CN105286778B - Cornea location system and location method - Google Patents
Cornea location system and location method Download PDFInfo
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- CN105286778B CN105286778B CN201510646206.6A CN201510646206A CN105286778B CN 105286778 B CN105286778 B CN 105286778B CN 201510646206 A CN201510646206 A CN 201510646206A CN 105286778 B CN105286778 B CN 105286778B
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Abstract
The invention discloses a cornea location system and a location method, and relates to the field of a medical instrument, in order to improve the accuracy in cornea location and to reduce labor amount. The cornea location system comprises a mechanical arm component, an image recognition system, a background component and a calculation and location system, wherein the background component is arranged in a mode of being relative to the image recognition system, and the calculation and location system is connected to the image recognition system; the background component is used for providing background light; the image recognition system is used for acquiring an image formed by the background light of the background component penetrating through a cornea packaging body which is clamped by the mechanical arm component; and the calculation and location system is used for analyzing and calculating the image acquired by the image recognition system so as to acquire the positional information of the cornea. The cornea location system disclosed by the invention is applicable to cornea location.
Description
Technical field
The present invention relates to medical instruments field, more particularly, to a kind of cornea alignment system and localization method.
Background technology
Keratopathy is the second diseases causing blindness in global range, and the speed increase with annual 150-200 ten thousand case.Cornea
Transplanting is to treat the only effective method of corneal blindness at present, and the source of corneal transplantation materials is mainly cornea donation and cornea replaces
Dai Pin, such as cell-eliminating coanea matrix etc..Although the success rate of corneal transplantation is at a relatively high, rate of rejection is very low, after corneal transplantation
The recovery of eye eyesight is but not so good as people's will very much, and main performance is exactly irregular astigmatism, does not advise because corneal transplantation cannot overcome
The then presence of astigmatism.How a difficult problem in corneal transplantation at present positions cornea.
In prior art, the positioning of cornea is to do corneal curvature and corneal topography inspection before corneal graft, obtains
To the positional information of cornea, due to carrying out needing placement cornea locating ring to carry out auxiliary positioning during cornea positioning in prior art, this
Plant positioning step comparatively laborious, and the error probability of system is higher.
Content of the invention
Embodiments of the invention provide a kind of cornea alignment system and localization method, accurate in cornea positioning to improve
Property, reduce the amount of labour.
For reaching above-mentioned purpose, on the one hand, The embodiment provides a kind of cornea alignment system, including：Machinery
Arm component, image identification system, the background assemblies being oppositely arranged with described image identifying system, and identify system with described image
The calculating alignment system that system connects；Wherein, described robot assemblies move to for the cornea package body that will be equipped with cornea to be positioned
Between described image identifying system and described background assemblies；
Described background assemblies are used for providing bias light；
Described image identifying system is used for, and obtains the figure that described cornea package body is formed in the presence of described bias light
Picture；
Described calculating alignment system is used for, and the image that described image identifying system is obtained is analyzed calculating, and obtains institute
State the positional information of cornea.
Cornea alignment system provided in an embodiment of the present invention, cornea package body is used for holding cornea to be positioned, works as needs
When cornea in corneal package body is positioned, by robot assemblies by cornea package body movement to image identification system and
Between background assemblies, provide background illumination firing angle film package body using background assemblies, by obtaining institute in image identification system
State the image that the bias light of the cornea package body that background assemblies pass through described robot assemblies clamping is formed, further, by meter
The image that calculation alignment system obtains to described image identifying system is analyzed calculating, and obtains the positional information of described cornea.This
The cornea alignment system that inventive embodiments provide not only can improve efficiency and the accuracy of cornea positioning, and reduces workman
The amount of labour.
Second aspect, embodiments of the invention additionally provide a kind of localization method of cornea, comprise the following steps：Initial
Position clamps the cornea package body equipped with cornea to be positioned by robot assemblies；
By robot assemblies by described cornea package body movement between image identification system and background assemblies；
There is provided bias light by described background assemblies, and described cornea package body is obtained described by image identification system
The image being formed in the presence of bias light；
It is analyzed calculating using the image that calculating alignment system obtains to described image identifying system, obtain described cornea
Positional information.
Cornea to be positioned, when needing corneal positioning, can be contained by the localization method of cornea provided in an embodiment of the present invention
Be put in cornea package body, by the cornea package body that robot assemblies will be equipped with cornea to be positioned move to image identification system and
Between background assemblies, provide bias light by background assemblies, described cornea package body is obtained described by image identification system
The image being formed in the presence of bias light, now, is carried out to the image that image identification system obtains point using calculating alignment system
Analysis calculates, and just can obtain the positional information of cornea.Cornea alignment system provided in an embodiment of the present invention not only can improve cornea
Accuracy in positioning, and reduce workman's amount of labour.
Brief description
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, embodiment will be described below
In required use accompanying drawing be briefly described it should be apparent that, drawings in the following description be only the present invention some
Embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can also be attached according to these
Figure obtains other accompanying drawings.
The axonometric chart of the cornea alignment system that Fig. 1 provides for the embodiment of the present invention one；
The top view of the cornea alignment system that Fig. 2 provides for the embodiment of the present invention one；
The structural representation of the background assemblies that Fig. 3 provides for the embodiment of the present invention one；
Structural representation when Fig. 4 is positioned with image identification system for the background assemblies that the embodiment of the present invention one provides；
The structural representation of the clamp assemblies that Fig. 5 provides for the embodiment of the present invention one；
The structural representation of the sample stage that Fig. 6 provides for the embodiment of the present invention one；
The structural representation of the calculating alignment system that Fig. 7 provides for the embodiment of the present invention one；
The flow chart one of the cornea alignment system that Fig. 8 provides for the embodiment of the present invention two；
The flowchart 2 of the cornea alignment system that Fig. 9 provides for the embodiment of the present invention two；
The flow chart 3 of the cornea alignment system that Figure 10 provides for the embodiment of the present invention two；
The flow chart one of the cornea alignment system that Figure 11 provides for the embodiment of the present invention three；
The flowchart 2 of the cornea alignment system that Figure 12 provides for the embodiment of the present invention three；
The flow chart 3 of the cornea alignment system that Figure 13 provides for the embodiment of the present invention three；
The flow chart four of the cornea alignment system that Figure 14 provides for the embodiment of the present invention three；
The flow chart five of the cornea alignment system that Figure 15 provides for the embodiment of the present invention three；
The flow chart six of the cornea alignment system that Figure 16 provides for the embodiment of the present invention three.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of not making creative work
Embodiment, broadly falls into the scope of protection of the invention.
" " center ", " on ", D score, " afterwards ", "left", "right", " perpendicular it is to be understood that term in describing the invention
Directly ", the orientation of instruction such as " level ", " top ", " bottom ", " interior ", " outward " or position relationship are based on orientation shown in the drawings or position
Put relation, be for only for ease of and describe the present invention and simplify description, rather than indicate or imply that the device of indication or element are necessary
There is specific orientation, with specific azimuth configuration and operation, be therefore not considered as limiting the invention.The present invention's
In description, unless otherwise stated, " multiple " are meant that two or more.X, the determining of Y-axis both direction in the present invention
Justice is：X horizontal cross shaft；The vertical vertical pivot of Y.
Embodiment one
On the one hand, referring to Fig. 1 and Fig. 2, it is a kind of cornea alignment system provided in an embodiment of the present invention referring to Fig. 1 and Fig. 2,
Including：Robot assemblies 5, image identification system 7, the background assemblies 1 being oppositely arranged with image identification system, and know with image
The calculating alignment system 8 that other system 7 connects；Wherein, robot assemblies 5 are used for, and will be equipped with the cornea package body of cornea to be positioned
(in Fig. 1, non-figure goes out) moves between image identification system 7 and background assemblies 1；Background assemblies 1, for providing bias light；Image is known
Other system 7 is used for, and obtains the image that described acquisition cornea package body is formed in the presence of described bias light；Calculate alignment system
8 (in figure is not drawn into), the image for obtaining to image identification system 7 is analyzed calculating, and obtains the positional information of cornea.
Cornea, when needing corneal positioning, can be loaded on cornea bag by cornea alignment system provided in an embodiment of the present invention
In dress body, by the cornea package body that robot assemblies will be equipped with cornea to be positioned move to image identification system and background assemblies it
Between, provide bias light by background assemblies, by cornea package body described in image identification system in the presence of described bias light
The image being formed；Then, it is analyzed calculating using the image that calculating alignment system obtains to image identification system, just can obtain
The positional information of cornea.Cornea alignment system provided in an embodiment of the present invention not only can improve the accuracy in cornea positioning,
And reduce workman's amount of labour.
Wherein, the embodiment of the present invention is not especially limited to the material of described cornea package body, shape and size, preferably
, the bias light of background assemblies offer forms image when passing through the described cornea package body equipped with cornea to be positioned for convenience,
Preferably, the cornea package body of the embodiment of the present invention using the transparent homogeneous materialses of smooth surface so that when background assemblies 1 provide
Bias light can be directed through positioned at the cornea in cornea package body make its described positioning screen 11 in formed image；
Wherein, in order that when described robot assemblies 5 are in clamped condition, described cornea package body can be clamped, preferably
, the shape of this cornea package body described can be set according to the clamping shape of the clamp assemblies 53 of described robot assemblies 5
Meter, exemplary, the shape that the clamp assemblies 53 that described cornea package body can be designed as described robot assemblies 5 easily clamp
Shape, the embodiment of the present invention is not restricted to this.As long as when described robot assemblies 5 are in clamped condition, can clamp described
Cornea package body simultaneously drives described cornea package body mobile.
Wherein, the thickness of described cornea package body is it should less than or equal to when the clamp assemblies 53 of described robot assemblies 5
It is in maximum during open mode and opens distance, the embodiment of the present invention is without limitation.
Wherein, the cornea in corneal package body does not limit, the cornea of positioning in need all can be used as the present invention
Cornea.
Wherein, the concrete structure of described image identifying system 7 is not construed as limiting, as long as described image identifying system 7 can
Obtain the image that the bias light of the cornea package body that background assemblies pass through robot assemblies 5 clamping is formed.Preferably, this
The image identification system 7 of bright embodiment is photographic head, and this photographic head clamps through robot assemblies 5 for scanning background assembly 1
Cornea package body bias light formed image, with obtain cornea pass through bias light formed image.
As shown in figure 3, further, background assemblies 1 comprise positioning screen 11 and light source 12, and described light source 12 is arranged on described
The rear with respect to described image identifying system 7 of positioning screen 11.
Wherein, the embodiment of the present invention is not construed as limiting to the material of described positioning screen 11, can be selected as needed, be
Cornea in corneal package body is accurately positioned, exemplary, in actual applications, can be on described positioning screen 11
One two-dimensional coordinate system of setting, the X-axis of coordinate system is this positioning screen 11 lower frame, Y-axis is the described positioning adjacent with lower frame
The left frame side of screen 11, the coordinate (x, y) that the optional position on this positioning screen 11 may be by this coordinate system to identify.Example
As in actual applications, the cornea package body that bias light passes through robot assemblies 5 clamping forms image on this positioning screen 11
When, record the position A (x1, y1) that each pixel in this image is in coordinate system, B (x2, y2) ... N (xn, yn).
Wherein, the concrete color of the light source 12 at the rear to positioning screen 11 for the embodiment of the present invention is not construed as limiting, as long as described
Light source 12 can provide bias light make this bias light pass through robot assemblies 5 clamping cornea package body when positioning screen 11 on
Image can be formed.
It is further preferred that in order to obtain the more accurate cornea positioning image of positioning, the center of described photographic head
It is arranged on the vertical center line of described positioning screen 11.Referring to Fig. 4, exemplary, same cross template 2 can be adopted, come
Calibration image identification system 7 be the center of center and the described positioning screen 11 of photographic head whether just to setting, preferably
, this cross template 2 is printed with acetate ink.
Cornea package body moves both horizontally and vertically for convenience, and robot assemblies 5 include moving horizontally group
Part 52, vertical shift assembly 51 and clamp assemblies 53, move horizontally assembly 52 and can drive vertical shift assembly 51 and clamp assemblies
53 move back and forth along the horizontal direction parallel to described positioning screen 11 surfaces, and vertical shift assembly 51 can drive clamp assemblies 53 edge
Vertical direction parallel to described positioning screen 11 surfaces moves back and forth.
The embodiment of the present invention is not done to the concrete structure moving horizontally assembly 52, vertical shift assembly 51 and clamp assemblies 53
Limit, it is further preferred that the described assembly 52 that moves horizontally includes the first actuator (in figure is not drawn into), horizontal guide rail 521, sets
The horizontal screw lead being placed in described horizontal guide rail 521 and the first nut 522 coordinating with described horizontal screw lead, described first
Nut 522 is slidably connected with described horizontal guide rail 521, and described first actuator can drive described horizontal screw lead to rotate, described perpendicular
Straight moving assembly 51 is fixedly connected with described first nut 522；
Described vertical shift assembly 51 include the second actuator, upright guide rail, be arranged at vertical in described upright guide rail
Leading screw and the second nut coordinating with described vertical leading screw, described second nut and described upright guide rail are slidably connected, described
Second actuator can drive described vertical leading screw to rotate.
Wherein, the embodiment of the present invention is not defined to the first drive component and the second drive component, exemplary, in order to
Can make to move horizontally assembly 52 drive vertical shift assembly 51 and clamp assemblies 53 move back and forth in the horizontal direction it is preferred that
First drive component of the embodiment of the present invention and the second drive component can adopt motor.Described first nut 522 is driven by first
Moving part drives described horizontal screw lead to rotate thus sliding in described horizontal guide rail, and drives vertical shift assembly 51 and cornea bag
Dress body move in the horizontal direction, the second nut along upright guide rail slide when, cornea package body can be driven to move up and down, therefore,
In the presence of moving horizontally assembly 52, cornea package body can be realized moving horizontally, in the presence of vertical shift assembly 51, angle
Film package body can be realized moving up and down, thus realizing the movement of cornea package body.
Exemplary, in order that robot assemblies 5 are capable of adjusting manually the one end it is preferred that in horizontal guide rail 521
It is provided with rotary switch, when rotating described rotary switch, described horizontal screw lead can be driven to rotate so that vertical shift assembly 51 and folder
Hold assembly 53 to move in the horizontal direction, thus realizing, when robot assemblies 5 need fine setting or break down, manually revolving
Turn this rotary switch and can achieve that this robot assemblies 5 moves in the horizontal direction along vertical shift assembly 51 and clamp assemblies 53.
It should be noted that can be by robot assemblies 5, image identification system 7, background assemblies 1 in actual mechanical process
And calculating alignment system is placed in frame 3 as shown in Figure 1, this frame 3 is provided with stop button 10 and is used for controlling entirely
The running status of alignment system, controls this alignment system to be in halted state, button 11 is used for when alignment system breaks down
Control machinery arm component returns back to initial position.
Referring to Fig. 4 and Fig. 5, in order that robot assemblies 5 can clamp cornea package body thus driving it in the horizontal direction
Or vertical direction moves it is preferred that clamp assemblies 53 comprise：Support member, the first hold assembly 531, the second hold assembly
533, reset components and driver part 15；
Wherein, the centre of the first hold assembly 531 and the second hold assembly 533 is respectively arranged with location window 532；Institute
State the first hold assembly 531 to be fixed in described support member, described first hold assembly 531 and described second hold assembly
533 are oppositely arranged, and are connected by reset components between described first hold assembly 531 and described second hold assembly 533.
In order that described clamp assemblies 53 can be driven to clamp described cornea package body for driver part 15 it is preferred that institute
State drive component 15 and include motor 151, be connected with swing arm 152 in the output shaft of described motor 151, described swing arm 152 is away from institute
State one end of motor 151 output shaft and described second hold assembly 533 against, when described motor 151 is energized, described motor
151 output shaft drives described swing arm 152 to swing near the direction of described second hold assembly 533, and described swing arm 152 can push away
Move described second hold assembly 533 to rotate to the direction of described first hold assembly 531, until described first hold assembly 531
Fit with the second hold assembly 533, and then make described clamp assemblies 53 be in clamped condition；Output shaft when described motor
When stopping driving described swing arm 152 to swing, described second hold assembly 533 is in the presence of described return unit to away from described the
The direction of one hold assembly 531 rotates, and then makes described clamp assemblies 53 be in open mode.
It should be noted that during normality, that is, at this clamp assemblies 53 in working order, this hold assembly 53 is in be opened
State, state as shown in Figure 4, the reset components positioned at the first hold assembly 531 and the second hold assembly 533 are not affected by outer masterpiece
With and be in original state, when in working order, by motor 151 drive swing arm 152 apply to described second hold assembly 533
External force so that described second hold assembly 533 under the extruding of external force that swing arm 152 applies to 531 turns of described first hold assembly
Dynamic, make the reset components between the first hold assembly 531 and the second hold assembly 533 be subject to the second hold assembly 533 He
The axial compressive force that first hold assembly 531 applies, and deform upon, and then make the first hold assembly 533 and the second clamping part
Part 533 is in clamped condition, and when the external force putting on the second hold assembly 533 disappears, that is, motor 151 quits work, and does not carry
Movable pendulum arm 152 applies external force to the second hold assembly 533, and the first hold assembly 531 and the second hold assembly 533 are in reset components
In the presence of return to normality.
In order that driver part 15 drive described swing arm 152 to described second hold assembly 533 apply external force it is preferred that
The driver part 15 of the embodiment of the present invention is driven by motor (in figure is not drawn into), when described motor 151 is energized, motor 151
Described driver part 15 is driven to rotate, described driver part 15 drives described swing arm 152 to apply to described second hold assembly 533
External force, when described motor 151 power-off, driver part 15 stops operating, and the external force being applied to the second hold assembly 533 disappears,
Clamp assemblies 53 return to normality in the presence of reset components.
It should be noted that in actual applications, the driver part 15 of the embodiment of the present invention can also be by described swing arm
152 applying external force make the first hold assembly 531 to the second clamping part in the presence of by external force to the first hold assembly 531
Part 533 rotates, and the embodiment of the present invention is not limited to this, can only enable to the first hold assembly 531 and the second clamping part
Part 533 in working order when can clamp cornea package body.
Example, when needing to clamp cornea package body, when clamp assemblies 53 are in the normal state, will be equipped with cornea to be positioned
Cornea package body be positioned between the first hold assembly 531 and the second hold assembly 533 and keep；Lead to described motor 151
Electricity, described motor drives described driver part 151 to rotate, thus driving described swing arm 152 to rotate so that described swing arm 152
One end away from described motor 151 output shaft extrudes described second hold assembly 533 towards 531 turns of described first hold assembly
Dynamic, and then pressed home part in the presence of external force will be equipped with treating with the second hold assembly 533 to make the first hold assembly 531
The cornea package body clamping of positioning cornea.
Need explanation when, in order to obtain more preferable cornea positioning image, when described clamp assemblies 53 clamp described cornea
When package body is located between described image identifying system 7 and described background assemblies 1, the center of described location window 532 and institute
The center stating positioning screen 11 is just to setting.
Wherein, the embodiment of the present invention does not limit to the concrete shape of the first hold assembly 531 and the second hold assembly 533
Fixed, exemplary, can be designed according to the shape of described cornea package body, for example, it is possible to by described first hold assembly
531 and second hold assembly 533 be designed as lamellar, as long as described first hold assembly 531 and described second hold assembly 533 energy
Enough clamp described cornea package body.
Wherein, the embodiment of the present invention is not defined to described reset components, exemplary, and described reset components can be adopted
Use elastomeric element；The embodiment of the present invention is not specifically limited to the coefficient of elasticity of described elastomeric element, as long as described elastomeric element
When enabling to the first hold assembly 531 and being in open mode with described second hold assembly 533, the first hold assembly 531 He
Maximum between described second hold assembly 533 opens the thickness that distance is more than or equal to described cornea package body, or works as motor 151
Drive described swing arm 152 rotate extrude described second hold assembly 533 towards described first hold assembly 531 rotate when, be located at
The elastomeric element of the first hold assembly 531 and the second hold assembly 533 is when external force extruding deforms upon so that first presss from both sides
Hold part 531 and the second hold assembly 533 can clamp described cornea package body and get final product it is preferred that described elastomeric element is bullet
Spring.
Referring to Fig. 6, for convenience by the lower section of cornea package body movement to hold assembly, the embodiment of the present invention also includes sample
Sample platform 4, this sample stage 4 is used for placing cornea package body (in figure is not drawn into), and the concrete structure of described sample stage 4 is not limited
Fixed, this sample stage 4 is arranged at the lower section of clamp assemblies 53 initial position, and sample stage 4 is provided with stopper slot 41, stopper slot 41
When the first hold assembly 531 is in clamped condition with described second hold assembly 533, the first hold assembly 531 and described the
The underface of crack between two hold assemblies 533.
Example, in actual applications cornea package body is moved to described folder along the stopper slot 41 of described sample stage 4
Hold the lower section of part 53 initial position.The width of this stopper slot 41 is identical with the thickness of described cornea package body.People can be passed through
Cornea package body can also be moved along stopper slot 41 by master control system by work by cornea package body along stopper slot 41 movement
To clamp assemblies 53 initial position, the embodiment of the present invention is not restricted to this.
Wherein, described initial position is described clamp assemblies 53 default init state on described robot assemblies 5.
After the completion of described default original state can be according to systemic presupposition or last cornea positioning, clamp assemblies 53 exist
Residing optional position on described robot assemblies 5.
Wherein, calculating alignment system is centered on computer, using mathematical technique method, a system front end is obtained
Image processed accordingly according to specific purpose.At the digital picture including various inputs, output and display device
Carry out in reason system, be to become continuous analog image after discrete digital picture, with setting up in specific physical model
With the programme-control of establishment on the basis of mathematical model, run and realize the process of a variety of requirements.This calculating alignment system can be adopted
Realized with prior art, the embodiment of the present invention is not restricted to this.
Referring to Fig. 7, exemplary, the calculating alignment system 100 of the embodiment of the present invention includes：
Image capture module 1011, obtains the parameter letter of each pixel in described image for gathering image identification system
Breath；
Image analysis module 1012, for according to the parameter threshold scope setting, obtaining parameter letter described in described image
Breath meets the pixel of described threshold range；
Framing module 1013, for being defined as described angle by the coordinate of the described pixel meeting described threshold range
The position of film.
Exemplary, taking described cornea positioning as a example, by passing through that image capture module collects that photographic head gets
The image on positioning screen that bias light is formed, described image is converted to 24 RGB image, that is, obtain each picture in image
The parameter information of vegetarian refreshments, described parameter information includes at least width Bw in units of pixel for the image, height Bh, image resolution ratio
Bf and coordinate；Preferably, the present invention illustrates taking the coordinate of each pixel in image as a example, obtains position by acquisition module
The coordinate position of each image slices vegetarian refreshments in coordinate system, by will in coordinate system the corresponding coordinate position of each pixel
It is compared with the coordinate position pre-setting, choose the coordinate of each pixel meeting default coordinate position threshold range
Position, by the position of cornea described in the coordinate setting of satisfactory pixel.
Wherein, the coordinate position pre-setting can for calculate alignment system pre-set can also according to be located at sit
In mark system, the mutual relation between the coordinate of each image slices vegetarian refreshments gets.
Exemplary, meet institute for according to the parameter threshold scope setting, obtaining parameter information described in described image
State the pixel of threshold range, also include：
According to each pixel corresponding coordinate position in coordinate system, the pixel of described image is classified, will
The pixel that coordinate position meets certain constraints divides a class into, and for example, some pixels in coordinate system meet one
Fixed Linear Constraints, this are met Linear Constraints and the pixel near Linear Constraints side-play amount divide one into
Class, chooses and meets Linear Constraints and the corresponding coordinate in a coordinate system of the pixel near Linear Constraints side-play amount
Position, by the position of cornea described in the coordinate setting of satisfactory pixel.
It should be noted that this Linear Constraints can also be according to each pixel in coordinate by systemic presupposition
Dispersion rules in system obtain.
Or centered on optimal pixel a certain in coordinate system and default a certain threshold value be side-play amount draw circle
Domain, the pixel falling in this border circular areas is divided into a class, chooses the coordinate position of the pixel in this border circular areas,
Position by cornea described in the coordinate setting of satisfactory pixel.
It should be noted that this optimal pixel can for the pixel of default setting can also according to each pixel
The point pixel best suiting requirement that corresponding position relationship is chosen in a coordinate system, for side-play amount, the present invention is not restricted,
In actual applications, user can pass through systemic presupposition it is also possible to according to each pixel in coordinate system according to the demand of oneself
In distribution choose.
In a preferred embodiment of the present invention, in order in corneal position fixing process, each operating process carries out automatization's control
System, reduces the manual intervention in cornea position fixing process, the cornea alignment system of the embodiment of the present invention also include master control system with
And the Machinery Control System being connected with described master control system, described Machinery Control System electrically connected with described robot assemblies,
For controlling described robot assemblies that cornea package body that is transparent and filling cornea is moved to described image identifying system and described
Between background assemblies；
Described master control system is electrically connected with described image identifying system and calculating alignment system respectively, for controlling
State image identification system and calculate alignment system, when described cornea package body is moved to described image identification by described robot assemblies
When between system and described background assemblies, obtain the image that described cornea package body is formed in the presence of described bias light；With
And, the image that described image identifying system is obtained is analyzed calculating, and obtains the positional information of described cornea.
It should be noted that the embodiment of the present invention is in actual application, Machinery Control System is according to master control system
The control signal sending controls described robot assemblies 5 that described cornea package body is moved to described image identifying system 7 and described
Between background assemblies 1, when described cornea package body moves between described image identifying system 7 and described background assemblies 1, machinery
Described cornea package body is moved to the signal between described image identifying system 7 and described background assemblies 1 and feeds back to by control system
Described master control system, at this point it is possible to control background assemblies 1 to provide bias light it is also possible to pass through by described master control system
The background assemblies 1 that manual mode makes provide bias light, and the embodiment of the present invention is not restricted to this.
Preferably, the embodiment of the present invention can provide the bias light of solid colour by background assemblies, so that described background
The cornea package body of clamp assemblies 53 clamping described in light transmission forms image in described positioning screen 11.
In sum, during the whole operation of cornea alignment system, by described Machinery Control System, each is grasped
Carry out Automated condtrol as process, decrease the manual intervention in cornea alignment system, the accurate of cornea positioning can be submitted to
Property.
Wherein, described Machinery Control System adopts Embedded A rcus controller, and this Arcus controller has 8 numerals
Input port and 8 digital output ports, input port be used for from master control system obtain instruction by cornea package body movement to
Between background assemblies 1 and image identification system 7 and when described image identifying system 7 detects the center of described location window 532
When coordinate is mismatched with described default centre coordinate, that is, when there is deviation, by Arcus controller according to described deviation to institute
The center stating location window 532 is adjusted.Output port is used for the instruction sending according to described master control system to described
Master control system feeds back completion statuses.
Wherein, described master control system 14 can include one or more microprocessors 13, memorizer, user interface, net
Network interface and communication bus.
Communication bus is used for controlling the communication between each building block in cornea alignment system.User interface is used for outside grafting
Portion's equipment, such as touch screen, mouse and keyboard etc., with the information of receiving user's input.Network interface be used for described controller with
Outside carries out intercommunication, and this network interface mainly includes line interface and wave point.
Memorizer can be used for storing software program and module, data base, and the cornea as described in the embodiment of the present invention is fixed
Corresponding programmed instruction/the module of method for position and Machinery Control System control described robot assemblies to drive described cornea package body edge
Horizontal direction is mobile or vertically moves corresponding programmed instruction/module or the background assemblies offer corresponding journey of bias light
Sequence instruction/module or calculate alignment system image that described image identifying system is obtained be analyzed the programmed instruction of calculating/
Module.Memorizer may include high speed random access memory, may also include nonvolatile memory, such as one or more magnetic storage
Device, flash memory or other non-volatile solid state memories.In some instances, memorizer can further include with respect to micro-
The remotely located memorizer of processor, these remote memories can be by network connection to described control device.Above-mentioned network
Example include but is not limited to the Internet, intranet, LAN, mobile radio communication and combinations thereof.
Microprocessor 13 passes through to run software program instructions and the module being stored in memorizer, thus executing various work(
Can apply and data processing, for example, processor takes off the application program of positioning by calling the cornea in memorizer, fast to realize
Speed and accurately realize cornea position fixing process, control described robot assemblies to move by calling Machinery Control System in memorizer
Move corresponding programmed instruction/module, to realize driving described cornea package body to move in the horizontal direction or vertically to move
Process.
Preferably, the microprocessor of the present invention adopts Arduino pro, and the output of this Arduino pro connects Arcus control
The digital input port of device, the input of Arduino pro connects master control system.
In sum, above-mentioned master control system is in control process, can be to realizing automatization in each operating procedure
Control, only the operation sequence setting is inputed to described master control system 14, adjusted by microprocessor 13 in actual applications
With the application program that is stored in described master control system 14 it is possible to complete whole operation process.
Embodiment two：
Referring to Fig. 8, on the other hand, the embodiment of the present invention additionally provides a kind of cornea localization method, is applied to above-mentioned enforcement
Cornea alignment system described in example, comprises the following steps：
S101, clamp the cornea package body equipped with cornea to be positioned in initial position by robot assemblies 5；
S102, by robot assemblies by described cornea package body movement to image identification system 7 and background assemblies 1 it
Between；
S103, provide bias light by described background assemblies 1, and described cornea package body is obtained by image identification system
The image being formed in the presence of described bias light；
S104, it is analyzed calculating using calculating alignment system image that described image identifying system is obtained, acquisition institute
State the positional information of cornea.
Cornea localization method provided in an embodiment of the present invention, when need to transparent and fill cornea to be positioned cornea packaging
When cornea in body positions, first pass through robot assemblies in initial position and clamp cornea bag that is transparent and filling cornea to be positioned
Dress body, then passes through robot assemblies by cornea package body movement between image identification system and background assemblies, then passes through
Background assemblies provide the bias light of solid colour, and obtain background assemblies through robot assemblies clamping by image identification system
Cornea package body bias light formed image；Finally, the image using calculating alignment system, image identification system being obtained
It is analyzed calculating, obtain the positional information of cornea.This cornea localization method not only can improve the hole accuracy of cornea positioning,
And reduce workman's amount of labour.
Wherein, described robot assemblies include moving horizontally assembly 52, vertical shift assembly 51 and clamp assemblies 53, described
Move horizontally assembly 52 and can drive vertical shift assembly 51 and clamp assemblies 53 along the level parallel to described positioning screen 11 surfaces
Direction moves back and forth, and described vertical shift assembly 51 can drive clamp assemblies 53 to shield the vertical of 11 surfaces along parallel to described positioning
Direction moves back and forth；The described assembly 52 that moves horizontally includes the first actuator, horizontal guide rail, is arranged in described horizontal guide rail
Horizontal screw lead and the first nut with the cooperation of described horizontal screw lead, described first nut and described horizontal guide rail are slidably connected,
Described first actuator can drive described horizontal screw lead to rotate, and described vertical shift assembly is fixedly connected with described first nut；
Described vertical shift assembly includes the second actuator, upright guide rail, the vertical leading screw being arranged in described upright guide rail, Yi Jiyu
Second nut of described vertical leading screw cooperation, described second nut and described upright guide rail are slidably connected, described second actuator
Described vertical leading screw can be driven to rotate；
Referring to Fig. 9, exemplary, specifically can be realized by following steps for step S102：
S1021, described second actuator of unlatching, described second actuator drives described vertical leading screw to rotate, and drives described
Clamp assemblies from described initial position along parallel to described positioning screen surfaces vertical shift, described cornea package body with described
Image identification system and when being in identical height of described background assemblies, close described second actuator；
S1022, described first actuator of unlatching, described first actuator drives described horizontal screw lead to rotate, and drives described
Vertical shift assembly and described clamp assemblies move along the horizontal direction parallel to described positioning screen surfaces, in described cornea packaging
When body is located between described image identifying system and described background assemblies, close described first actuator.
Further, robot assemblies drive cornea package body in the horizontal direction or vertical direction moves for convenience,
Preferably, support member, the first hold assembly, the second hold assembly, reset components and driver part；
Wherein, the centre of described first hold assembly and the second hold assembly is respectively arranged with location window；Described
One hold assembly is fixed in described support member, and described first hold assembly and described second hold assembly are oppositely arranged, and
Connected by reset components between described first hold assembly and described second hold assembly, described driver part includes motor,
The output shaft of described motor is connected with swing arm, and described swing arm is away from one end and described second hold assembly of described motor output shaft
Against；
Exemplary, step S101 can be realized especially by following steps：
S1011, close in described motor, described second hold assembly and described first hold assembly are in described reset components
In the presence of when assuming open mode, the described cornea package body equipped with cornea to be positioned is positioned over described first hold assembly
And described second hold assembly between and keep；
Wherein, when described motor cuts out, it is applied to the external force on described second hold assembly and described first hold assembly
Disappear, described second hold assembly and described first hold assembly recover to initial position, now in the presence of reset components
The first hold assembly and the second hold assembly rely on reset components itself elastic force be in open mode, when described first clamping
When part and described second hold assembly are in open mode, the distance between the first hold assembly and described second hold assembly
The thickness of described cornea package body should be more than or equal to.
S1012, the described motor of unlatching, the output shaft of described motor drives described swing arm near described second hold assembly
Direction swing, described swing arm promotes described second hold assembly to rotate to the direction of described first hold assembly, until described
First hold assembly and the second hold assembly fit.
Wherein, by open described motor, to described swing arm apply external force, swing arm rotate under the drive of described motor from
And drive swing arm to extrude described second hold assembly and rotate towards described first hold assembly, and then make to be located at described first folder
Hold the reset components between part and described second hold assembly to be extruded thus described first hold assembly presss from both sides with described second
Hold part to clamp cornea package body that is described transparent and filling cornea to be positioned.
Further, described cornea package body is located at and refers between described image identifying system and described background assemblies：Institute
The center of location window stating clamp assemblies is just right with the center of described positioning screen.In order to preferably obtain cornea positioning
Accuracy, the size and location of described location window are not construed as limiting, as long as when cornea package body be located at described image identification system
When between system and described background assemblies, make described clamp assemblies 53 by moving horizontally assembly 52 and vertical shift assembly 51
The center of location window 532 and the described center positioning screen 11 are just to that is,
Referring to Figure 10, exemplary, step S104 specifically can be realized by following steps：
S1041, described image identifying system obtain the parameter information of each pixel in described image；
S1042, the parameter threshold scope according to setting, obtain parameter information described in described image and meet described threshold value model
The pixel enclosing；
S1043, the coordinate of the described pixel meeting described threshold range is defined as the position of described cornea.
Embodiment three
Referring to Figure 11, the embodiment of the present invention provides a kind of preferred cornea localization method, and this cornea localization method is based on this
The preferred cornea alignment system that inventive embodiments provide, methods described includes：
S201, described Machinery Control System control described robot assemblies to clamp equipped with cornea to be positioned in initial position
Cornea package body；
S202, described Machinery Control System control described robot assemblies by described cornea package body movement to image recognition
Between system and background assemblies；
S203, described master control system control described background assemblies to provide bias light, and control described image identifying system
Obtain the image that described cornea package body is formed in the presence of described bias light；
S204, described master control system control the image that described calculating alignment system obtains to described image identifying system to enter
Row analytical calculation, obtains the positional information of described cornea.
Referring to Figure 12, exemplary, following steps can be specifically included for step S201：
S2011, the sign on of described Machinery Control System receiving user's input；
Specifically, user can open the instruction of robot assemblies work, example in the operation interface input of Machinery Control System
Operation button as started the operation interface being arranged on Machinery Control System sends to mechanical arm control system opens mechanical arm group
The instruction of part work.Wherein, the operation interface of Machinery Control System refers to operation interface shown in Figure 13.Operation interface left side
Points 1001 are used for showing the running state information that robot assemblies are overall, such as the initial position of robot assemblies, current location, pre-
If the distance between position, current location and initial position etc., interface right part 1002 is used for control machinery arm control system
Running status, such as run button 10021 and be used for the sign on that robot assemblies work is opened in input, navigation button 10022,
For by limit sensors by robot assemblies movement to predeterminated position, initial button 10023 be used for make in operation
Robot assemblies are returned to original position, and emergency stop push button 10024 is used for stopping robot assemblies and Machinery Control System
Kinestate, settings button 10025, for arranging the operational factor moving to predeterminated position of robot assemblies, return push-button
10026 are used for exiting the operation interface of mechanical arm control system.
It should be noted that Figure 13 is only a kind of exemplary operation interface schematic diagram providing Machinery Control System, when
So it is also possible to there are other possible operation interfaces, the embodiment of the present invention is not especially limited to this.
S2012, described Machinery Control System transmit the sign on of described user input to described master control system；
S2013, described Machinery Control System receive described master control system and are referred to according to the positioning that described sign on sends
Order；
S2014, described Machinery Control System control described robot assemblies to return back to initial bit according to described positioning instruction
Put；
S2015, described Machinery Control System send the first signal to described master control system, and described first signal is used for referring to
Show that described robot assemblies return back to initial position；
S2016, described Machinery Control System receive the first control signal that described master control system sends, and according to described
First control signal clamps the cornea package body equipped with cornea to be positioned in initial position.
Further, controller controls described cornea package body to move with vertical direction in the horizontal direction for convenience, water
Flat moving assembly 52, vertical shift assembly 51 and clamp assemblies 53, the described assembly 52 that moves horizontally can drive vertical shift assembly
51 and clamp assemblies 53 along parallel to described positioning screen 11 surfaces horizontal direction move back and forth, described vertical shift assembly 51 can
Clamp assemblies 53 are driven to move back and forth along the vertical direction parallel to described positioning screen 11 surfaces；The described assembly 52 that moves horizontally wraps
Include the first actuator, horizontal guide rail, the horizontal screw lead being arranged in described horizontal guide rail and with described horizontal screw lead cooperation
First nut, described first nut and described horizontal guide rail are slidably connected, and described first actuator can drive described horizontal screw lead
Rotate, described vertical shift assembly is fixedly connected with described first nut；Described vertical shift assembly 51 include the second actuator,
Upright guide rail, the vertical leading screw being arranged in described upright guide rail and the second nut coordinating with described vertical leading screw, described
Second nut is slidably connected with described upright guide rail, and described second actuator can drive described vertical leading screw to rotate；
Described initial position includes described second nut in the first initial value of described upright guide rail and described first spiral shell
Female 522 coordinates constituting in the second initial value of described horizontal guide rail；
Exemplary, step S2014 specifically can be realized by following steps：
S20141, described Machinery Control System detect described first nut in the currency of described horizontal guide rail and described
Second nut is in the currency of described upright guide rail；
If described second nut of S20142 is the first initial value in the currency of described upright guide rail, described first nut
It is not the second initial value in the currency of described horizontal guide rail, then described Machinery Control System controls described first actuator to open
Open, drive described vertical shift assembly and described clamp assemblies to move to described second initial value along described horizontal guide rail；
If described second nut of S20143 is not the first initial value in the currency of described upright guide rail, described first spiral shell
Female currency in described horizontal guide rail is the second initial value, then described Machinery Control System controls described second nut to drive institute
State clamp assemblies along mobile extremely described first initial value of described upright guide rail；
If described second nut of S20144 is not the first initial value in the currency of described upright guide rail, described first spiral shell
Female currency in described horizontal guide rail is not the second initial value, and described Machinery Control System controls described first nut to drive institute
State clamp assemblies movement and move to described second initial value along described horizontal guide rail, and control described first nut to drive described clamping
Assembly is along mobile extremely described first initial value of described upright guide rail.
Wherein, described first initial value is preset or existed according to described second nut by master control system by master control system
The currency of described upright guide rail and described first nut are at the beginning of the currency and described first initial value and second of horizontal guide rail
Position acquisition between initial value.
Machinery Control System control machinery arm component clamping cornea package body for convenience,
Exemplary, described Machinery Control System controls described robot assemblies to clamp transparent in initial position and fill
The cornea package body of cornea to be positioned, including：
Described Machinery Control System controls described motor to close, and described second hold assembly and described first hold assembly exist
Open mode is assumed in the presence of described return unit；
The described cornea package body equipped with cornea to be positioned is positioned over described first hold assembly and described second clamping
Between part and keep；
Described Machinery Control System, through preset duration, opens described motor, the output shaft of described motor in the second moment
Described swing arm is driven to swing near the direction of described second hold assembly, described swing arm promotes described second hold assembly to institute
The direction stating the first hold assembly rotates, until described first hold assembly and the second hold assembly fit.
Wherein, described preset duration by systemic presupposition or by master control system according to described first hold assembly with described
Second hold assembly is in distance during open mode to described first hold assembly and described second hold assembly by described dress
Time that the cornea package body having cornea clamps determines, described second moment by systemic presupposition or by master control system according to institute
State elastomeric element so that the time that described first hold assembly and described second hold assembly are in open mode determines, this clamping
When assembly is in open mode, the distance between the first hold assembly and the second hold assembly should be more than or equal to described cornea bag
The thickness of dress body, that is, described second moment by the distance between described first hold assembly and described second hold assembly with described
Elastomeric element makes the rate calculations that described first hold assembly and described second hold assembly are in open mode obtain.
Exemplary, described Machinery Control System controls described robot assemblies by described cornea package body movement to image
Between identifying system and background assemblies, including：
Described Machinery Control System controls described second actuator to open, and drives described clamp assemblies initial from described first
Value is along described upright guide rail slide downward first distance；
Described upright guide rail slide downward first apart from after, described Machinery Control System controls described second actuator to close
Close so that described cornea package body and described image identifying system and described background assemblies be in identical height；
Described Machinery Control System controls described first actuator to open, and drives described vertical shift assembly and described clamping
Assembly moves second distance from the second initial position to first direction along described horizontal guide rail, and wherein, described first direction is institute
State horizontal guide rail towards the direction of position between described image identifying system and background assemblies；
After described first nut is along described horizontal guide rail to the mobile second distance of first direction, described Machinery Control System
Control described first actuator to close so that described cornea package body be located at described image identifying system and described background assemblies it
Between.
Referring to Figure 14, it is the operation interface schematic diagram of embodiment of the present invention Machinery Control System as shown in figure 14, left side is grasped
Make interface 1101 to be used for showing positional information in Y-axis (upright guide rail), X-axis (horizontal guide rail) for this robot assemblies 5, example
As, the first initial position, the second initial position and the first distance, second distance, east side operation interface 1102 is used for control machinery
The parameter of arm component 5, for example, navigation button 11021A, for driving described clamping group by limit sensors by the second nut
, from described first initial value along described upright guide rail slide downward first distance, navigation button 11021B, for by limit for part 53
First nut is driven described vertical shift assembly 51 and described clamp assemblies 53 along described horizontal guide rail from second by level sensor
Initial position moves second distance to first direction, and initial button 110022 is used for making robot assemblies 5 times in operation
Again to the first initial position and the second initial position, stop button 110023A is used for moving along upright guide rail when clamp assemblies 53
Make the stop motion on vertical rail of the second nut to after the first distance, stop button 11023B is used for when clamp assemblies 53 are in water
The movement of plate rail road makes the stop motion on horizontal slide rail of the first nut to second distance, and settings button 11024, for arranging machine
The parameter in vertical rail and horizontal rail predeterminated position of tool arm component, return push-button 11025 is used for exiting mechanical arm control
The operation interface of system.
It should be noted that Figure 14 is only a kind of exemplary operation interface schematic diagram providing Machinery Control System, when
So it is also possible to there are other possible operation interfaces, the embodiment of the present invention is not especially limited to this.
Wherein, described first distance by master control system according to the second nut in the first initial position of vertical rail and figure
As identifying system 7 and difference in height residing for described background assemblies 1 are preset, second distance by master control system according to the first nut in water
The second initial position on plate rail road is preset with image identification system 7 and described background assemblies 1 alternate position spike in the horizontal direction.
So that locating effect is more accurate, will be described in the described Machinery Control System described robot assemblies 5 of control
To after between image identification system 7 and background assemblies 1, described master control system controls described calculating to position for cornea package body movement
The image that system obtains to described image identifying system 7 is analyzed calculating, before obtaining the positional information of described cornea, described
Method also includes：
Described master control system controls described image identifying system and described Machinery Control System to make described clamp assemblies
Location window center be located at described positioning screen vertical center line on.
Referring to Figure 15, exemplary, described master control system controls described image identifying system and described Mechanical course
System makes the center of the location window of described clamp assemblies be located on the vertical center line of described positioning screen, including：
S2021, described Machinery Control System control described robot assemblies by described cornea package body movement to image
After between identifying system and background assemblies, described Machinery Control System sends secondary signal to described master control system, to refer to
Show described cornea package body movement between image identification system and background assemblies；
S2022, described master control system send second according to described secondary signal to described image identifying system and control letter
Number；
S2023, described image identifying system are sat according to the center that described second control signal detects described location window
Mark；
The center position coordinates of described location window are carried out by S2024, described image identifying system with default centre coordinate
Coupling；
If the center position coordinates of the described location window of S2025 are mismatched with default centre coordinate, described image identifies
System sends the deviation information between the center position coordinates of described location window and default centre coordinate to described main control
System；
S2026, described master control system send described deviation information to described Machinery Control System；
S2027, described Machinery Control System are adjusted to the center of described location window according to described deviation information.
It should be noted that cornea package body is moved to image identification system and 7 background assemblies 1 in robot assemblies 5
Between when, because the factor of each side can make the center of location window and default centre coordinate have differences, for example, can
To be that system arranges the difference that deviation causes, therefore master control system will check described location window after getting secondary signal
532 center position coordinates whether there is difference with default centre coordinate, when a discrepancy exists, by Machinery Control System root
Make it consistent with predeterminated position according to the center that deviation information adjusts location window 532, so facilitate in follow-up position fixing process
The center of middle photographic head can be just right with the center of location window, thus improve the degree of accuracy of whole alignment system.
Referring to Figure 16, exemplary, embodiments of the invention also include：
If the image that S301 described calculating alignment system obtains to described image identifying system is analyzed calculating, determine
There is not the relevant information of cornea in described image, then send the 3rd signal to described master control system；
S302, described master control system send the 3rd according to described 3rd signal to described Machinery Control System and control letter
Number；
S303, described Machinery Control System control described robot assemblies to return back to initially according to described 3rd control signal
Position.
It should be noted that in actual mechanical process, due to not limiting to the cornea needing positioning, therefore carrying out determining
During position, there is not the information of cornea in the image being likely to appear in bias light formation, at this moment, in order to improve the accuracy of positioning
And high efficiency, the information not getting cornea can be sent to by control system by master control system, control machinery controls system
Robot assemblies are returned back to the positioning that initial position carries out next cornea by system.
A kind of cornea localization method provided in an embodiment of the present invention, determines when needing the cornea to be positioned in corneal package body
During position, Machinery Control System clamps the cornea package body equipped with cornea to be positioned in initial position elder generation control machinery arm component,
Then Machinery Control System control machinery arm component by cornea package body movement between image identification system and background assemblies, so
Master control system controls background assemblies to provide the bias light of solid colour afterwards, and it is saturating to control image identification system to obtain background assemblies
Cross the image that the bias light of the cornea package body of robot assemblies clamping is formed；Finally, master control system controls described calculating to determine
The image that position system obtains to described image identifying system is analyzed calculating, and obtains the positional information of described cornea.This cornea
Localization method not only can improve the hole accuracy of cornea positioning, and reduces workman's amount of labour.
The above, the only specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, and any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, all should contain
Cover within protection scope of the present invention.Therefore, protection scope of the present invention should be defined by described scope of the claims.
Claims (12)
1. a kind of cornea alignment system is it is characterised in that include：
Robot assemblies, image identification system, the background assemblies being oppositely arranged with described image identifying system, and with described figure
The calculating alignment system connecting as identifying system；Wherein, described robot assemblies are used for will be equipped with the cornea bag of cornea to be positioned
Dress body moves between described image identifying system and described background assemblies；
Described background assemblies are used for providing bias light；
Described image identifying system is used for, and obtains the image that described cornea package body is formed in the presence of described bias light；
Described calculating alignment system is used for, and the image that described image identifying system is obtained is analyzed calculating, and obtains described angle
The positional information of film.
2. cornea alignment system according to claim 1 is it is characterised in that described image identifying system includes photographic head,
Described background assemblies comprise positioning screen and light source, described light source be arranged on described positioning screen with respect to described image identifying system
Rear.
3. cornea alignment system according to claim 2 is it is characterised in that the center of described photographic head is arranged on institute
State on the vertical center line of positioning screen.
4. cornea alignment system according to claim 2 is it is characterised in that described robot assemblies include moving horizontally group
Part, vertical shift assembly and clamp assemblies, the described assembly that moves horizontally can drive vertical shift assembly and clamp assemblies along parallel
Horizontal direction in described positioning screen surfaces moves back and forth, and described vertical shift assembly can drive clamp assemblies along parallel to described
The vertical direction of positioning screen surfaces moves back and forth.
5. cornea alignment system according to claim 4 is it is characterised in that the described assembly that moves horizontally includes the first driving
Part, horizontal guide rail, the horizontal screw lead being arranged in described horizontal guide rail and the first nut with the cooperation of described horizontal screw lead,
Described first nut and described horizontal guide rail are slidably connected, and described first actuator can drive described horizontal screw lead to rotate, described
Vertical shift assembly is fixedly connected with described first nut；
Described vertical shift assembly include the second actuator, upright guide rail, the vertical leading screw being arranged in described upright guide rail, with
And the second nut coordinating with described vertical leading screw, described second nut and described upright guide rail be slidably connected, and described second drives
Moving part can drive described vertical leading screw to rotate.
6. cornea alignment system according to claim 5 is it is characterised in that described clamp assemblies comprise：
Support member, the first hold assembly, the second hold assembly, reset components and driver part；
Wherein, the centre of described first hold assembly and the second hold assembly is respectively arranged with location window；Described first folder
Hold part to be fixed in described support member, described first hold assembly and described second hold assembly are oppositely arranged, and described
Connected by reset components between first hold assembly and described second hold assembly, described driver part includes motor, described
The output shaft of motor is connected with swing arm, and described swing arm is supported with described second hold assembly away from one end of described motor output shaft
Lean on, when the output shaft of described motor drives described swing arm to swing to the direction of close described second hold assembly, described swing arm
Described second hold assembly can be promoted to rotate to the direction of described first hold assembly, until described first hold assembly and second
Hold assembly fits, and when the output shaft of described motor stops driving described swing arm to swing, described second hold assembly is in institute
Rotate to the direction away from described first hold assembly in the presence of stating return unit.
7. cornea alignment system according to claim 6 it is characterised in that：
When described clamp assemblies clamp described cornea package body and are located between described image identifying system and described background assemblies,
The center of described location window is located on the vertical center line of described positioning screen.
8. cornea alignment system according to claim 5 is it is characterised in that one end of described horizontal screw lead is provided with rotation
Button, when rotating described rotary switch, can drive described horizontal screw lead to rotate so that described vertical shift assembly and clamp assemblies edge
Horizontal direction moves.
9. it is characterised in that also including sample stage, described sample stage is arranged cornea alignment system according to claim 6
In the lower section of described clamp assemblies initial position, described sample stage is provided with stopper slot, described stopper slot is located at described first
When hold assembly and described second hold assembly are in clamped condition, described first hold assembly and described second hold assembly it
Between crack underface；
Wherein, described initial position is described clamp assemblies default init state on described robot assemblies.
10. a kind of cornea localization method is it is characterised in that be applied to the cornea alignment system described in claim 1, methods described
Including：
Clamp the cornea package body equipped with cornea to be positioned in initial position by robot assemblies；
By robot assemblies by described cornea package body movement between image identification system and background assemblies；
There is provided bias light by described background assemblies, and described cornea package body is obtained in described background by image identification system
The image being formed in the presence of light；
It is analyzed calculating using the image that calculating alignment system obtains to described image identifying system, obtain the position of described cornea
Confidence ceases.
11. methods according to claim 10 it is characterised in that：Described background assemblies comprise positioning screen and light source, described
Light source is arranged on the rear with respect to described image identifying system of described positioning screen, and described robot assemblies include moving horizontally
Assembly, vertical shift assembly and clamp assemblies, the described assembly that moves horizontally can drive vertical shift assembly and clamp assemblies edge flat
Row moves back and forth in the horizontal direction of described positioning screen surfaces, and described vertical shift assembly can drive clamp assemblies along parallel to institute
The vertical direction stating positioning screen surfaces moves back and forth；The described assembly that moves horizontally includes the first actuator, horizontal guide rail, is arranged at
Horizontal screw lead in described horizontal guide rail and the first nut with the cooperation of described horizontal screw lead, described first nut with described
Horizontal guide rail is slidably connected, and described first actuator can drive described horizontal screw lead to rotate, described vertical shift assembly with described
First nut is fixedly connected；Described vertical shift assembly includes the second actuator, upright guide rail, is arranged in described upright guide rail
Vertical leading screw and the second nut coordinating with described vertical leading screw, described second nut slided even with described upright guide rail
Connect, described second actuator can drive described vertical leading screw to rotate；
Described by robot assemblies by described cornea package body movement between image identification system and background assemblies, including：
Open described second actuator, described second actuator drives described vertical leading screw to rotate, drive described clamp assemblies from
Described initial position, along the vertical shift parallel to described positioning screen surfaces, identifies system in described cornea package body with described image
System and when being in identical height of described background assemblies, close described second actuator；
Open described first actuator, described first actuator drives described horizontal screw lead to rotate, drives described vertical shift group
Part and described clamp assemblies move along the horizontal direction parallel to described positioning screen surfaces, are located at described in described cornea package body
When between image identification system and described background assemblies, close described first actuator.
12. methods according to claim 11 are it is characterised in that described clamp assemblies comprise：Support member, the first clamping
Part, the second hold assembly, reset components and driver part；
Wherein, the centre of described first hold assembly and the second hold assembly is respectively arranged with location window；Described first folder
Hold part to be fixed in described support member, described first hold assembly and described second hold assembly are oppositely arranged, and described
Connected by reset components between first hold assembly and described second hold assembly, described driver part includes motor, described
The output shaft of motor is connected with swing arm, and described swing arm is supported with described second hold assembly away from one end of described motor output shaft
Lean on；
Described clamp the cornea package body equipped with cornea to be positioned in initial position by robot assemblies, including：
Close in described motor, described second hold assembly and described first hold assembly are in the presence of described reset components
During existing open mode, the described cornea package body equipped with cornea to be positioned is positioned over described first hold assembly and described second
Between hold assembly and keep；
Open described motor, the output shaft of described motor drives described swing arm near the direction of described second hold assembly pendulum
Dynamic, described swing arm promotes described second hold assembly to rotate to the direction of described first hold assembly, until described first clamping
Part and the second hold assembly fit.
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| CN201510646206.6A CN105286778B (en) | 2015-09-30 | 2015-09-30 | Cornea location system and location method |
| PCT/CN2016/101405 WO2017054778A1 (en) | 2015-09-30 | 2016-09-30 | Cornea positioning system and positioning method |
| US15/765,041 US20180271644A1 (en) | 2015-09-30 | 2016-09-30 | Cornea positioning system and positioning method |
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| CN105286778B true CN105286778B (en) | 2017-02-22 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20180271644A1 (en) * | 2015-09-30 | 2018-09-27 | Shenzhen Ainear Cornea Engineering Co., Ltd. | Cornea positioning system and positioning method |
| CN112842252A (en) * | 2020-12-31 | 2021-05-28 | 北京理工大学 | Spatially self-positioning ophthalmic optical coherence tomography system |
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| US4744362A (en) * | 1985-06-27 | 1988-05-17 | Gruendler Patrik | Device for transplanting the cornea of the human eye |
| US5956123A (en) * | 1997-07-10 | 1999-09-21 | Konan Inc | Apparatus for observing cornea for transplantation |
| CN1384729A (en) * | 1999-10-21 | 2002-12-11 | 泰克诺拉斯眼科系统有限公司 | Customized refractive correction |
| CN1627925A (en) * | 2002-02-04 | 2005-06-15 | 普拉克斯塞尔公司 | Device that facilitates the handling of an animal cornea and, in particular, a human cornea |
| CN203555882U (en) * | 2013-09-30 | 2014-04-23 | 广州军区广州总医院 | Cornea marker suitable for corneal transplantation operation |
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| JPH08117266A (en) * | 1994-10-21 | 1996-05-14 | Tatsuo Yamaguchi | Cornea fixing device and cornea marking method |
| US6464357B1 (en) * | 2000-10-20 | 2002-10-15 | Kestrel Corporation | Wavefront characterization of corneas |
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|---|---|---|---|---|
| US4744362A (en) * | 1985-06-27 | 1988-05-17 | Gruendler Patrik | Device for transplanting the cornea of the human eye |
| US5956123A (en) * | 1997-07-10 | 1999-09-21 | Konan Inc | Apparatus for observing cornea for transplantation |
| CN1384729A (en) * | 1999-10-21 | 2002-12-11 | 泰克诺拉斯眼科系统有限公司 | Customized refractive correction |
| CN1627925A (en) * | 2002-02-04 | 2005-06-15 | 普拉克斯塞尔公司 | Device that facilitates the handling of an animal cornea and, in particular, a human cornea |
| CN203555882U (en) * | 2013-09-30 | 2014-04-23 | 广州军区广州总医院 | Cornea marker suitable for corneal transplantation operation |
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Inventor after: Zhang Jinnan Inventor after: Yu Yongmei Inventor before: Wang Weibo Inventor before: Zhang Bin |