CN117796986A - Hand-held ophthalmic injection tool based on parallel mechanism and use method thereof - Google Patents
Hand-held ophthalmic injection tool based on parallel mechanism and use method thereof Download PDFInfo
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- CN117796986A CN117796986A CN202311846282.2A CN202311846282A CN117796986A CN 117796986 A CN117796986 A CN 117796986A CN 202311846282 A CN202311846282 A CN 202311846282A CN 117796986 A CN117796986 A CN 117796986A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 112
- 238000002347 injection Methods 0.000 title claims abstract description 34
- 239000007924 injection Substances 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title claims abstract description 17
- 206010044565 Tremor Diseases 0.000 claims abstract description 32
- 230000009467 reduction Effects 0.000 claims description 13
- 238000005259 measurement Methods 0.000 claims description 12
- 230000002401 inhibitory effect Effects 0.000 claims description 4
- 238000007405 data analysis Methods 0.000 claims description 3
- 238000001356 surgical procedure Methods 0.000 abstract description 9
- 206010008531 Chills Diseases 0.000 abstract 1
- 239000000835 fiber Substances 0.000 description 7
- 230000004044 response Effects 0.000 description 6
- 230000001629 suppression Effects 0.000 description 6
- 238000013461 design Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 210000001525 retina Anatomy 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 210000004204 blood vessel Anatomy 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005764 inhibitory process Effects 0.000 description 2
- 238000002406 microsurgery Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000001802 infusion Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Abstract
The invention provides a handheld ophthalmic injection tool based on a parallel mechanism and a use method thereof, comprising a handheld shell, a motion acquisition mechanism for acquiring shivering signals of hands of doctors, a driving mechanism, a parallel mechanism and an executing mechanism, wherein the parallel mechanism comprises a fixed platform, a movable platform and three motion branched chains, the driving mechanism is provided with three groups of motion branched chains, the three motion branched chains are respectively and correspondingly controlled, the movable platform comprises a movable platform upper part, a movable platform lower part and a luer connector, the movable platform upper part and the movable platform lower part are connected by bolts, the luer connector clamp is fastened and fixed at a central position, and the motion branched chains comprise a sliding block and a connecting rod, and the sliding block is connected through the driving mechanism to obtain power. Compared with the traditional robotic surgical system, the injection tool is closest to the existing surgical procedure, solves the problem of hand tremble, simultaneously reserves direct control of the tool for an ophthalmologist, enhances the safety of the system and reduces the time for the doctor to learn a new surgical procedure.
Description
Technical Field
The invention relates to the technical field of ophthalmic surgical instruments, in particular to a handheld ophthalmic injection tool based on a parallel mechanism and a use method thereof.
Background
Vitreoretinal surgery is the most effective method of treating many ophthalmic diseases. In such a surgical procedure, a doctor needs to perform an operation of peeling or injecting the retina or a blood vessel thereon by operating a light source with one hand and operating an ophthalmic interventional tool (an injection needle, an intraocular forceps, etc.) with one hand with the aid of a medical microscope. The internal structure of human eyes is very fine and fragile, the thickness of retina is 100-300 mu m, the diameter of blood vessel in retina is 40-120 mu m, and the average tremble amplitude of physiological hand of doctor is about 180 mu m, and the maximum tremble amplitude is more up to 2mm. Thus, it is difficult for a human hand to meet the precision requirements required for this type of procedure, even for a surgeon who is trained strictly for a long period of time.
Patent publication No. CN113397810 discloses a hand-held device for ophthalmic surgery, which recognizes physiological tremble signals of hands through a motion acquisition mechanism, i.e. an inertial measurement unit, detects contact force by using a Bragg grating force sensor, and jointly controls a tremble suppression mechanism to suppress tremble of hands by using two signals. However, the device tremble suppression mechanism is a flexible mechanism driven by a piezoelectric fiber sheet, and is driven by the piezoelectric fiber sheet, and the device has the advantages of high precision and quick response, but the displacement range of the piezoelectric fiber sheet is relatively limited, and is usually tens of micrometers. Therefore, the working space of the tremble suppression mechanism driven by the piezoelectric fiber sheet can only reach hundreds of micrometers at most, and according to related researches, the maximum range of the tremble of the human hand can reach about 1 to 2 millimeters, so the defect that the defibrillation range, namely the working space, is insufficient exists in the driving by the piezoelectric fiber sheet.
The patent with the publication number of CN111588462 discloses a hand-held anti-shake surgical robot for microsurgery, which utilizes a light-emitting element to collect physiological shake signals of hands and sends the physiological shake signals to a controller, the controller sends movement signals in opposite directions to a miniature piezoelectric linear motor according to shake of the hands, and the motor drives a flexible six-degree-of-freedom parallel mechanism to complete the task of inhibiting shake of hands. The application has the following two disadvantages: first, the robot adopts a flexible hinge to form a parallel mechanism, and although the flexible hinge has the advantage of light assembly quality, the flexible characteristic of the flexible hinge can lead the flexible hinge to deform and bend when bearing load, which can lead the rigidity and stability of the whole structure to be reduced, and can cause uncertainty of movement, thereby influencing accurate defibrillation inhibition operation. Second, the driving of the tremble suppressing mechanism, i.e. the parallel mechanism, is located between the moving and fixed platforms, and moves together with the moving platform, and this configuration design reduces the response speed of the system due to the excessive mass of the moving parts.
Disclosure of Invention
(one) solving the technical problems
Aiming at the defects of the prior art, the invention provides the handheld ophthalmic injection tool based on the parallel mechanism and the use method thereof, which reduce the difficulty of ophthalmic microsurgery and improve the success rate of doctor operation, and have important significance.
(II) technical scheme
In order to achieve the above purpose, the invention is realized by the following technical scheme: the utility model provides a handheld ophthalmic injection instrument based on parallel mechanism, includes handheld shell, is used for gathering motion collection mechanism, actuating mechanism, parallel mechanism and actuating mechanism that doctor's hand tremble signal, parallel mechanism includes fixed platform, moves platform and three motion branched chains, actuating mechanism has three groups, corresponds control three motion branched chains respectively, move the platform and include on the platform, move under the platform and luer, use bolted connection on the platform, move under the platform to fix luer clamp in central point, the motion branched chains includes slider and connecting rod, the slider passes through actuating mechanism to be connected and obtains power, pass through the shifting pair connection between slider and the fixed platform, pass through the revolute pair connection between slider and the connecting rod, pass through spherical hinge connection between connecting rod and the movable platform.
Preferably, the handheld shell comprises an upper shell, a middle shell and a lower shell, wherein the upper shell, the fixed platform, the middle shell, the lower shell and the motion acquisition mechanism are sequentially connected, and the handheld shell is internally provided with a driving mechanism and a parallel mechanism.
Preferably, the driving mechanism comprises a combined motor and a screw rod, the combined motor comprises a planetary reduction gearbox, a direct current motor and an encoder, the direct current motor, the planetary reduction gearbox and the screw rod are sequentially connected and fixed at the first position, and the sliding block is connected with the screw rod through a thread pair to obtain power.
Preferably, the motion acquisition mechanism comprises a mounting seat and an inertial measurement unit arranged in the mounting seat.
A method of using a parallel mechanism-based hand-held ophthalmic injection tool, the method comprising the steps of:
step one, acquiring motion data of a doctor hand trembling to drive an injection tool through an inertia measurement unit, calculating the actual position of the tip of an injection tool executing mechanism by a data analysis unit through the motion data, and inputting the actual position into a motion calculation unit;
step two, the motion calculation unit compares the actual position with the target position which is set at the beginning, calculates the motion track of the motor through inverse kinematics of the parallel mechanism, and transmits the motion track to the controller; then the controller sends a motion instruction to the motor driver to enable the motor driver to send a control signal;
step three, a step of performing; after receiving control signals from a motor driver, the direct current motor and the encoder rotate by corresponding angles to drive the planetary reduction box to move, so that a screw rod connected with the planetary reduction box is driven to rotate; the rotation of the screw rod is converted into linear motion of the sliding block along the inner hole of the fixed platform through the screw thread pair, so that the connecting rod is driven to move, the three motion chains simultaneously perform the operations, finally, the movable platform connected with the connecting rod through the spherical hinge generates expected motion, an actuating mechanism directly connected with the movable platform reaches an expected position, and the function of inhibiting tremble of hands of doctors is realized.
(III) beneficial effects
The invention provides a handheld ophthalmic injection tool based on a parallel mechanism and a use method thereof.
The beneficial effects are as follows:
1. the hand-held ophthalmic injection tool based on the parallel mechanism and the application method thereof collect the hand tremble signals of doctors by using the motion collection mechanism. The control system determines whether the movement is due to judder by comprehensively analyzing the signals and calculates the movement required to suppress such judder driving mechanisms. Then, the controller sends a motion instruction to the driving mechanism so as to drive the parallel mechanism to move, so that the actuating mechanism carries out fine adjustment of pitching, rolling and axial direction, thereby eliminating tremble of hands of doctors, and realizing more accurate, safe and stable injection operation. Compared with the traditional robotic surgical system, the injection tool is closest to the existing surgical procedure, solves the problem of hand tremble, simultaneously reserves direct control of the tool for an ophthalmologist, enhances the safety of the system and reduces the time for the doctor to learn a new surgical procedure.
2. Compared with the method for using the piezoelectric fiber sheet to drive, the handheld ophthalmic injection tool based on the parallel mechanism uses the direct current motor to drive and converts the rotation of the motor into the movement of the sliding block by the screw rod. The combination enables the displacement range of the driving module to be equal to the length of the screw rod, and the length of the screw rod can be freely designed according to requirements, so that the defibrillation range of the tool, namely the working space, can completely meet the defibrillation requirement.
3. Compared with the parallel mechanism which is formed by flexible hinges, the parallel mechanism is formed by rigid hinges, has higher rigidity and stability, is not easy to deform and bend when bearing load, has high stability, can realize more stable and accurate motion control compared with the flexible hinges, and is more suitable for application scenes requiring high precision and high repeatability in tremble inhibition.
4. The parallel mechanism-based handheld ophthalmic injection tool and the use method thereof have the advantages that the parallel mechanism-based handheld ophthalmic injection tool is characterized in that the parallel mechanism-based tremble suppression mechanism is driven to be arranged on the fixed platform and cannot move together, the design reduces the motion inertia, the response speed of the system is improved, and the parallel mechanism-based handheld ophthalmic injection tool is more suitable for eliminating tremble application scenes requiring high response speed.
Drawings
FIG. 1 is an external isometric view of the present invention;
FIG. 2 is a schematic view of the internal structure of the hand-held housing of the present invention;
FIG. 3 is a schematic diagram of a motion capture mechanism according to the present invention;
FIG. 4 is a schematic diagram of the cooperation of the parallel mechanism and the driving mechanism according to the present invention;
fig. 5 is a flowchart of the judder suppression control system according to the present invention.
In the figure: the device comprises a hand-held shell, an upper shell, a middle shell, a lower shell, a motion acquisition mechanism, a mounting seat, an inertial measurement unit, a driving mechanism, a combined motor, a 32 screw rod, a 311 planetary reduction gearbox, a 312 direct-current motor, a 313 encoder, a 4 parallel mechanism, a 41 fixed platform, a 42 movable platform, a 421 movable platform upper part, a 422 movable platform lower part, a 423 luer connector, a 43 motion branched chain, a 431 sliding block, a 432 connecting rod and an executing mechanism.
Detailed Description
The embodiment of the invention provides a handheld ophthalmic injection tool based on a parallel mechanism, which comprises a handheld shell 1, a motion acquisition mechanism 2, a driving mechanism 3, a parallel mechanism 4 and an executing mechanism 5 as shown in figures 1-5.
As shown in fig. 1, the handheld housing 1 includes an upper housing 11, a middle housing 13, and a lower housing 14, where the upper housing 11, the fixed platform 41, the middle housing 13, the lower housing 14, and the motion acquisition mechanism 2 are sequentially connected, and the five parts are fixedly connected by screws or bolts, so as to protect and fix an internal mechanism module, and form an integral housing of the injection tool. The front end and the tail end of the shell are provided with channels for the actuator 5, the cables and the infusion tube to pass through. The hand-held shell 1 is internally provided with a driving mechanism 3 and a parallel mechanism 4. The overall external dimension of the hand-held shell 1 accords with the design principle of human engineering and is more suitable for being held by doctors.
As shown in fig. 3, the motion capture mechanism 2 includes a mount 21 and an inertial measurement unit 22 disposed within the mount 21. The mounting block 21 includes a mounting block upper portion and a mounting block lower portion that are bolted together, while both secure the inertial measurement unit 22 in the internal channel, and the overall shape of the mounting block remains consistent with the hand-held housing. The inertial measurement unit 22 is a three-axis inertial measurement unit. The inertial measurement unit 22 may be a position sensor. The motion acquisition mechanism 2 is used for acquiring signals of trembling hands of doctors. The control system determines whether the movement is due to judder by comprehensively analyzing the signals and calculates the movement required to suppress such judder driving mechanisms. Then, the controller sends a motion instruction to the driving mechanism, so that the parallel mechanism 4 is driven to move, and the actuating mechanism 5 is enabled to conduct fine adjustment of pitching, rolling and axial direction, so that tremble of hands of doctors is eliminated, and more accurate, safe and stable injection operation is achieved.
As shown in fig. 2 and 4, the parallel mechanism 4 is installed in the upper housing 11 and the middle housing 13, the parallel mechanism 4 includes a fixed platform 41, a movable platform 42 and three moving branched chains 43, the driving mechanism 3 has three groups, which respectively control the three moving branched chains 43, and the three moving branched chains 43 have identical structures and are uniformly distributed in the circumferential direction. The movable platform 42 comprises a movable platform upper 421, a movable platform lower 422 and a luer connector 423, the movable platform upper 421 and the movable platform lower 422 are connected through bolts, the luer connector 423 is clamped and fixed at the center, the movable branched chain 43 comprises a sliding block 431 and a connecting rod 432, the sliding block 431 is connected through a driving mechanism 3 to obtain power, the sliding block 431 is connected with the fixed platform 41 through a movable pair, the sliding block 431 is connected with the connecting rod 432 through a revolute pair, the revolute pair is arranged on the fixed platform 41, and the connecting rod 432 is connected with the movable platform 42 through a spherical hinge. The angle of the movable platform 42 is adjusted by three links 432, thereby adjusting the position of the actuator 5 on the luer fitting 423.
As shown in fig. 2 and 4, the driving mechanism 3 is installed in the middle housing 13 and the lower housing 14, the driving mechanism 3 includes a combination motor 31 and a screw rod 32, and a bracket of the combination motor 31 is fixed between the middle housing 13 and the lower housing 14, so that axial fixation and circumferential fixation of the combination motor are ensured. The combined motor 31 comprises a planetary reduction gearbox 311, a direct current motor 312 and an encoder 313, wherein the encoder 313, the direct current motor 312, the planetary reduction gearbox 311 and a screw rod 32 are sequentially connected and fixed at the first position, and a sliding block 431 is connected with the screw rod 32 through a thread pair to obtain power. The screw rod 32 converts the rotary motion of the combination motor 31 into linear motion, and the screw rod 32 is fixedly connected with an output shaft of the combination motor 31 through a set screw.
The actuating mechanism 5 is the needle of the injector, and is connected with the movable platform 42 through the luer connector 423 and can be detached and replaced.
Compared with the traditional robotic surgical system, the injection tool is closest to the existing surgical procedure, solves the problem of hand tremble, simultaneously reserves direct control of the tool for an ophthalmologist, enhances the safety of the system and reduces the time for the doctor to learn a new surgical procedure.
The dc motor 312 is used to drive and the screw 32 is used to translate the rotation of the motor into movement of the slider, as opposed to using a piezo-electric fiber sheet drive. The combination enables the displacement range of the driving module to be equal to the length of the screw rod 32, and the length of the screw rod 32 can be freely designed according to requirements, so that the defibrillation range, namely the working space, of the tool can completely meet the defibrillation requirements.
Compared with the tremble suppressing mechanism formed by adopting the flexible hinge, the tremble suppressing mechanism, namely the parallel mechanism 4, is formed by all rigid hinges, has higher rigidity and stability, is not easy to deform and bend when bearing load, ensures that the stability of the whole mechanism is very high, can realize more stable and accurate motion control compared with the flexible hinge, and is more suitable for the application scene requiring high precision and high repeatability in tremble suppressing.
The tremble suppression mechanism, namely the parallel mechanism 4, is driven to be arranged on the fixed platform 41 and cannot move along with the fixed platform, and the design reduces the motion inertia, so that the response speed of the system is improved, and the device is more suitable for eliminating the tremble application scene requiring high response speed.
A method of using a parallel mechanism-based hand-held ophthalmic injection tool, the method comprising the steps of:
step one, acquiring motion data of a doctor hand trembling to drive an injection tool through an inertia measurement unit, calculating the actual position of the tip of an injection tool executing mechanism by a data analysis unit through the motion data, and inputting the actual position into a motion calculation unit;
step two, the motion calculation unit compares the actual position with the target position which is set at the beginning, calculates the motion track of the motor through inverse kinematics of the parallel mechanism, and transmits the motion track to the controller; then the controller sends a motion instruction to the motor driver to enable the motor driver to send a control signal;
step three, a step of performing; after receiving control signals from a motor driver, the direct current motor 312 and the encoder 313 rotate by corresponding angles to drive the planetary reduction gearbox 311 to move, so as to drive the screw rod 32 connected with the planetary reduction gearbox 311 to rotate; the rotation of the screw rod 32 is converted into the linear motion of the sliding block 431 along the inner hole of the fixed platform 41 through the screw pair, so that the connecting rod 432 is driven to move, the three motion chains simultaneously perform the above operations, finally, the movable platform 42 connected with the connecting rod 432 through the spherical hinge generates the expected motion, and the actuating mechanism 5 directly connected with the movable platform 42 reaches the expected position, so that the function of inhibiting the tremble of hands of doctors is realized.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides a handheld ophthalmic injection instrument based on parallel mechanism, includes handheld shell (1), is used for gathering motion collection mechanism (2), actuating mechanism (3), parallel mechanism (4) and actuating mechanism (5) of doctor's hand tremble signal, its characterized in that: the parallel mechanism (4) comprises a fixed platform (41), a movable platform (42) and three movement branched chains (43), wherein the driving mechanism (3) is provided with three groups of three movement branched chains (43) which are respectively and correspondingly controlled, the movable platform (42) comprises a movable platform upper part (421), a movable platform lower part (422) and a luer connector (423), the movable platform upper part (421) and the movable platform lower part (422) are connected by bolts, the luer connector (423) is clamped and fixed at a central position, the movement branched chains (43) comprise a sliding block (431) and a connecting rod (432), the sliding block (431) is connected with the fixed platform (41) through a driving mechanism (3) to obtain power, the sliding block (431) is connected with the fixed platform (41) through a movable pair, the sliding block (431) is connected with the connecting rod (432) through a revolute pair, and the connecting rod (432) is connected with the movable platform (42) through a spherical hinge.
2. A parallel mechanism based hand held ophthalmic injection tool according to claim 1, wherein: the handheld shell (1) comprises an upper shell (11), a middle shell (13) and a lower shell (14), wherein the upper shell (11), a fixed platform (41), the middle shell (13), the lower shell (14) and the motion acquisition mechanism (2) are sequentially connected, and the handheld shell (1) is internally provided with a driving mechanism (3) and a parallel mechanism (4).
3. A parallel mechanism based hand held ophthalmic injection tool according to claim 2, wherein: the driving mechanism (3) comprises a combined motor (31) and a screw rod (32), the combined motor (31) comprises a planetary reduction gearbox (311), a direct current motor (312) and an encoder (313), the direct current motor (312), the planetary reduction gearbox (311) and the screw rod (32) are sequentially connected and fixed at the first position, and the sliding block (431) is connected with the screw rod (32) through a thread pair to obtain power.
4. A parallel mechanism based hand held ophthalmic injection tool according to claim 2, wherein: the motion acquisition mechanism (2) comprises a mounting seat (21) and an inertial measurement unit (22) arranged in the mounting seat (21).
5. A method of using a hand-held ophthalmic injection tool based on a parallel mechanism, characterized in that an injection tool according to any one of claims 1-4 is used, the method comprising the steps of:
step one, acquiring motion data of a doctor hand trembling to drive an injection tool through an inertia measurement unit, calculating the actual position of the tip of an injection tool executing mechanism by a data analysis unit through the motion data, and inputting the actual position into a motion calculation unit;
step two, the motion calculation unit compares the actual position with the target position which is set at the beginning, calculates the motion track of the motor through inverse kinematics of the parallel mechanism, and transmits the motion track to the controller; then the controller sends a motion instruction to the motor driver to enable the motor driver to send a control signal;
step three, a step of performing; after the direct current motor (312) and the encoder (313) receive control signals from the motor driver, the direct current motor (312) rotates by a corresponding angle to drive the planetary reduction gearbox (311) to move, so as to drive the screw rod (32) connected with the planetary reduction gearbox (311) to rotate; the rotation of the screw rod (32) is converted into the linear motion of the sliding block (431) along the inner hole of the fixed platform (41) through the screw thread pair, so that the connecting rod (432) is driven to move, the three motion chains simultaneously perform the above operations, finally, the movable platform (42) connected with the connecting rod (432) through the spherical hinge generates the expected motion, and the actuating mechanism (5) directly connected with the movable platform (42) reaches the expected position, so that the function of inhibiting the tremble of hands of doctors is realized.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311846282.2A CN117796986A (en) | 2023-12-28 | 2023-12-28 | Hand-held ophthalmic injection tool based on parallel mechanism and use method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311846282.2A CN117796986A (en) | 2023-12-28 | 2023-12-28 | Hand-held ophthalmic injection tool based on parallel mechanism and use method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN117796986A true CN117796986A (en) | 2024-04-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202311846282.2A Pending CN117796986A (en) | 2023-12-28 | 2023-12-28 | Hand-held ophthalmic injection tool based on parallel mechanism and use method thereof |
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| Country | Link |
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| CN (1) | CN117796986A (en) |
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2023
- 2023-12-28 CN CN202311846282.2A patent/CN117796986A/en active Pending
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