CN109106501A - A kind of ophthalmologic operation ring cutting device with force sensing function - Google Patents
A kind of ophthalmologic operation ring cutting device with force sensing function Download PDFInfo
- Publication number
- CN109106501A CN109106501A CN201811170268.4A CN201811170268A CN109106501A CN 109106501 A CN109106501 A CN 109106501A CN 201811170268 A CN201811170268 A CN 201811170268A CN 109106501 A CN109106501 A CN 109106501A
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- handle
- trephine
- speed
- linear potentiometer
- sensing function
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- 238000005520 cutting process Methods 0.000 title claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 230000008878 coupling Effects 0.000 claims abstract description 13
- 238000010168 coupling process Methods 0.000 claims abstract description 13
- 238000005859 coupling reaction Methods 0.000 claims abstract description 13
- 230000008859 change Effects 0.000 claims abstract description 8
- 230000001105 regulatory effect Effects 0.000 claims abstract 10
- 238000000034 method Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 2
- 230000003068 static effect Effects 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 241000425571 Trepanes Species 0.000 description 20
- 238000010586 diagram Methods 0.000 description 6
- 201000010099 disease Diseases 0.000 description 4
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 4
- 238000001356 surgical procedure Methods 0.000 description 4
- 210000001508 eye Anatomy 0.000 description 3
- 238000011897 real-time detection Methods 0.000 description 3
- 208000010412 Glaucoma Diseases 0.000 description 2
- 210000004087 cornea Anatomy 0.000 description 2
- 208000021921 corneal disease Diseases 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- JEIPFZHSYJVQDO-UHFFFAOYSA-N ferric oxide Chemical compound O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 2
- 230000003902 lesion Effects 0.000 description 2
- 210000003786 sclera Anatomy 0.000 description 2
- 210000005239 tubule Anatomy 0.000 description 2
- 206010066968 Corneal leukoma Diseases 0.000 description 1
- 201000002287 Keratoconus Diseases 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 230000004410 intraocular pressure Effects 0.000 description 1
- 206010023332 keratitis Diseases 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 210000000697 sensory organ Anatomy 0.000 description 1
- 238000002054 transplantation Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F9/00—Methods or devices for treatment of the eyes; Devices for putting in contact-lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
- A61F9/007—Methods or devices for eye surgery
- A61F9/00736—Instruments for removal of intra-ocular material or intra-ocular injection, e.g. cataract instruments
- A61F9/00763—Instruments for removal of intra-ocular material or intra-ocular injection, e.g. cataract instruments with rotating or reciprocating cutting elements, e.g. concentric cutting needles
Landscapes
- Health & Medical Sciences (AREA)
- Ophthalmology & Optometry (AREA)
- Heart & Thoracic Surgery (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
Abstract
本发明公开了一种具有力感知功能的眼科手术环切装置，由手柄、六维力传感器和环钻组成。六维力传感器两端通过连接机构分别于环钻和手柄连接，可以实时检测环切力的大小。手柄外侧安装有调速机构，调速机构与直线电位器连接，通过调速机构控制电位器的滑移改变电路电压，建立电压与脉冲之间的关系，进而可以控制步进电机转速；手柄内部的两腔分别安装有联轴器和步进电机，同时步进电机通过联轴器与手柄顶端的编码器连接。本发明的有益效果如下：(1)在环切过程中可实时检测环切力的大小；(2)建立了电压与脉冲之间的关系，通过调速机构电压的变化来改变环钻的转速；(3)本发明整体尺寸较小，操作简单，在手术过程中，医生可以手持器械进行手术操作。
The invention discloses an ophthalmic surgical circumcision device with force sensing function, which is composed of a handle, a six-dimensional force sensor and a trephine. The two ends of the six-dimensional force sensor are connected to the trephine drill and the handle respectively through the connecting mechanism, which can detect the size of the trephine force in real time. A speed regulating mechanism is installed on the outside of the handle, and the speed regulating mechanism is connected with the linear potentiometer. The sliding of the potentiometer is controlled by the speed regulating mechanism to change the circuit voltage, establish the relationship between the voltage and the pulse, and then control the speed of the stepper motor; inside the handle A coupling and a stepping motor are respectively installed in the two cavities of the shaft, and the stepping motor is connected with the encoder at the top of the handle through the coupling. The beneficial effects of the invention are as follows: (1) the size of the ring cutting force can be detected in real time during the ring cutting process; (2) the relationship between the voltage and the pulse is established, and the rotation speed of the trephine drill is changed by the change of the voltage of the speed regulating mechanism (3) The overall size of the present invention is small, and the operation is simple. During the operation, the doctor can hold the instrument to perform the operation.
Description
Technical field
The present invention relates to a kind of field of ophthalmological medical equipment, in particular to a kind of ophthalmologic operation ring with force sensing function
Cutting apparatus.
Background technique
Eyes are the important sense organs of human body, and 80% information of human brain is obtained by eyes, if eye is sent out
Raw disease will bring great inconvenience to the life of people, wherein disease of cornea and glaucoma are the higher ophthalmology diseases of disease incidence
Disease.For disease of cornea such as keratoconus, keratoleukoma, intractable keratitis, effect preferably carries out corneal transplantation, to replace
For the cornea of lesion；For glaucoma, effect preferably carries out sticking small Tuboplasty, to reduce intraocular pressure.
In these surgical procedures, ring cutting operation is an important operating procedure.The most common side of corneal graft
Method is that the hand-held trepan of oculist does periodic rotational movements and gradually presses down on, to cut off the cornea of lesion；Glutinous tubule at
The first step during shape art is that layer cuts sclera to find the position of glutinous tubule.But these operations are difficult to know ring cutting process
The size of middle power and speed is easy to run through ocular tissue, at the same time it is difficult to ensure the uniformity at ring cutting edge, influence subsequent operation and
Healing effect.Therefore so that oculist is obtained the size of operating force in real time in operation and is can control ring cutting speed is
Need urgent problem to be solved.
Summary of the invention
The purpose of the present invention is cutting the deficiency of sclera for existing corneal trephine and artificial layer, provide a kind of with power sense
Know the ophthalmologic operation ring cutting device of function.Six-dimension force sensor is installed between instrument end trepan and handle, can be examined in real time
Survey the variation of power during ring cutting.Speed adjusting gear is installed on the outside of handle, speed adjusting gear end is connected with linear potentiometer；Hand
Stepper motor is installed, stepper motor both ends are connect with external six-dimension force sensor with encoder respectively inside handle.Ophthalmology doctor
The raw speed adjusting gear that passes through is to adjust the sliding of linear potentiometer, to change both end voltage, voltage and umber of pulse are at certain ratio
Example relationship, and then change motor speed indirectly, while encoder can read the revolving speed of motor in real time, to reach control ring cutting speed degree
Purpose.
In order to achieve the above object, the invention provides the following technical scheme:
A kind of ophthalmologic operation ring cutting device with force sensing function, by handle, force snesor and trepan three
It is grouped as.Six-dimension force sensor both ends are connected respectively at trepan with handle by bindiny mechanism, can be with real-time detection ring cutting power
Size.Speed adjusting gear is installed on the outside of handle, speed adjusting gear is connect with linear potentiometer, passes through speed adjusting gear controlling potential device
Sliding changes circuit voltage, establishes the relationship between voltage and pulse, and then can control stepper motor revolving speed；Handle inner
Two chambers are separately installed with shaft coupling and stepper motor, while stepper motor is connected by the encoder of shaft coupling and handle tip.
Further, it is connected between trepan and six-dimension force sensor by cup-shaped connecting member, trepan is nested in cup type connection
In the rim of a cup of part, rim of a cup both ends have jackscrew to fasten trepan, prevent from sliding.
Further, it is connected between six-dimension force sensor and handle by umbrella shape connector, connector top and power sense
Device diameter is identical, and connector end is connected by the shaft coupling of handle inner with stepper motor.
Further, handle uses cylindrical design structure, is made of handle cover and handle main body two parts, leads between the two
Cross screw connection.
Further, handle cover is the controlling position of trepan, and outside is equipped with speed adjusting gear, and end is connected with straight line current potential
Device, speed adjusting gear use the motion mode of slider-crank mechanism, and when hand presses crank linear potentiometer edge can set about
Arbor is to up and down motion, to control the sliding of linear potentiometer.
Further, the sliding for adjusting linear potentiometer can control the voltage at both ends, acquire electricity by data collecting card
Information is pressed, and establishes the relationship between voltage and stepper motor umber of pulse.
Preferably, servo motor can be selected in motor, passes through the revolving speed of the change control servo motor of voltage.
It further, is cavity structure inside handle main body, cavity is divided into two parts by middle splint, and ante-chamber is equipped with connection
Axis device, back cavity are equipped with stepper motor, and middle splint plays the role of fixed stepper motor simultaneously.
Further, handle main body front end is equipped with miniature bearing, supports the rotation of umbrella shape connector, rear end is equipped with volume
Code device, reads the variation of revolving speed in real time.
Further, trepan is divided into annular bit and arc drill, can be replaced according to different type of surgery.
Further, trepan is there are two types of motor pattern, single direction rotation and is alternately rotated, and being alternately rotated angle is 60 °, two kinds
It is switched between mode by the switching push button of handle middle section.
Preferably, being alternately rotated angle can be adjusted by control panel.
The beneficial effects of the present invention are:
The present invention can during ring cutting real-time detection ring cutting power size, doctor can according to the size of ring cutting power come
Control the pressing force in operative process.
The present invention changes its both end voltage by adjusting the sliding of linear potentiometer, establishes the pass between voltage and pulse
System, and then motor speed change can be controlled by the variation of voltage.
Grip size of the present invention is smaller, easy to operate, and in the course of surgery, doctor can carry out operation behaviour with hand-held apparatus
Make.
Detailed description of the invention
The general structure schematic diagram of Fig. 1 trepan device of the present invention
Fig. 2 handle inner structural schematic diagram of the present invention
Position of the switch schematic diagram is adjusted the speed under Fig. 3 trepan movement of the present invention and halted state
Two kinds of motor patterns of Fig. 4 trepan device of the present invention
Fig. 5 arc drill structural schematic diagram of the present invention
Specific embodiment
Below in conjunction with attached drawing, the present invention is described in detail.
A kind of ophthalmologic operation ring cutting device with force sensing function, Fig. 1 and Fig. 2 are respectively corneal ring cutting machine of the present invention
General structure schematic diagram and handle inner structural schematic diagram, comprising: handle (1), encoder (2), linear potentiometer (3), adjust
Fast mechanism (4), six-dimension force sensor (5), cup-shaped connecting member (6), trepan (7), umbrella shape connector (8), shaft coupling I (9), stepping
Motor (10), shaft coupling II (11), mode selector switch (12).
As shown in Figure 1, it is equipped with speed adjusting gear (4) on the outside of handle (1), end is connected with linear potentiometer (3), governor
Structure (4) uses the motion mode of slider-crank mechanism, linear potentiometer (3) can be made along Handle axis when hand presses crank
To up and down motion, to control the sliding of linear potentiometer (4).
Linear potentiometer (3) is connect with external circuit, and the sliding for adjusting linear potentiometer (3) can change its both ends electricity
Pressure, by data collecting card acquire both end voltage information, and establish voltage and pulse it is how many between relationship, pass through the big of voltage
The speed of small control stepper motor (10) revolving speed.
Six-dimension force sensor (5) lower part is connected by cup-shaped connecting member (6) with trepan (7), and top passes through umbrella shape connector
(8) it is connected with handle (1), this structure can measure the size of ring cutting power during ring cutting.
As shown in Figure 2, handle (1) is divided into two spaces cavity by middle splint, and ante-chamber is equipped with shaft coupling I (9), back cavity
It is equipped with stepper motor (10), stepper motor (10) is fixed in middle splint, while passing through shaft coupling II (11) and handle (1)
The encoder (2) of rear end connects, can be with real-time detection stepper motor (10) revolving speed.
As shown in Figure 3, as speed adjusting gear (4) Fig. 3 (a) in the raw, the sliding block of linear potentiometer (2) is in most
Lower end, both ends do not have voltage at this time, and trepan remains static；When pressing down on speed adjusting gear (4), linear potentiometer (2)
Sliding block move upwards, trepan setting in motion Fig. 3 (b), and moving upwards with linear potentiometer (2) sliding block, trepan turns
Speed is gradually accelerated；When linear potentiometer (2) is slid onto top Fig. 3 (c), trepan revolving speed reaches maximum value.
As shown in Figure 4, trepan is there are two types of motor pattern, single direction rotation Fig. 4 (a) and is alternately rotated Fig. 4 (b), passes through handle
The mode selector switch (12) of middle section can carry out the switching between both of which.
As shown in Figure 5, arc drill is different from annular bit, and structure is to form by the blade of certain radian, in combination with
Different ophthalmologic surgical procedures may be implemented in two kinds of motor patterns.
The present invention is not limited to the details of above-mentioned exemplary embodiment, and without departing substantially from essential characteristic of the present invention,
The present invention can be realized in other specific forms, should all regard the present invention as exemplary.The scope of the invention is by appended power
Benefit requires to limit, it is intended that covering all changes in the meaning and scope for the condition of equivalent for falling in claim in this hair
In bright, appended drawing reference any in claim should not be construed as limiting the claims involved.Meanwhile above-mentioned specific embodiment party
Only for clarity, specification should be considered as entirety to formula by those skilled in the art, and the step in above-mentioned implementation method can be appropriate
Combination changes, but without departing from general principles and feature, is formed the skilled addressee will appreciate that other embodiments.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811170268.4A CN109106501B (en) | 2018-10-09 | 2018-10-09 | Ophthalmic surgery circular cutting device with force sensing function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811170268.4A CN109106501B (en) | 2018-10-09 | 2018-10-09 | Ophthalmic surgery circular cutting device with force sensing function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109106501A true CN109106501A (en) | 2019-01-01 |
| CN109106501B CN109106501B (en) | 2020-10-27 |
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ID=64857561
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811170268.4A Active CN109106501B (en) | 2018-10-09 | 2018-10-09 | Ophthalmic surgery circular cutting device with force sensing function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109106501B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111821096A (en) * | 2020-07-30 | 2020-10-27 | 吉林省中医药科学院（吉林省中医药科学院第一临床医院） | An ophthalmic surgical circumcision device with force sensing and reading functions |
| CN114680442A (en) * | 2022-05-16 | 2022-07-01 | 宁波金佰亿工艺制品有限公司 | Electric nail grinding device |
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| CN102836032A (en) * | 2012-08-31 | 2012-12-26 | 北京大学第三医院 | Corneal trephine |
| CN103584948A (en) * | 2008-05-15 | 2014-02-19 | 脉诺斯细胞器械公司 | Ophthalmic surgical device for capsulotomy |
| US20170156928A1 (en) * | 2015-08-11 | 2017-06-08 | The Johns Hopkins University | Tool and tool system having independent axial and transverse force sensing |
| CN107205847A (en) * | 2015-01-28 | 2017-09-26 | 诺华股份有限公司 | Surgical handpiece with integrated pressure sensor |
| CN108186194A (en) * | 2018-01-03 | 2018-06-22 | 沈阳何氏眼科医院有限公司 | Ophthalmologic operation ultrasound knife |
-
2018
- 2018-10-09 CN CN201811170268.4A patent/CN109106501B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103584948A (en) * | 2008-05-15 | 2014-02-19 | 脉诺斯细胞器械公司 | Ophthalmic surgical device for capsulotomy |
| CN102836032A (en) * | 2012-08-31 | 2012-12-26 | 北京大学第三医院 | Corneal trephine |
| CN107205847A (en) * | 2015-01-28 | 2017-09-26 | 诺华股份有限公司 | Surgical handpiece with integrated pressure sensor |
| US20170156928A1 (en) * | 2015-08-11 | 2017-06-08 | The Johns Hopkins University | Tool and tool system having independent axial and transverse force sensing |
| CN108186194A (en) * | 2018-01-03 | 2018-06-22 | 沈阳何氏眼科医院有限公司 | Ophthalmologic operation ultrasound knife |
Non-Patent Citations (1)
| Title |
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| 魏东 等: "基于多传感器融合的机器人微深度环切", 《传感器技术》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111821096A (en) * | 2020-07-30 | 2020-10-27 | 吉林省中医药科学院（吉林省中医药科学院第一临床医院） | An ophthalmic surgical circumcision device with force sensing and reading functions |
| CN114680442A (en) * | 2022-05-16 | 2022-07-01 | 宁波金佰亿工艺制品有限公司 | Electric nail grinding device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109106501B (en) | 2020-10-27 |
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