CN213465585U - Ophthalmic docking device - Google Patents
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- CN213465585U CN213465585U CN202020667936.0U CN202020667936U CN213465585U CN 213465585 U CN213465585 U CN 213465585U CN 202020667936 U CN202020667936 U CN 202020667936U CN 213465585 U CN213465585 U CN 213465585U
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Abstract
The utility model provides an ophthalmology interfacing apparatus includes: the system comprises a mechanical arm, a docking interface, a moving rack, a light source unit, an optical coherence tomography imaging unit, a data analysis and display unit and a computer processing and control unit, wherein the optical coherence tomography imaging unit acquires an ophthalmic tissue image and a signal of the vertical distance between the mechanical arm and the ophthalmic tissue in real time, the data analysis and display unit displays the acquired ophthalmic tissue image and processes the ophthalmic tissue image, the computer processing and control unit analyzes the ophthalmic tissue image to determine the position and the direction of the ophthalmic tissue, and the vertical distance between the mechanical arm and the ophthalmic tissues is controlled according to the position and the direction of the ophthalmic tissues, the ophthalmic docking device provided by the utility model can realize the accurate focusing and positioning of the light beam during the operation, and presents it to the ophthalmic surgeon in an intuitive manner, improving the quality and safety of the ophthalmic surgery.
Description
Technical Field
The utility model relates to the technical field of medical equipment, in particular to ophthalmology interfacing apparatus.
Background
A variety of advanced surgical laser systems have been developed over the years for ophthalmic surgery to target various portions of the cornea, lens, retina and other ocular structures. Many of these surgical systems include a docking unit, or patient interface, that makes contact with the surgical eye, establishing a well-controlled docking to improve the accuracy of the surgical procedure. The accuracy of the ophthalmic procedure can be improved by increasing the accuracy of the alignment of the docking unit with the surgical target. In corneal surgery where the cornea is unobstructed and visible, alignment of the patient interface with the cornea can be performed by the surgeon in a relatively straightforward manner. However, because the lens is located inside the eye, alignment and docking of the cataract surgery to the patient interface is more difficult for several reasons. Even if the surgeon gives guidance and verbal instructions, it is difficult to align the affected eye with the ophthalmic surgical system. In addition, the visual structure of the eye (e.g., the pupil) is eccentric and tilted, possibly causing displacement and tilt. Furthermore, as the docking unit is lowered to the eye, it applies pressure to the eye, which may cause additional displacement and tilting of the eye.
The accuracy and control of the ophthalmic surgery is substantially affected by the accuracy of these docking and securing steps, and thus increasing the accuracy of the docking procedure can increase the accuracy of the overall ophthalmic surgery. Therefore, there is a need for a device that can precisely control ophthalmic docking.
SUMMERY OF THE UTILITY MODEL
In view of the above, there is a need to provide an ophthalmic docking device capable of precisely controlling ophthalmic docking in response to the drawbacks of the prior art.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
an ophthalmic docking device, comprising: mechanical arm, butt joint interface, travelling gantry, light source unit, optical coherence tomography imaging unit, data analysis display element, computer processing and control unit, the light source unit is connected the optical coherence tomography imaging unit, wherein:
the two ends of the mechanical arm are respectively and fixedly connected with the docking interface and the optical coherence tomography imaging unit, the docking interface is in contact with the ophthalmic tissues fixed on the moving rack, and the optical coherence tomography imaging unit is used for acquiring the images of the ophthalmic tissues and signals of the vertical distance between the mechanical arm and the ophthalmic tissues in real time;
the data analysis and display unit is connected with the optical coherence tomography imaging unit through a signal path and is used for displaying, acquiring and processing the ophthalmic tissue image;
the computer processing and control unit is connected with the data analysis and display unit through a signal path, determines the position and the direction of the ophthalmic tissues by analyzing the ophthalmic tissue images, and is also used for controlling the vertical distance between the mechanical arm and the ophthalmic tissues according to the position and the direction of the ophthalmic tissues.
In some preferred embodiments, the mechanical arm includes a supporting arm, a connecting arm and a free end, which are hinged in sequence, the supporting arm is fixedly connected with the optical coherence tomography imaging unit, the free end is fixedly connected with the docking interface, and a vertical distance between the free end and the ophthalmic tissue is adjustable.
In some preferred embodiments, an XYZ precision adjuster is disposed on the free end, the XYZ precision adjuster being capable of adjusting an XYZ three-dimensional distance between the free end and the ophthalmic tissue.
In some preferred embodiments, the docking interface comprises a reflective lens connected to the free end for focusing a light beam, a negative pressure ring connected to the reflective lens for ophthalmic docking, and an oil tube disposed within the negative pressure ring, wherein the docking interface contacts the ophthalmic tissue through a liquid in the oil tube.
In some preferred embodiments, the center of the negative pressure ring, the center of the reflective lens, and the center of the ophthalmic tissue are in the same horizontal line.
In some preferred embodiments, the moving stage is provided with an XYZ adjuster for adjusting an XYZ three-dimensional distance between the free end and the ophthalmic tissue.
In some preferred embodiments, the ophthalmic tissue is any one of cornea, limbus, pupil, iris, lens, ciliary muscle, vitreous body, or retina.
In some preferred embodiments, the light source unit is a visible light source.
In addition, the utility model also provides a docking method of ophthalmology interfacing apparatus, including the following steps:
adjusting the translation stage to align the docking interface with the ophthalmic tissue;
the optical coherence tomography imaging unit acquires images of an inner eye structure and an anterior eye structure of an ophthalmic tissue;
the data analysis display unit determines a depth domain of an orientation of an inner eye structure from an image of the inner eye structure and a position of the anterior eye structure based on the image of the anterior eye structure;
the computer processing and control unit further adjusts the alignment of the docking interface with the ophthalmic tissue according to the real-time determined eye tissue shape change information, and the robotic arm moves the docking interface based on the determined position and orientation according to instructions of the computer processing and control unit such that the mobile gantry aligns the docking interface with the ophthalmic tissue.
The utility model adopts the above technical scheme's advantage is:
the utility model provides an ophthalmology interfacing apparatus includes: the utility model provides a mechanical arm, butt joint interface, travelling gantry, light source unit, optical coherence tomography imaging unit, data analysis display element, computer processing and the control unit, optical coherence tomography imaging unit is used for gathering in real time the signal of ophthalmic tissue image and the vertical distance between mechanical arm and the ophthalmic tissue, data analysis display element be used for showing gather and handle the ophthalmic tissue image, computer processing and the control unit through analysis the ophthalmic tissue image confirm the position and the direction of ophthalmic tissue, computer processing and the control unit still be used for according to the position and the direction control of ophthalmic tissue the vertical distance between mechanical arm and the ophthalmic tissue, the utility model provides an ophthalmic interfacing apparatus can realize the accurate focus and the location to the light beam during the operation, and presents it to the ophthalmic surgeon in an intuitive manner, improving the quality and safety of the ophthalmic surgery.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an ophthalmic docking device provided in embodiment 1 of the present invention.
Fig. 2 is a flowchart illustrating steps of a docking method of an ophthalmic docking device according to embodiment 2 of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
Example 1
Referring to fig. 1, an ophthalmologic docking apparatus provided in embodiment 1 of the present invention includes: the system comprises a mechanical arm, a docking interface, a moving rack 11, a light source unit 5, an optical coherence tomography imaging unit 1, a data analysis display unit 10 and a computer processing and control unit 9.
The two ends of the mechanical arm are respectively and fixedly connected with the docking interface and the optical coherence tomography imaging unit 1, the docking interface is in contact with the ophthalmic tissues fixed on the moving rack 11, and the optical coherence tomography imaging unit 1 is used for acquiring the images of the ophthalmic tissues and the signals of the vertical distance between the mechanical arm and the ophthalmic tissues in real time.
The data analysis display unit 10 is connected to the optical coherence tomography imaging unit 1 through a signal path, and the data analysis display unit 10 is used for displaying, acquiring and processing the ophthalmic tissue image.
The computer processing and control unit 9 is connected to the data analysis and display unit 10 through a signal path, the computer processing and control unit 9 determines the position and the direction of the ophthalmic tissues by analyzing the ophthalmic tissue images, and the computer processing and control unit 9 is further used for controlling the vertical distance between the mechanical arm and the ophthalmic tissues according to the position and the direction of the ophthalmic tissues.
The structure and connection of the respective components will be described in detail below.
In some embodiments, the robotic arm comprises a support arm 2, a connecting arm 3 and a free end 4, hinged in sequence. The supporting arm 2 is fixedly connected with the optical coherence tomography imaging unit 1, the free end 4 is fixedly connected with the butt joint interface, and the vertical distance between the free end 4 and the ophthalmic tissues is adjustable.
Further, an XYZ precision adjuster 6 is provided on the free end 4, and the XYZ precision adjuster 6 can adjust an XYZ three-dimensional distance between the free end 4 and the ophthalmic tissue.
Since the XYZ precision adjuster 6 is provided on the free end 4, by adjusting the XYZ precision adjuster 6 in the XYZ direction, the XYZ three-dimensional distance between the free end 4 of the robot arm and the ophthalmic tissue can be precisely adjusted.
It can be understood that the embodiment of the present invention provides a robot arm capable of moving based on a determined position and orientation the docking interface docks to an eye and can precisely adjust a vertical distance between the free end 4 of the robot arm and an eye tissue.
In some embodiments, the docking interface comprises a reflective lens 7 connected to the free end 4 for focusing a light beam, a negative pressure ring 8 connected to the reflective lens 7 for ophthalmic docking, and an oil tube (not shown) disposed within the negative pressure ring 8, the docking interface contacting the ophthalmic tissue through a liquid within the oil tube.
Further, the center of the negative pressure ring 8, the center of the reflecting lens 7 and the center of the ophthalmic tissue are in the same horizontal line.
In some embodiments, the moving stage 11 is provided with an XYZ adjustment 12, the XYZ adjustment 12 being capable of adjusting the orientation of the moving stage 11 to adjust the XYZ three-dimensional distance between the free end 4 and the ophthalmic tissue.
It will be appreciated that as a result of the movement of the mobile gantry 11 being operated with the XYZ adjuster 12, positional adjustment of the reflective lens 7 and the docking interface is achieved, reducing and ultimately eliminating eye displacement or misalignment.
In some embodiments, the optical coherence tomography imaging unit 1 includes an OCT light source, a first XYZ-axis tri-galvanometer, and an XYZ-axis tri-scanning lens.
Furthermore, the imaging depth of the optical coherence tomography imaging unit 1 reaches 8 mm; the number of scanning frames per second is 100; the number of scanning times is 20 ten thousand times/second; the withdrawal speed is 20 mm/s; wavelength 820-; the system sensitivity is 6dB/3mm-20dB/3 mm; the maximum power is 2.5mW-3.0 mW.
It will be appreciated that the optical coherence tomography imaging unit 1 of the present invention is not only capable of generating images of the inner and anterior eye structures of the eye tissue, but also capable of providing real time images of the eye tissue during docking and simultaneously providing substantially live images of the eye tissue of the docking procedure.
In some embodiments, the ocular tissue is any one of the cornea, limbus, pupil, iris, lens, ciliary muscle, vitreous, or retina.
In some embodiments, the data analysis display unit 10 is an LED display.
In some embodiments, the computer processing and control unit 9 is a high-powered data processing computer.
In some embodiments, the light source unit 5 is a visible light source system for indicating the optical path setting of the device.
The utility model provides an ophthalmic docking device, the optical coherence tomography imaging unit is used for acquiring the image of ophthalmic tissues and the signal of the vertical distance between the mechanical arm and the ophthalmic tissues in real time, the data analysis display unit is used for displaying and acquiring and processing the ophthalmic tissue image, the computer processing and control unit determines the position and the direction of the ophthalmic tissue by analyzing the ophthalmic tissue image, the computer processing and control unit is also used for controlling the vertical distance between the mechanical arm and the ophthalmic tissues according to the position and the direction of the ophthalmic tissues, the ophthalmic docking device provided by the utility model can realize the accurate focusing and positioning of the light beam during the operation, and presents it to the ophthalmic surgeon in an intuitive manner, improving the quality and safety of the ophthalmic surgery.
Furthermore, the utility model provides an ophthalmology interfacing apparatus adopts the butt joint interface of non-contact, infiltration formula, through liquid contact cornea rather than the awl mirror direct contact cornea, the cornea extrusion is little to avoided contact patient interface can produce that the cornea fold can produce irregular scattering damage corneal tissue or amazing iris and make the pupil shrink.
Example 2
Referring to fig. 2, a docking method of an ophthalmic docking device according to embodiment 2 of the present invention includes the following steps:
step S110: adjusting the mobile gantry 11 to align the docking interface with the ophthalmic tissue.
Step S120: the optical coherence tomography imaging unit 1 acquires images of the inner eye structure and the anterior eye structure of the ophthalmic tissue.
Because the optical coherence tomography imaging unit 1 is connected to the mechanical arm, on one hand, the optical coherence tomography imaging unit can be used for acquiring an eye tissue image in real time and acquiring a signal of a vertical distance between the free end 4 of the mechanical arm and the eye tissue.
It will be appreciated that the optical coherence tomography imaging unit 1 is capable of providing not only a real time image of eye tissue during docking, but a substantially live image of eye tissue for the docking procedure, with real time feedback providing determined eye tissue shape change information, which can deliver immediate information to the surgeon to facilitate better decision making by the surgeon.
Step S130: the data analysis display unit 10 determines the depth field of the inner-eye structure orientation from the image of the inner-eye structure and the position of the anterior-eye structure based on the image of the anterior-eye structure.
Step S140: the computer processing and control unit 9 further adjusts the alignment of the docking interface with the ophthalmic tissue according to the determined eye tissue shape change information in real time; the robotic arm adjusts the relative position and orientation between the robotic arm and the mobile gantry 11 to align the docking interface with the ophthalmic tissue according to instructions from the computer processing and control unit 9.
Specifically, the computer processing and control unit 9 further adjusts the alignment of the docking interface with the ophthalmic tissue according to the determined eye tissue shape change information in real time, and the mechanical arm can precisely adjust the XYZ three-dimensional distance between the free end 4 of the mechanical arm and the ophthalmic tissue by adjusting the XYZ precision adjuster 6 in the XYZ direction according to the instructions of the computer processing and control unit 9.
Meanwhile, the moving stage 11 is provided with an XYZ adjuster 12, and the XYZ adjuster 12 may adjust the orientation of the moving stage 11 to adjust the XYZ three-dimensional distance between the free end 4 and the ophthalmic tissue.
It will be appreciated that the docking interface may assist in docking the patient interface with the eye, the optical coherence tomography imaging unit 1 generates images of eye tissue and provides shifting and tilting in conjunction with target position and orientation prior to docking, and that docking of the patient interface with the eye may be further refined during docking according to an imaging system that images eye tissue in real time.
The utility model provides an ophthalmology interfacing apparatus method can realize the accurate focus and the location to the light beam during the operation to with its guide ophthalmology interfacing apparatus of imaging system who presents to the eye surgeon with audio-visual mode, improve the quality and the security of eye surgery operation.
Furthermore, the utility model provides an ophthalmology interfacing apparatus adopts the butt joint interface of non-contact, infiltration formula, through liquid contact cornea rather than the awl mirror direct contact cornea, the cornea extrusion is little to avoided contact patient interface can produce that the cornea fold can produce irregular scattering damage corneal tissue or amazing iris and make the pupil shrink.
It is to be understood that various features of the above-described embodiments may be combined in any combination, and for the sake of brevity, all possible combinations of features in the above-described embodiments may not be described in detail, but rather, all combinations of features may be considered to fall within the scope of the present disclosure unless there is a conflict between such combinations.
Of course, the positive electrode material of the ophthalmic docking device of the present invention may also have various changes and modifications, and is not limited to the specific structure of the above embodiment. In conclusion, the scope of the present invention should include those changes or substitutions and modifications which are obvious to those of ordinary skill in the art.
Claims (8)
1. An ophthalmic docking device, comprising: mechanical arm, butt joint interface, travelling gantry, light source unit, optical coherence tomography imaging unit, data analysis display element, computer processing and control unit, the light source unit is connected the optical coherence tomography imaging unit, wherein:
the two ends of the mechanical arm are respectively and fixedly connected with the docking interface and the optical coherence tomography imaging unit, the docking interface is in contact with the ophthalmic tissues fixed on the moving rack, and the optical coherence tomography imaging unit is used for acquiring the images of the ophthalmic tissues and signals of the vertical distance between the mechanical arm and the ophthalmic tissues in real time;
the data analysis and display unit is connected with the optical coherence tomography imaging unit through a signal path and is used for displaying, acquiring and processing the ophthalmic tissue image;
the computer processing and control unit is connected with the data analysis and display unit through a signal path, determines the position and the direction of the ophthalmic tissues by analyzing the ophthalmic tissue images, and is also used for controlling the vertical distance between the mechanical arm and the ophthalmic tissues according to the position and the direction of the ophthalmic tissues.
2. An ophthalmic docking device as claimed in claim 1, wherein the robotic arm comprises a support arm, a connecting arm and a free end hinged in sequence, the support arm being fixedly connected to the optical coherence tomography imaging unit, the free end being fixedly connected to the docking interface, the vertical distance between the free end and the ophthalmic tissue being adjustable.
3. An ophthalmic docking device as claimed in claim 2, wherein an XYZ precision adjuster is provided on the free end, the XYZ precision adjuster being capable of adjusting an XYZ three-dimensional distance between the free end and the ophthalmic tissue.
4. An ophthalmic docking device as claimed in claim 3, wherein the docking interface comprises a reflective lens coupled to the free end for focusing a light beam, a negative pressure ring coupled to the reflective lens for ophthalmic docking, and an oil tube disposed within the negative pressure ring, the docking interface contacting the ophthalmic tissue through a liquid within the oil tube.
5. An ophthalmic docking device as claimed in claim 4, wherein the center of the negative pressure ring, the center of the reflective lens and the center of the ophthalmic tissue are in the same horizontal line.
6. An ophthalmic docking device as claimed in claim 2, wherein the translation stage is provided with an XYZ adjustment mechanism, the XYZ adjustment mechanism being capable of adjusting the orientation of the translation stage to adjust the XYZ three-dimensional distance between the free end and the ophthalmic tissue.
7. An ophthalmic docking device according to claim 1, wherein said ophthalmic tissue is any one of cornea, limbus, pupil, iris, lens, ciliary muscle, vitreous or retina.
8. An ophthalmic docking device as claimed in claim 1, wherein the light source unit is a visible light source.
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| CN202020667936.0U CN213465585U (en) | 2020-04-27 | 2020-04-27 | Ophthalmic docking device |
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| CN202020667936.0U CN213465585U (en) | 2020-04-27 | 2020-04-27 | Ophthalmic docking device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113729615A (en) * | 2021-10-12 | 2021-12-03 | 中山大学中山眼科中心 | Optical coherence tomography device with a hand-held probe |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113729615A (en) * | 2021-10-12 | 2021-12-03 | 中山大学中山眼科中心 | Optical coherence tomography device with a hand-held probe |
| CN113729615B (en) * | 2021-10-12 | 2023-01-13 | 中山大学中山眼科中心 | Optical coherence tomography device with a hand-held probe |
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