WO2021000288A2 - Method for implementing automatic suture-less primary corneal incision - Google Patents

Description

Method for realizing automatic seamless closure of main corneal incision Technical field

The present invention relates to the field of automated surgery, and more specifically, to a method for realizing automatic seamless closure of a main corneal incision.

Background technique

The initial step of cataract surgery is to make a main corneal incision in the corneal layer of the patient’s eye. The existing method is mainly manual operation by doctors through instruments, but different doctors will make different operations for different patients. The quality of the incision depends on the technique and status of the surgeon. When making a seamless main incision, the required accuracy is high, and manual operation is likely to cause damage to the incision.

The publication number "CN102639088B" discloses a laser system and method for suturing corneal incisions and corneal incisions. Lasers are used to perform automated operations on the incisions, but lasers are also likely to cause other damage to the corneal layer.

Summary of the invention

The present invention aims to solve the above-mentioned technical problems at least to a certain extent, and provide a method for realizing automatic seamless fusion of the main corneal incision, so as to avoid additional damage during the imported corneal incision surgery.

In order to solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a method for automating the seamless joint of the main corneal incision, including a machine operating arm and a scalpel mounted on the machine operating arm, the machine operating arm including a clamp A clamping device holding the scalpel and a driving arm that drives the clamping device to swing; the driving arm is provided with a first linear motor and a second linear motor, and the clamping device is equipped with a third linear motor, It includes the following steps:

Step 1: Use the microscope camera system to take two images with a millimeter vertical displacement;

Step 2: Perform preprocessing on each image, convert it into an image with gray value, and perform corner detection on the first image to obtain a number of candidate corner points, and obtain the coordinates of the corner points;

Step 3: With several corner points as the center and R _j as the radius, find the black point and white point relative to the corner point, and the black point is located in the white pixel area of the corner point and the white point is located in the black area of the corner point. The pixel gray scale of the queen is <0.5 and the pixel gray scale of the white queen is> 0.5, then the corner point is the scalpel point P′ _i , and the calculation formulas for the positions of the black and white points are as follows:

Among them, X _blacki and Y _blacki are the coordinates of the black points, X _whitei and Y _whitei are the coordinates of the white points, X _j and Y _j are the corner points as the center, and R _j is the radius of all pixels in the range each coordinate point of the gradation values for I, range maximum selected radius; X _i, Y _i respectively scalpel point P 'coordinate value of _i.

Step 4: Match the first image P′ _i to the second image to obtain the pixel distance between the matching points P” _i , P′ _i and P” _i ;

Step 5: The formula for calculating the depth of the scalpel point is as follows:

Among them, r is the distance between the scalpel point P′ and the magnification center of the microscope, and Δr is the pixel distance between P′ _i and P″ _i , called parallax;

Step 6: Obtain the position and relative depth of the scalpel according to the calculation, and obtain the position of the iris, and locate the incision on the edge of the iris that is closest to the center of the pupil;

Step 7: The standard seamless corneal main incision is defined as a loose "Z" shape, and the machine operating arm controls the scalpel to move along the set incision path.

Preferably, in step four, the process of matching the P _'i establish a P' _i point as the center square area basis, than the defined point P _'i is adjacent to the point, each of the adjacent points is defined with respect The depth of P′ _{i is} the same; when matching all the basic points in the square area, the matching points corresponding to the second image are calculated respectively. The matching points and the corresponding disparity are calculated by selecting the disparity that minimizes the value of the cost function. Among them, the cost function formula is:

C(P′ _ij ,Δr)=min{d(P′ _ij ,P′ _ij -Δr,I _Z ,I _za ),d(P′ _ij -Δr,P′ _ij ,I _Za ,I _z }

d(P′ _ij ,P′ _ij -Δr,I _z ,I _za )=minP′ _ij -Δr-0.5

≤P′ _ij -Δr+0.5{|I _z (P′ _ij )-I _za (P″ _ij )|}

Where P′ _ij is the pixel position corresponding to the base point, P″ _ij is the pixel position corresponding to the matching point, I _z is the gray value of each pixel in the first image, and I _za is each pixel in the second image. grayscale images, I _z (P _'ij) is P' _ij gradation values, I _za (P _"ij) is P" _ij gray value.

Preferably, the step between four and five step is provided with checking step, the matching points in the image corresponding to P _{"ij of} relative P" position _i with respect to the adjacent point coincides with the position P _'i, and (wherein, P′ _ij is the domain point, P″ _ij is the matching point of the domain point, P′ _i is the center point, and P′ _i is the matching point of the center point) then the verification is successful. Add one point to the center P′ _i , the total number of votes 8 votes (8 domain points), 4 votes or more (including 4 votes) are matched successfully; otherwise, the basic point square area is established with each neighboring point as the center, and the calculation formula in step 4 is re-executed to calculate the matching points again Run the voting with the corresponding parallax, and the first person with more than 4 votes wins. More than half of the matching points are in the same position as the near point, which avoids the situation where P′ _i is a noise point and improves the accuracy of the scalpel point .

Preferably, the first adjacent point successfully checked is defined as the new P′ _i point, and other close points and unsuccessful points are discarded, and then the remaining matching points P″ _ik in the second image are taken as The base point is matched with the first image, and the check point is obtained. The check point is consistent with the base point, the matching is successful. If not, perform the check step again. Flip the matching direction and check the correctness of the match again to improve The accuracy of the scalpel point.

Preferably, the interpolation optimization calculation is performed on the depth calculation formula of the scalpel point in the fifth step. Optimize the calculation by interpolation to make the depth calculation more accurate. Each P″ _ik sets two interpolation points along the epipolar line L _ik , namely the left interpolation point P″ _ikl and the right interpolation point P″ _ikr , and the cost function of the square area matching is used to calculate the cost C(P′ _i , Δr _ikr ), C(P′ _i ,Δr _ikl ) and C(P′ _i ,Δr _ik ), remove the minimum cost interpolation point or origin, delete the other two points, and get the final depth formula as follows:

Among them, _Lik is the epipolar line, and Z _kj is the depth corresponding to P″ _ik and P′ _ij ;

The final depth calculation formula:

Wherein, n _o is the number of Z _kj.

Preferably, the calculation formulas of the interpolation points are:

P″ _ikl ＝(P″ _ik+Li +P″ _ik )/2

P″ _ikr ＝(P″ _ik-Li +P″ _ik )/2

Wherein, P _{"ik + Li} to P" move pixel value Li of the distance along the epipolar forward _ik, P _"ik-Li to P" move pixel value Li of the distance along the epipolar _ik negative.

Preferably, the incision path is defined as follows:

S1: The scalpel enters the corneal layer;

S2: Raise the scalpel 40-50 degrees and perform RCM movement at the first remote center point;

S3: The scalpel advances according to the angle in S2 until it reaches the second remote center point;

S4: Perform RCM movement, the scalpel is lowered 40-50 degrees;

S5: The scalpel continues to advance at the angle of S4 until it penetrates the cornea.

Preferably, in the seventh step, the scalpel performs RCM movement, the position of the RCM point is fixed, and the control strategy formula of the RCM point is as follows:

为手术刀刀面与夹持装置连接端的夹角；

为手术刀刀面与水平面的夹角；L _o为刀面长度；dm为第三线性马达到第一线性马达或第二线性马达的水平轴的垂直距离。 Among them, x _R is the X-axis coordinate position of the RCM point; y _R is the Y-axis coordinate position of the RCM point; L ₁ is the linear displacement of the first linear motor; L ₂ is the linear displacement of the second linear motor; L _tool is the clamp The distance between the holding device and the tip of the scalpel; L ₃ is the linear displacement of the third linear motor;

Is the angle between the scalpel blade face and the connecting end of the clamping device

Is the angle between the blade surface of the scalpel and the horizontal plane; L _o is the length of the blade surface; dm is the vertical distance from the third linear motor to the horizontal axis of the first linear motor or the second linear motor.

的角度变化轨迹为

第一线性马达、第二线性马达和第三线性马达的设定轨迹公 式如下： Preferably, the scalpel rotates around the RCM point, and

The angle change trajectory is

The trajectory formulas of the first linear motor, the second linear motor and the third linear motor are as follows:

Among them, h is the linear distance between the first linear motor and the second linear motor.

When the scalpel is moving and rotating, the trajectories of the first linear motor, the second linear motor and the third linear motor are calculated according to the coordinate control strategy of the RCM point. At the same time, when moving, the trajectories of the first linear motor, the second linear motor and the third linear motor are also calculated according to the formula to achieve the effect of controlling the movement of the scalpel.

Preferably, the control method of the parallel-series-joint machine operating arm is that the first linear motor, the second linear motor and the third linear motor define from the previous target position to the third linear motor by using linear interpolation. The position between the next target position and the step length between the two target positions.

Preferably, the target position of each step is obtained by calculating the incision path to obtain the position of each millisecond.

Preferably, before performing step 1, the microscope system and the machine operating arm are initialized. During the initialization process, the X-axis and Y-axis coordinates of the machine operating arm and the microscope camera system are consistent. The coordinates of the machine operating arm and the microscope system are consistent, and the coordinates of the machine operating arm's execution movement are consistent with the calculated coordinates to ensure the accuracy of the machine operating arm's movement.

Preferably, the width of the incision is not greater than the width of the blade surface of the scalpel. The machine operating arm controls the scalpel to move only along the incision path and does not perform displacement in other directions, ensuring that the width of the incision is not greater than the width of the scalpel blade surface, and avoiding the expansion of the incision.

Compared with the prior art, the beneficial effect is: this method is based on a machine operating arm and a scalpel, realizes a method of fully automatic corneal incision with a scalpel, avoids the inaccuracy of manual operation and the damage of wound enlargement. Avoid laser damage to the corneal layer.

Description of the drawings

Figure 1 is a flow chart of the method of the present invention;

Figure 2 is a schematic diagram of the structure of the machine operating arm;

Figure 3 is a schematic view of the incision path of the present invention.

Among them, 1. scalpel; 2. clamping device; 3. first linear motor; 4. second linear motor; 5. third linear motor; 6. corneal layer; 7. first remote center point; 8. The second remote center point.

Detailed ways

The attached drawings are only for illustrative purposes and cannot be understood as a limitation of this patent; in order to better illustrate this embodiment, some parts of the attached drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; It is understandable for the personnel that some well-known structures in the drawings and their descriptions may be omitted. The positional relationship described in the drawings is only for illustrative purposes and cannot be understood as a limitation of the 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 the terms "upper", "lower", "left" and "right" The orientation or positional relationship indicated by "long", "short", etc. is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific The position, the structure and operation in a specific position, so the terms describing the positional relationship in the drawings are only used for exemplary description, and cannot be understood as a limitation of the patent. For those of ordinary skill in the art, it can be understood according to the specific situation The specific meaning of the above terms.

The technical solutions of the present invention will be further described in detail through specific embodiments in conjunction with the accompanying drawings:

Example 1

A method for realizing automatic seamless joint corneal main incision, including a machine operating arm and a scalpel 1 mounted on the machine operating arm. A parallel tandem joint machine operating arm includes a clamping device 2 for clamping the scalpel 1 and a drive The swing driving arm of the clamping device 2; the driving arm is provided with a first linear motor 3 and a second linear motor 4, and the clamping device is equipped with a third linear motor 5, including the following steps:

Step 1: Use the microscope camera system to take two images with a vertical displacement of 6 mm;

Step 2: Perform preprocessing on each image, convert it into an image with gray value, and perform corner detection on the first image to obtain several candidate corner points, and obtain the corner point coordinates;

Step 3: With several corner points as the center and R _j as the radius, find the black point and white point relative to the corner point, and the black point is located in the white pixel area of the corner point and the white point is located in the black area of the corner point. The pixel gray scale of the queen is <0.5 and the pixel gray scale of the white queen is> 0.5, then the corner point is the scalpel point P′ _i , and the calculation formulas for the positions of the black and white points are as follows:

Among them, X _blacki and Y _blacki are the coordinates of the black points, X _whitei and Y _whitei are the coordinates of the white points, X _j and Y _j are the corner points as the center, and R _j is the radius of all pixels in the range Respective coordinates, I is the gray value of the point, range is the maximum value of the selected radius; X _i and Y _i are the coordinate values of the scalpel point P′ _i respectively;

Step 4: Match the first image P′ _i to the second image to obtain the pixel distance between the matching points P” _i , P′ _i and P” _i ;

Step 5: The formula for calculating the depth of the scalpel point is as follows:

Among them, r is the distance between the scalpel point P′ and the magnification center of the microscope, and Δr is the pixel distance between P′ _i and P″ _i , called parallax;

Step 6: Obtain the position and relative depth of the scalpel according to the calculation, and obtain the position of the iris, and locate the incision position on the edge of the iris which is closest to the center of the pupil;

Step 7: The standard seamless corneal main incision is defined as a loose "Z" shape. The incision path of the machine operating arm to control the movement of the scalpel is defined as follows:

S1: The scalpel 1 advances 5mm into the corneal layer 6;

S2: The scalpel 1 is raised 45 degrees, and the RCM movement is performed at the first remote center point 7;

S3: The scalpel 1 advances 1.5-2mm according to the angle in S2 until it reaches the second remote center point 8;

S4: Perform RCM movement, scalpel 1 is lowered 45 degrees;

S5: The scalpel 1 continues to advance 2mm through the corneal layer 6 at the angle of S4.

The working principle of this embodiment: the scalpel point is the position of the scalpel, the position of the scalpel and the depth relative to the microscope system are obtained by calculation, and the three-dimensional coordinates of the scalpel are obtained. At the same time, the position information of the cornea and iris of the eye is also obtained, the scalpel is placed in the initial position, and the scalpel is controlled to move along the set incision path through the machine operating arm to automatically complete the incision.

This method is based on a machine operating arm and a scalpel, and realizes a fully automatic corneal incision method with a scalpel, which avoids the inaccuracy of manual operation and the damage caused by the expansion of the wound, and also avoids other damages to the corneal layer caused by laser .

Example 2

On the basis of Example 1, this embodiment provides a specific matching method, a matching result verification method, and a depth calculation optimization method, specifically:

Matching method as P _'i establish a P' _i is the basis of the center point of a block region, defined point P 'adjacent point other than _i, is defined with respect to each of the adjacent point P' _i uniform depth; in the area of the block All the basic points are matched, and the matching points corresponding to the second image are calculated. The matching points and the corresponding disparity are calculated by selecting the disparity that minimizes the value of the cost function. The cost function formula is:

C(P′ _ij ,Δr)=min{d(P′ _ij ,P′ _ij -Δr,I _Z ,I _za ),d(P′ _ij -Δr,P′ _ij ,I _Za ,I _z }

d(P′ _ij ,P′ _ij -Δr,I _z ,I _za )=minP′ _ij -Δr-0.5

≤P′ _ij -Δr+0.5{|I _z (P′ _ij )-I _za (P″ _ij )|}

Where P′ _ij is the pixel position corresponding to the base point, P″ _ij is the pixel position corresponding to the matching point, I _z is the gray value of each pixel in the first image, and I _za is each pixel in the second image. The gray value of the image, I _z (P′ _ij ) is the gray value of P′ _ij , I _za (P″ _ij ) is the gray value of P″ _ij , and Δr is the value between P′ _i and P″ _i The pixel distance is called parallax.

Checking steps: image corresponding matching point P _{"ij of} relative P" position _i with respect to adjacent points 'consistent position _i, (where, P' P _ij is the field point, P _{"ij of} the field matching point Point, P′ _i is the center point, and P′ _i is the matching point of the center point) then the verification is successful. Add one point to the center P′ _i . The total number of votes is 8 (8 domain points), reaching 4 votes or more (including 4 votes) The matching is successful; otherwise, the basic point square area is established with each neighboring point as the center, and the calculation formula in step 4 is re-executed to calculate the matching point and the corresponding disparity again. More than half of the matching points and close points coincides with the position opposite to avoid the case where P _'i is the noise, improve the accuracy scalpel point.

After calculating the matching point and the corresponding parallax again, check it, that is, run voting. The first person with more than 4 votes wins. The winning neighboring point is defined as the new P′ _i point, and other near points and check points are discarded. For successful points, use the remaining matching points P″ _ik in the second image as the base point to match the first image to obtain a check point. If the check point is consistent with the base point, the matching is successful. No side, Perform the verification step again. Flip the matching direction, check the correctness of the matching again, and improve the accuracy of the scalpel point.

Specifically optimized depth calculation, interpolation formula for calculating depth optimized for the particular process in each P _"ik source lines disposed along the outer two interpolation points L _ik, respectively, to the left of the interpolation point _P" ikl and a right interpolation point P ” _Ikr , use the cost function of the block area matching to calculate the cost C(P′ _i ,Δr _ikr ), C(P′ _i ,Δr _ikl ) and C(P′ _i ,Δr _ik ), and remove the minimum cost interpolation point or Origin point, delete the remaining two points, get the interpolation point and the final depth formula as follows:

P″ _ikl ＝(P″ _ik+Li +P″ _ik )/2

P″ _ikr ＝(P″ _ik-Li +P″ _ik )/2

Wherein, L _ik is the epipolar, Z _kj corresponding P _"ij and _ik depth P ';P" _{ik + Li} to P _"ik moved forward along the epipolar pixel distance values Li, P" _{ik -Li} is the value of P″ _ik moving Li pixels along the negative direction of the epipolar line.

Finally, the depth calculation formula is:

Wherein, n _o is the number of Z _kj.

The beneficial effects of the present invention: by establishing the matching and checking of the square area, the position of the operation can be found more accurately, and the depth calculation can be made more accurate through the interpolation optimization.

Example 3

On the basis of Embodiment 1 or Embodiment 2, this embodiment provides a motion trajectory control algorithm formula and method of a machine operating arm with parallel series joints, specifically

Scalpel 1 performs RCM movement, the position of the RCM point is fixed, and the control strategy formula of the RCM point is as follows:

为手术刀刀面与夹持装置连接端的夹角；

为手术刀刀面与水平面的夹角；L _o为刀面长度；dm为第三线性马达到第一线性马达或第二线性马达的水平轴的垂直距离。 Among them, x _R is the X-axis coordinate position of the RCM point; y _R is the Y-axis coordinate position of the RCM point; L ₁ is the linear displacement of the first linear motor; L ₂ is the linear displacement of the second linear motor; L _tool is the clamp The distance between the holding device and the tip of the scalpel; L ₃ is the linear displacement of the third linear motor;

Is the angle between the scalpel blade face and the connecting end of the clamping device

Is the angle between the blade surface of the scalpel and the horizontal plane; L _o is the length of the blade surface; dm is the vertical distance from the third linear motor to the horizontal axis of the first linear motor or the second linear motor.

的角度变化轨迹为

第一线性马达、第二线性马达和第三线性马达的设定轨迹公式如下： When the scalpel 1 rotates around the RCM point, and

The angle change trajectory is

The trajectory formulas of the first linear motor, the second linear motor and the third linear motor are as follows:

Among them, h is the linear distance between the first linear motor and the second linear motor.

When the scalpel 1 is moving and rotating, the movement trajectories of the first linear motor, the second linear motor and the third linear motor are calculated according to the coordinate control strategy of the RCM point. At the same time, when moving, the movement trajectories of the first linear motor 3, the second linear motor 4, and the third linear motor 5 are also calculated according to the formula to achieve the effect of controlling the movement of the scalpel 1.

In addition, the first linear motor 3, the second linear motor 4, and the third linear motor 5 define the position from the previous target position to the next target position by using a linear interpolation method, and set one of the two target positions The step length between.

Specifically, the target position of each step is obtained by calculating the incision path to obtain the position of each millisecond.

In addition, before proceeding to step 1, initialize the microscope system and the machine operating arm. During the initialization process, the X-axis and Y-axis coordinates of the machine operating arm and the microscope camera system are consistent. The coordinates of the machine operating arm and the microscope system are consistent, and the coordinates of the machine operating arm's execution movement are consistent with the calculated coordinates to ensure the accuracy of the machine operating arm's movement.

In addition, the width of the incision is not greater than the width of the blade surface of the scalpel. The machine operating arm controls the scalpel 1 to move only along the incision path and does not perform displacement in other directions, ensuring that the width of the incision is not greater than the width of the scalpel blade surface, and avoiding the expansion of the incision.

The beneficial effects of this embodiment: set the step length of each step of the machine operating arm, always obtain the incision path and calculate the machine operating arm to move along the incision path, the corresponding movement trajectory required by the linear motor, so that the machine operating arm drives the operation The knife can move along the set incision path.

Obviously, the above-mentioned embodiments of the present invention are merely examples to clearly illustrate the present invention, and are not intended to limit the embodiments of the present invention. For those of ordinary skill in the art, other changes or changes in different forms can be made on the basis of the above description. It is unnecessary and impossible to list all the implementation methods here. Any modification, equivalent replacement and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims (10)

A method for realizing automatic and seamless corneal main incision, comprising a machine operating arm and a scalpel (1) installed on the machine operating arm, the machine operating arm including a clamp for clamping the scalpel (1) A device (2) and a driving arm that drives the clamping device (2) to swing; the driving arm is provided with a first linear motor (3) and a second linear motor (4), the clamping device (2) Equipped with a third linear motor (5), characterized in that it includes the following steps: Step 1: Use the microscope camera system to take two eye images with a millimeter vertical displacement; Step 2: Perform preprocessing on each image, convert it into an image with gray value, and perform corner detection on the first image to obtain a number of candidate corner points, and obtain the coordinates of the corner points; Step 3: Take each of the corner points as the center and R _j as the radius to find the black point and white point relative to the corner point, and the black point is located in the white pixel area of the corner point and the white point is located in the black area of the corner point. And the pixel gray level of the black point is <0.5 and the pixel gray level of the white point is> 0.5, then the corner point is the scalpel point P′ _i , and the calculation formulas for the positions of the black point and the white point are as follows:

Among them, X _blacki and Y _blacki are the coordinates of the black points, X _whitei and Y _whitei are the coordinates of the white points, X _j and Y _j are the corner points as the center, and R _j is the radius of all pixels in the range Respective coordinates, I is the gray value of the point, range is the maximum value of the selected radius; X _i and Y _i are the coordinate values of the scalpel point P′ _i respectively; Step 4: Matching the P′ _{i of} the first image to the second image to obtain the pixel distances between the matching points P” _i , P′ _i and P” _i ; Step 5: The formula for calculating the depth of the scalpel point is as follows:

Among them, r is the distance between the scalpel point P′ _i and the magnification center of the microscope, and Δr is the pixel distance between P′ _i and P″ _i , called parallax; Step 6: Obtain the position and relative depth of the scalpel according to the calculation, and obtain the position of the iris, and locate the incision position on the edge of the iris which is closest to the center of the pupil; Step 7: The machine operating arm controls the scalpel (1) to move along the set incision path. The method for realizing automatic seamless joint corneal main incision according to claim 1, characterized in that, in said step 4, the matching method is to establish a basic point square centered on P′ _i at P′ _i Area, define points other than P′ _i as neighboring points, and define that the depth of each neighboring point is consistent with respect to P′ _i ; when matching all the basic points in the square area, calculate the matching points corresponding to the second image, The matching point and the corresponding disparity are calculated by selecting the disparity that minimizes the value of the cost function, where the cost function formula is: C(P′ _ij ,Δr)=min{d(P′ _ij ,P′ _ij -Δr,I _Z ,I _za ),d(P′ _ij -Δr,P ^′ _ij ,I _Za ,I _z } d(P′ _ij ,P′ _ij -Δr,I _z ,I _za )=minP′ _ij -Δr-0.5 ≤P′ _ij -Δr+0.5{|I _z (P′ _ij )-I _za (P″ _ij )|} Where P′ _ij is the pixel position corresponding to the base point, P″ _ij is the pixel position corresponding to the matching point, I _z is the gray value of each pixel in the first image, and I _za is each pixel in the second image. grayscale images, I _z (P _'ij) is P' _ij gradation values, I _za (P _"ij) is P" _ij gray value. The method for realizing automatic seamless joint corneal main incision according to claim 2, characterized in that a verification step is provided between said step four and said step five, and the corresponding ones in the several second images matching point P _{"ij of} relative P" position _i with respect to the point P is consistent neighboring position _i ', the check is successful; otherwise, places each neighboring point as the center point established based block area, according to the four steps Calculate the matching point and the corresponding parallax again. One of said automated method according to claim 3 sutureless incision in the cornea to achieve the main, characterized in that at least more than half of the matching point position coincides P _'i for P "position _i with respect to adjacent points. The method for realizing automatic seamless joint corneal main incision according to claim 3, characterized in that the first adjacent point successfully checked is defined as a new _P'i point, and other adjacent points and check failures are discarded For successful points, use the remaining matching points P″ _ik in the second image as the base point to match the first image to obtain a check point. If the check point is consistent with the base point, the matching is successful. No side, Perform the verification step again. The method for realizing automatic seamless joint corneal main incision according to claim 5, characterized in that the depth calculation formula of the scalpel point in the step 5 is optimized by interpolation, and each P" _{ik is} set to two The interpolation points along the epipolar line L _ik are the left interpolation point P″ _ikl and the right interpolation point P″ _{ikr respectively} . The cost function of the block area matching is used to calculate the cost C(P′ _i ,Δr _ikr ),C(P ′ _I ,Δr _ikl ) and C(P′ _i ,Δr _ik ), remove the minimum cost interpolation point or origin, delete the remaining two points, and get the final depth formula as follows:

Among them, _Lik is the epipolar line, and Z _kj is the depth corresponding to P″ _ik and P′ _ij ; The final depth calculation formula:

Wherein, n _o is the number of Z _kj. The method for realizing automatic seamless joint corneal main incision according to claim 6, wherein the calculation formulas of the interpolation points are: P″ _ikl ＝(P″ _ik+Li +P″ _ik )/2 P″ _ikr ＝(P″ _ik-Li +P″ _ik )/2 Wherein, P _{"ik + Li} to P" move pixel value Li of the distance along the epipolar forward _ik, P _"ik-Li to P" move pixel value Li of the distance along the epipolar _ik negative. The method for realizing automatic seamless joint corneal main incision according to any one of claims 1-7, wherein the incision path is defined as follows: S1: The scalpel (1) enters the corneal layer (6); S2: Raise the scalpel (1) by 40-50 degrees, and perform RCM movement at the first remote center point (7); S3: The scalpel (1) advances according to the angle in S2 until it reaches the second remote center point (8); S4: Perform RCM movement, the scalpel is lowered 40-50 degrees; S5: The scalpel (1) continues to advance at the angle of S4 until it passes through the corneal layer. The method for realizing automatic seamless joint corneal main incision according to claim 8, characterized in that, in said step 7, the scalpel (1) performs RCM movement, the position of the RCM point is fixed, and the control strategy of the RCM point The formula is as follows:

Among them, x _R is the X-axis coordinate position of the RCM point; y _R is the Y-axis coordinate position of the RCM point; L ₁ is the linear displacement of the first linear motor; L ₂ is the linear displacement of the second linear motor; L _tool is the clamp The distance between the holding device and the tip of the scalpel; L ₃ is the linear displacement of the third linear motor;

Is the angle between the scalpel blade surface and the connecting end of the clamping device; θ is the angle between the scalpel blade surface and the horizontal plane; L _o is the blade surface length; dm is the distance from the third linear motor to the first linear motor or the second linear motor The vertical distance of the horizontal axis. The method for realizing automatic seamless joint corneal main incision according to claim 9, characterized in that the scalpel (1) rotates around the RCM point, and

The angle change trajectory of θ is θ=f(t), and the set trajectory formulas of the first linear motor (3), the second linear motor (4) and the third linear motor (5) are as follows:

Among them, h is the linear distance between the first linear motor and the second linear motor.

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