive the tip end of the needle to rotate on the retinal layer through setting a path and calculating the formula of the movement of a linear motor of the mechanical arm 1, the specified rotation angle is completed, the precision limit of manually operating the mechanical arm 1 to complete the retinal injection operation is overcome, the precision is improved, the difficulty of manual operation is reduced, unnecessary damage is avoided, and the safety of the auxiliary operation of the mechanical arm 1 in the retinal operation is improved.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A robot remote fixed-point control method for human eye subretinal injection comprises a mechanical arm and an injector arranged on the mechanical arm, wherein the mechanical arm comprises a clamping device for clamping the injector and a driving arm for driving the clamping device to swing; the driving arm comprises a first joint and a second joint connected with the first joint, the first joint drives the clamping device to swing, and the second joint drives the first joint to swing; the first joint comprises a first linear motor and a second linear motor; the second joint comprises a third linear motor and a fourth linear motor; the clamping device is provided with a fifth linear motor for driving the syringe to move linearly and a sixth linear motor for driving the syringe piston to move; the method is characterized by comprising the following steps:
the method comprises the following steps: selecting a needle inserting position, and setting a motion path of the mechanical arm;
step two: controlling a sixth linear motor to drive the injector piston to retreat and absorb the injection; then the piston is controlled to advance, and air in the injector is discharged;
step three: controlling the mechanical arm to move along a set motion path, and enabling the mechanical arm to drive the tail end of the needle point of the syringe to move to a turning point along the motion path;
step four: the tail end of the needle point is driven by the mechanical arm to execute RCM movement at a turning point, a turning angle of 30-40 degrees is completed, and the tail end of the needle point and the horizontal plane form an inclination angle of 60-80 degrees and approach to a retina layer;
step five: the mechanical arm drives the tail end of the needle point to continuously move to the target position of the retina layer according to the motion path set in the step two;
step six: and controlling a sixth linear motor of the mechanical arm to inject a fixed amount of injection into the target position.
2. The method of claim 1, wherein in the fourth step, the position in the RCM motion of the tip end of the needle is calculated as follows:
s4.1: acquiring physical parameters of the mechanical arm;
s4.2: calculating the angle of the driving arm, specifically:
in the formula, theta 1 is an angle formed by the first joint and a vertical plane; l1 is the linear displacement of the first linear motor; l2 is the linear displacement of the second linear motor; dm is the vertical distance of the third linear motor to the horizontal axis of the first or second linear motor; θ 2 is an angle formed by the second joint and the vertical plane; l3 is the linear displacement of the third linear motor; l4 is the linear displacement of the fourth linear motor.
S4.3: calculating the tail end position of the needle tip, and taking the tail end position of the needle tip as an RCM point coordinate, wherein the method comprises the following steps:
in the formula, θ 2 is an angle formed by the second joint and the vertical plane; l5 is the current position of the fifth linear motor; h is the linear distance between the first linear motor and the second linear motor; ltool is the distance between the clamping device and the end of the needle tip.
3. The method of claim 2, wherein the tip end of the needle is rotated around the RCM point, and the set motion trajectory is as follows:
where Δ L1, Δ L2, Δ L5 are target displacement amounts of the first linear motor, the second linear motor, and the fifth linear motor, respectively; j is a Jacobian matrix.
4. The method of claim 3, wherein the Jacobian matrix is specifically:
in the formula, θ 2 is an angle formed by the second joint and the vertical plane; l1 is the linear displacement of the first linear motor; l2 is the linear displacement of the second linear motor; dm is the vertical distance of the third linear motor to the horizontal axis of the first linear motor or the second linear motor; l3 is the current position of the third linear motor; l5 is the linear displacement of the fifth linear motor; h is the linear distance between the first linear motor and the second linear motor.
5. The method as claimed in claim 4, wherein the moving displacement of the first, second and fifth linear motors is further obtained according to the Jacobian matrix of the tip end position obtained in S4.3 when the tip end performs RCM movement; and simultaneously calculating the moving tracks of the first linear motor, the second linear motor and the fifth linear motor to control the movement of the tail end of the needle tip.
6. The method of claim 4, wherein the position of the tip end after moving is used as a new RCM point coordinate every time the tip end moves forward when the RCM movement is performed.
7. The method of claim 4, wherein the target position of the tip end at each step is obtained by calculating a change rate of an included angle between the tip end and a vertical plane when the tip end performs the RCM movement.
8. The method of claim 1, wherein in step one, the needle insertion position is selected by observing the eye image through a microscope system.
9. The method as claimed in claim 1, wherein in the fifth step, after the RCM point movement is completed, the tip end is caused to enter the target position of the retinal layer in fixed steps by controlling a fifth limiting motor; after the injection is completed in step six, the mechanical arm does the same motion in the opposite direction to enable the tip end to leave the retina layer.
10. A robotic remote site controlled method for subretinal injection of a human eye according to any of claims 1 to 9 wherein the tip end of the needle is advanced only along the path of movement set in step one.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110063385.6A CN112891058A (en) | 2021-01-18 | 2021-01-18 | Robot remote fixed-point control method for human eye subretinal injection |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113715029A (en) * | 2021-09-26 | 2021-11-30 | 中山大学 | Autonomous learning method of mechanical arm control method |
| CN114147701A (en) * | 2021-10-29 | 2022-03-08 | 中山大学 | Remote fixed-point correction method for robot |
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| KR102237597B1 (en) * | 2014-02-18 | 2021-04-07 | 삼성전자주식회사 | Master device for surgical robot and control method thereof |
| DE102016111737A1 (en) * | 2016-06-27 | 2017-12-28 | avateramedical GmBH | Instrument carrier device for a manipulator of a robotic surgical system |
| CN106078724B (en) * | 2016-06-29 | 2020-01-24 | 微创（上海）医疗机器人有限公司 | Mechanical arm and surgical robot thereof |
| CN108742733A (en) * | 2018-06-29 | 2018-11-06 | 哈尔滨理工大学 | Novel telescopic type Minimally Invasive Surgery motion arm |
| CN110169825A (en) * | 2019-05-22 | 2019-08-27 | 哈尔滨工业大学 | A kind of nine-degree of freedom series connection main manipulator suitable for micro-wound operation robot |
| CN111430022A (en) * | 2020-03-20 | 2020-07-17 | 苏州新医智越机器人科技有限公司 | Puncture algorithm of puncture surgical robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113715029A (en) * | 2021-09-26 | 2021-11-30 | 中山大学 | Autonomous learning method of mechanical arm control method |
| CN114147701A (en) * | 2021-10-29 | 2022-03-08 | 中山大学 | Remote fixed-point correction method for robot |
| CN114147701B (en) * | 2021-10-29 | 2023-12-01 | 中山大学 | Remote fixed point correction method for robot |
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