CN109549775B - Robot operating arm for fundus retina microsurgery - Google Patents
Robot operating arm for fundus retina microsurgery Download PDFInfo
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- CN109549775B CN109549775B CN201811487948.9A CN201811487948A CN109549775B CN 109549775 B CN109549775 B CN 109549775B CN 201811487948 A CN201811487948 A CN 201811487948A CN 109549775 B CN109549775 B CN 109549775B
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/72—Micromanipulators
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/75—Manipulators having means for prevention or compensation of hand tremors
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Abstract
面向眼底视网膜显微手术的机器人操作臂，它涉及一种微创执行机构。本发明为了解决现有的手术器械存在手术操作的精准度和稳定性差的问题。本发明包括悬臂旋转模块(1)；它还包括连杆组件(2)、末端执行器组件(3)、基座(A)、X轴直线导轨模块(B)、Y轴直线导轨模块(C)和Z轴直线导轨模块(D)，X轴直线导轨模块(B)水平安装在基座(A)上，Y轴直线导轨模块(C)安装在X轴直线导轨模块(B)上，Z轴直线导轨模块(D)安装在Y轴直线导轨模块(C)上，悬臂旋转模块(1)安装在Z轴直线导轨模块(D)上，连杆组件(2)安装在悬臂旋转模块(1)上，末端执行器组件(3)安在连杆组件(2)上。本发明用于眼底显微手术。
The invention relates to a robotic manipulator arm for fundus and retinal microsurgery, which involves a minimally invasive actuator. The present invention solves the problems of poor surgical operation accuracy and stability in the existing surgical instruments. The present invention includes a cantilever rotation module (1); it also includes a connecting rod assembly (2), an end effector assembly (3), a base (A), an X-axis linear guide rail module (B), and a Y-axis linear guide rail module (C). ) and Z-axis linear guide module (D), X-axis linear guide module (B) is installed horizontally on the base (A), Y-axis linear guide module (C) is installed on X-axis linear guide module (B), Z The axis linear guide module (D) is installed on the Y-axis linear guide module (C), the cantilever rotation module (1) is installed on the Z-axis linear guide module (D), and the link assembly (2) is installed on the cantilever rotation module (1) ), the end effector assembly (3) is mounted on the connecting rod assembly (2). The present invention is used for fundus microsurgery.
Description
Technical Field
The invention relates to a robot operating arm, in particular to a robot operating arm for fundus retina microsurgery.
Background
When the blood vessels on the retina of the eye are blocked or diseased, the simplest and most effective method is to inject medicine at the diseased blood vessels, so as to achieve the effects of medicine administration and blockage removal. In the traditional ophthalmologic microsurgery, a doctor needs to hold ophthalmologic instruments under a microscope to complete corresponding fine operation, and the ophthalmologic microsurgery requires the doctor to have extremely high hand-eye coordination capability and sensing capability for fine operation because the eyeball has a small volume and a fine and fragile eyeball tissue structure. The higher surgical difficulty also makes patients prone to postoperative complications due to minor intraoperative trauma.
In recent years, with the rapid development of medical robots, the medical robots have the characteristics of high accuracy, high stability and the like relative to people, and a safer and more efficient surgical solution is provided for patients. When the medical robot is used for minimally invasive fundus microsurgery, the surgical instrument needs to be inserted into the eyeball of a patient from a sclera insertion point, and flexibly rotates around the insertion point under the condition of not causing the enlargement of a pore membrane, so that the corresponding surgical operation is completed. This rotation point is called RCM (Remote center of motion) and RCM refers to a stationary point.
Because the eyesight of human eyes is limited, the accurate moving range of the operating scalpel is limited, and moreover, when the operating scalpel is held by hands, physiological tremor which can not be inhibited by human hands causes the precision stability of the ophthalmic microsurgery to be poor. Therefore, when the existing surgical instrument needs to penetrate into the eyeball of the patient from the sclera penetrating point, the precision and the stability of the surgical operation are poor.
Disclosure of Invention
The invention aims to solve the problems of poor precision and stability of operation when the existing surgical instrument needs to penetrate into the eyeball of a patient from a sclera penetrating point. Further provides a robot operating arm facing the fundus retinal microsurgery.
The technical scheme of the invention is as follows: the robot operating arm facing the fundus retina microsurgery comprises a cantilever rotating module; the device comprises a connecting rod assembly, an end effector assembly, a base, an X-axis linear guide rail module, a Y-axis linear guide rail module and a Z-axis linear guide rail module, wherein the X-axis linear guide rail module is horizontally arranged on the base; the cantilever rotation module comprises a rotation module, a cantilever base, a cantilever linear guide rail module, a cantilever sliding block connecting piece and a rotation module shell, one end of the cantilever base is connected with an external moving device, the other end of the cantilever base is connected with the rotation module, the cantilever linear guide rail module is installed in the cantilever, the cantilever sliding block is installed on the cantilever linear guide rail module in a sliding manner, the cantilever sliding block connecting piece is installed on the cantilever sliding block, and the rotation module shell covers the rotation module and the cantilever base; the connecting rod assembly comprises a driving rod and a single-degree-of-freedom parallelogram connecting rod mechanism, one end of the driving rod is hinged to the cantilever slider connecting piece, the bottom of the single-degree-of-freedom parallelogram connecting rod mechanism is hinged to the other end of the cantilever, and the other end of the driving rod is connected with the end face of one side of the single-degree-of-freedom parallelogram connecting rod mechanism; the end effector component comprises an end base, a six-dimensional force sensor, an end effector linear guide rail module, an operation injector and a micro force sensor based on FBG (fiber Bragg Grating), wherein the end base is hinged with the other side end face of a parallelogram linkage mechanism with single degree of freedom, the end effector linear guide rail module is installed on the end base, the six-dimensional force sensor is installed between the end base and the end effector linear guide rail module, the operation injector is fixedly connected with a sliding block on the end effector linear guide rail module, the operation injector is installed on the operation injector based on the FBG linear guide rail micro force sensor, and an RCM point is formed by the intersection point of the extension line of the tip end of the operation injector and the extension line of the central axis of the cantilever.
Compared with the prior art, the invention has the following effects:
1. the method adopts a parallelogram four-bar mechanism to determine the RCM point. The key of the ophthalmic microsurgery lies in that if a six-axis mechanical arm is held by a human hand, the position of one point of an end operation actuator is required to be unchanged, and the posture is continuously changed, so that each joint of the mechanical arm needs to be adjusted in a complex way, the difficulty is increased when the inverse solution of the mechanical arm is obtained, and a singular point condition sometimes occurs. The invention makes the determination of the immobile point extremely simple by the mechanical design of the four-bar mechanism, and the intersection point of the extension line of the tip of the surgical injector 3-4 and the extension line of the central shaft of the cantilever 1-3 forms an RCM point; the difficulty of constructing the RCM is greatly reduced while the high strength and the high stability of the minimally invasive actuating mechanism are ensured.
2. The invention can complete the fundus retina microsurgery with high quality, high efficiency and high reliability by the minimally invasive actuating mechanism suitable for the fundus microsurgery, and greatly improves the consistency of the ophthalmic microsurgery effect.
The existing mechanism for determining the fixed point comprises a spherical mechanism and an arc track mechanism, wherein the center of a sphere of the spherical mechanism and the center of a circle of an arc track are RCM, but because the arc and the spherical track occupy large area, a driving device is arranged on the arc and the spherical track to increase the mass, the rigidity of the device is deteriorated, and the precision of the surgical actuator is finally reduced.
The invention adopts the four-bar mechanism design, the RCM is simple to determine, the RCM can be directly used after one-time correction, and the driving device is convenient to configure. These all ensure that the operation can be performed efficiently. The high rigidity design of structure cooperates control system, eliminates doctor's physiology tremble, and then realizes high quality ophthalmic surgery.
3. The invention adopts a four-bar mechanism, rotates a cantilever and has the configuration of accurate displacement of each linear module; and the vibration is eliminated through the vibration suppression based on modern digital filtering, so that the robot operating arm for fundus retinal microsurgery is oriented, the precision and the stability of the operation are improved, and the resolution ratio of the end effector is controlled within 50 um.
4. The lead of the guide rail of the X-axis linear guide rail module, the Y-axis linear guide rail module and the Z-axis linear guide rail module adopted by the invention is 5mm, the lead of the cantilever linear guide rail is 2mm, and the lead of the tail end linear guide rail is 5 mm. The device can realize large-range rapid movement and can quickly reach a moving position. The initial angle of the cantilever is set to 65 degrees, thereby not only meeting the operation requirement, but also reserving sufficient movable space for the lower end of the cantilever in the operation. Thereby increasing the range of motion of the instrument.
Drawings
Fig. 1 is a schematic perspective view of the present invention. FIG. 2 is a front view of the present invention; FIG. 3 is a schematic view of the overall structure with the base removed (wherein the linkage assembly takes on a different shape than the extension rod and support rod of the first embodiment); FIG. 4 is a schematic view of the assembled cantilever rotation module 1, linkage assembly 2 and end effector assembly 3; fig. 5 is a schematic structural view of the X-axis linear guide module B.
Detailed Description
The first embodiment is as follows: the present embodiment is described with reference to fig. 1 to 5, and the robot manipulator for fundus retinal microsurgery of the present embodiment includes a cantilever rotating module 1; the cantilever rotating module 1 comprises a rotating module 1-1, a cantilever base 1-2 and a cantilever 1-3, the cantilever linear guide rail module comprises a cantilever linear guide rail module 1-4, a cantilever slider 1-5, a cantilever slider connecting piece 1-6 and a rotating module shell 1-7, wherein one end of a cantilever base 1-2 is connected with an external moving device, the other end of the cantilever base 1-2 is connected with the rotating module 1-1, a cantilever 1-3 is connected with the rotating module 1-1, the cantilever linear guide rail module 1-4 is installed in the cantilever 1-3, the cantilever slider 1-5 is installed on the cantilever linear guide rail module 1-4 in a sliding manner, the cantilever slider connecting piece 1-6 is installed on the cantilever slider 1-5, and the rotating module shell 1-7 covers the rotating module 1-1 and the cantilever base 1-2; the connecting rod assembly 2 comprises a driving rod 2-1 and a single-degree-of-freedom parallelogram connecting rod mechanism, one end of the driving rod 2-1 is hinged to the cantilever slider connecting piece 1-6, the bottom of the single-degree-of-freedom parallelogram connecting rod mechanism is hinged to the other end of the cantilever 1-3, and the other end of the driving rod 2-1 is connected with the end face of one side of the single-degree-of-freedom parallelogram connecting rod mechanism; the end effector component 3 comprises an end base 3-1, a six-dimensional force sensor 3-2, an end effector linear guide rail module 3-3, a surgical injector 3-4 and a micro force sensor 3-5 based on FBG (fiber Bragg Grating), wherein the end base 3-1 is hinged with the end face of the other side of the parallelogram linkage mechanism with single degree of freedom, the end effector linear guide rail module 3-3 is installed on the end base 3-1, the six-dimensional force sensor 3-2 is installed between the end base 3-1 and the end effector linear guide rail module 3-3, the surgical injector 3-4 is fixedly connected with a sliding block on the end effector linear guide rail module 3-3, the micro force sensor 3-5 based on the FBG is installed on the surgical injector 3-4, and the intersection point of the extension line of the tip of the surgical injector 3-4 and the extension line of the central shaft of the cantilever 1-3 forms And RCM point.
In the cantilever rotation module 1 of the embodiment, a cantilever base 1-2 is processed into a combination of two flanges at 30 degrees, one end of the cantilever base 1-2 is connected with an external mobile device, and the other end of the cantilever base 1-2 is fixedly connected with the rotation module 1-1; the cantilever base 1-2 can be conveniently rotated in all directions, and the position flexibility of the action of the end effector component 3 is ensured.
The rotating module housing 1-7 of the present embodiment is fixed to the cantilever base 1-2, and plays a role in protecting the rotating module 1-1.
The bottom of the cantilever slider connecting piece 1-6 on the cantilever linear guide rail module 1-4 of the embodiment is fixedly connected with the cantilever slider 1-5, and meanwhile, a through hole is processed at the upper part to realize the hinging with the driving rod 1-1 of the connecting rod component 2.
The end base 3-1 of the end effector component 3 of the present embodiment is hinged to the end holes of the first and second end support rods, and actually plays a role in fastening.
The FBG fiber bragg grating-based micro-force sensor 3-5 is arranged at the tail end of the needle head of the operation injector 3-4, so that the micro-force change of the operation injector 3-4 can be sensed, and the operation is more accurate.
The minimally invasive actuating mechanism suitable for fundus microsurgery of the invention ensures that the cantilever 1-3 has an included angle with the horizontal plane at the initial position by adjusting the included angle of the cantilever base 1-2 in the processing; the cantilever 1-3 can rotate around the axis of the cantilever, so that the end effector is driven to rotate; by means of the cantilever linear guide rail modules 1-4 and the connecting rod assembly 2, the pitch angle of the end effector can be adjusted to +/-45 degrees; the connecting rod assembly 2 adopts a parallelogram structural design, so that an RCM (stationary point) is formed at the intersection point of the extension line of the tip of the surgical injector 3-4 carried at the tail end of the connecting rod assembly 2 and the extension line of the central shaft of the cantilever, the position of the RCM is not changed when the pitching angle of the end effector is changed by the action of the cantilever linear guide rail module 1-4, and meanwhile, the position of the RCM is not changed when the cantilever 1-3 rotates because the RCM is positioned on the axis of the cantilever 1-3 at the same time; the end effector linear guide rail module 3-3 can enable the operation injector to complete the operation of inserting into the eyeball.
The robot operating arm for fundus retinal microsurgery of the embodiment can complete fundus retinal microsurgery with high quality, high efficiency and high reliability, and greatly improves the consistency of the operation effect; through the comprehensive creation of the reasonable configuration and the corresponding control mechanism of the robot operating arm, the robot operating arm for fundus retinal microsurgery improves the accuracy and the stability of the operation, increases the instrument motion range, eliminates the inevitable physiological trembling of the manual operation, ensures that the original intraocular operation is safer and more stable, improves the success rate of the operation and expands the treatment means.
The Y-axis linear guide rail module is horizontally arranged, the bottom of the Y-axis linear guide rail module is connected with the slide block of the X-axis linear guide rail, and the Y-axis linear guide rail module can linearly move along the X axis under the driving of the X-axis linear guide rail module; the Z-axis linear guide rail module is vertically arranged, the tail end of the guide rail is connected with a slide block of the Y-axis linear guide rail module, and the guide rail can linearly move along the Y axis under the driving of the Y-axis linear guide rail module; the Y-axis linear guide rail module and the Z-axis linear guide rail module are also provided with 3 photoelectric switches and 1 incremental grating ruler, and the structure of the Y-axis linear guide rail module is similar to that of the X-axis linear guide rail module.
The second embodiment is as follows: referring to fig. 4, the rotating module 1-1 of the present embodiment includes a motor, a transmission, a worm, and a worm wheel, wherein an output end of the motor is connected to the transmission, an output end of the transmission is connected to the worm wheel, the worm is installed inside the cantilever 1-3, and the worm is engaged with the worm wheel. In practice, the manufacturer of the rotary module 1-1 is R150M from Parker. The arrangement is that the whole cantilever 1-3 is driven to rotate around the axis of the cantilever; the connection mode is simple and reliable, and other components and connection relations are the same as those of the first embodiment.
The third concrete implementation mode: referring to fig. 1, the cantilever linear guide module 1-4 of the present embodiment is made of model number KK40-01P-150A-F2ES2 (PNP). So set up, the stroke is big, is convenient for manufacture, and is with low costs. Other components and connection relationships are the same as those in the first or second embodiment.
The fourth concrete implementation mode: the present embodiment is described with reference to fig. 1 to 4, and the cantilever rotation module 1 of the present embodiment further includes a cantilever incremental grating scale and a plurality of cantilever optoelectronic switches, where the cantilever incremental grating scale and the plurality of cantilever optoelectronic switches are installed on the rotation module 1-1, the cantilever incremental grating scale is installed on one side end surface of the rotation module 1-1 along the length direction of the rotation module 1-1, and the plurality of cantilever optoelectronic switches are symmetrically installed on two side end surfaces of the rotation module 1-1 in the length direction. So set up, it is more accurate to detect. Other components and connection relationships are the same as those in the first, second or third embodiment.
In the embodiment, when the zero point correction is started, the linear guide rail moves towards one end under the driving of the motor, and is detected by the photoelectric switch when the linear guide rail reaches the initial end, the motor stops moving, and the sliding block stops; and then the motor is reversely rotated and manually adjusted, when the motor moves to a zero position, the motor stops rotating, the pulse number on the grating ruler is recorded at the moment, the linear distance of the movement of the sliding block is deduced, the motor can be firstly rotated to the initial end before each work and stopped under the action of the photoelectric switch, and then the motor is directly driven to rotate corresponding turns according to the recorded data of the grating ruler to reach a calibration position. In a similar way, each linear guide rail can move accurately by means of a high-precision grating ruler.
The fifth concrete implementation mode: referring to fig. 4, the driving rod 2-1 of the present embodiment is a solid driving rod, and both ends of the driving rod 2-1 are in the shape of a fork. By the arrangement, the mechanical strength of the driving rod 2-1 is ensured; two ends of the fork-shaped poking of the driving rod 2-1 are provided with through holes and are respectively hinged with the cantilever slider connecting piece 1-6 and the first middle extension rod 2-2. Other components and connections are the same as those of the first, second, third or fourth embodiments.
The sixth specific implementation mode: referring to fig. 4, the single-degree-of-freedom parallelogram linkage of the present embodiment includes a first middle extension rod 2-2, a second middle extension rod 2-3, a first end support rod 2-4 and a second end support rod 2-5, the lower ends of the first middle extension rod 2-2 and the second middle extension rod 2-3 are hinged to the other end of the cantilever 1-3, the side end face of the first middle extension rod 2-2 is hinged with the driving rod 2-1, one end of the first tail end support rod 2-4 and one end of the second tail end support rod 2-5 are hinged with the upper end of the first middle extension rod 2-2 and the upper end of the second middle extension rod 2-3, and the other end of the first tail end support rod 2-4 and the other end of the second tail end support rod 2-5 are connected with the tail end base 3-1. The RCM is simple to determine, can be directly used after one-time correction, and the driving device is convenient to configure. Other components and connection relationships are the same as those in the first, second, third, fourth or fifth embodiment.
The single-degree-of-freedom parallelogram link mechanism of the present embodiment is a double-parallelogram four-bar mechanism. The first middle extension rod 2-2, the second middle extension rod 2-3, the first tail end support rod 2-4 and the second tail end support rod 2-5 are double parallel connecting rods, and the two parallel rods are connected through rod pieces.
The first middle extension rod 2-2 and the second middle extension rod 2-3 of the embodiment have similar structures and the same lengths, and have three hinge points at the same corresponding positions, which are respectively hinged with the cantilever 1-3, the first end support rod 2-4 and the second end support rod 2-5, and the difference is that the first middle extension rod 2-2 is additionally provided with a hinge hole connected with the drive rod 2-1; the first end support bar 2-4 is similar in structure and length to the second end support bar 2-5, except that a hinge point at one end is added in addition to the hinge points with the first middle extension bar 2-2 and the second middle extension bar 2-3; the first middle extension rod and the second middle extension rod, the first end support rod and the second end support rod and the end base 3-1 form a single-degree-of-freedom parallelogram link mechanism, and the parallelogram link mechanism moves along with the driving rod 2-1 to realize pitch angle control of the surgical syringe 3-4 on the end base 3-1; the control angle of the pitch angle is +/-45 degrees.
The rod assembly 2 adopts a parallelogram structural design, so that an RCM (static point) is formed at the intersection point of the extension line of the tip of the surgical injector 3-7 carried at the tail end of the rod assembly 2 and the extension line of the central shaft of the cantilever 1-3, the trauma to the eyeball is minimum, and the wound with the minimum point is only formed, thereby realizing minimally invasive operation.
The seventh embodiment: referring to fig. 4, the single-degree-of-freedom parallelogram linkage mechanism of the present embodiment further includes a plurality of self-lubricating bushings 2-6, and the hinge joints of the first middle extension rod 2-2, the second middle extension rod 2-3, the first end support rod 2-4, and the second end support rod 2-5 are respectively hinged through one self-lubricating bushing 2-6. With the arrangement, the hinge points of the connecting rod assembly 2 are connected through the self-lubricating shaft sleeves 2-6, so that seamless assembly at the hinge points is guaranteed, and smooth rotation among the rod pieces is guaranteed. Other components and connection relationships are the same as those in the first, second, third, fourth, fifth or sixth embodiment.
The specific implementation mode is eight: the end effector linear guide module 3-3 of the present embodiment is model KC30-01P-100A-F2ES2(PNP), which is described with reference to fig. 1 to 4. The cost is low. Other components and connection relations are the same as those of the first, second, third, fourth, fifth, sixth or seventh embodiment.
The specific implementation method nine: the embodiment will be described with reference to fig. 4, and the FBG fiber grating based micro-force sensor 3-5 of the embodiment is mounted on the tip of the needle of the surgical syringe 3-4. The resonant wavelength of the FBG fiber grating is sensitive to stress strain and temperature change, so the FBG fiber grating is mainly used for measuring the temperature and the stress strain. The sensor obtains sensing information by modulating the central wavelength of the Bragg fiber grating by an external parameter (temperature or stress strain). Therefore, the sensor has high sensitivity, strong anti-interference capability and low requirements on the energy and stability of the light source, and is suitable for precise and accurate measurement. Other components and connection relationships are the same as those of the first, second, third, fourth, fifth, sixth, seventh or eighth embodiment.
The detailed implementation mode is ten: the end effector assembly 3 of the present embodiment further includes an end incremental grating scale and a plurality of end photoelectric switches, which are mounted on the actuator linear guide rail module 3-3 and have a model number of KC30-01P-100A-F2ES2 (PNP). So set up, record the RCM position of the tip of the operation syringe 3-4 and extension line of the cantilever 1-3 axis, finish the calibration to RCM point. Meanwhile, whether the surgical injector 3-4 is inserted into a retinal blood vessel can be detected, and the action of the robot operating arm is stopped after the surgical injector is inserted into the retinal blood vessel, so that the medicine can be accurately injected into the retinal blood vessel while the safety of a patient is guaranteed. Other components and connection relations are the same as those of the first, second, third, fourth, fifth, sixth, seventh, eighth or ninth embodiment.
The concrete implementation mode eleven: the present embodiment is described with reference to fig. 1 to 2, and the susceptor a of the present embodiment includes a rod portion a-1, an elbow portion a-2, and a platform portion a-3, the rod portion a-1 is horizontally disposed, the platform portion a-3 is horizontally disposed at one end of the rod portion a-1, and the rod portion a-1 and the platform portion a-3 are connected by the elbow portion a-2. Due to the arrangement, the positions of the cantilever rotating module 1, the connecting rod assembly 2 and the end effector assembly 3 can be adjusted more flexibly, the moving space is large, and other components and connecting relations are the same as those of the first embodiment, the second embodiment, the third embodiment, the fourth embodiment, the fifth embodiment, the sixth embodiment, the seventh embodiment, the eighth embodiment, the ninth embodiment or the tenth embodiment.
The rod-shaped part of the embodiment can be connected with a corresponding ophthalmic microsurgical operating table or a medical suspension column, so that the operating space of the operation is expanded; the platform part is connected with the X-axis linear guide rail module through bolts and nuts.
The specific implementation mode twelve: the embodiment is described with reference to fig. 5, an X-axis linear guide rail module B of the embodiment includes an X-axis linear guide rail B-1, a slider B-2, an X-axis incremental grating ruler B-3 and two X-axis photoelectric switches B-4, the X-axis incremental grating ruler B-3 is installed on one end surface of the X-axis linear guide rail B-1 along the length direction of the X-axis linear guide rail B-1, the two X-axis photoelectric switches B-4 are installed on two ends of the other end surface of the X-axis linear guide rail B-1 along the length direction of the X-axis linear guide rail B-1, and the slider B-2 is installed on the X-axis linear guide rail B-1 in a sliding manner.
According to the arrangement, the X-axis linear guide rail module B is horizontally placed, and the bottom of the X-axis linear guide rail module B is fixed on the platform part of the base; one side of the Y-axis linear guide rail is provided with a photoelectric switch at the initial position and the middle position respectively, and the other side is provided with one incremental grating ruler; the convex design of the metal base at the corresponding positions of the left side and the right side on the sliding block on the linear guide rail is used for installing the components of the photoelectric switch and the grating ruler. Whether the sliding block reaches the initial or middle position is sensed by utilizing the photoelectric switch, and the moving position information of the sliding block can be accurately measured by utilizing the incremental grating ruler; the slider has both guaranteed that the base of Y axle linear guide module does not contact with the shell of X axle linear guide module through reasonable design height, has guaranteed robot operating arm's compactedness again. Other components and connections are the same as those of the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth, tenth or eleventh embodiment.
The invention realizes the large-range quick movement and rough pose adjustment of the surgical injector by dragging an end effector linear guide rail module of a double-arm robot, sensing the direction of force by a six-dimensional force sensor and sensing the position by an incremental grating ruler on each linear guide rail module, correspondingly controlling a robot operating arm, and controlling a cantilever rotating module and a connecting rod assembly by a matched 3D microscopic imaging device and a robot operating arm controller. The accurate pose adjustment of the operation injector is realized; the operation of inserting the operation injector into the hole membrane is realized by the end effector linear guide rail module, and the operation injector linearly moves aiming at the focus position. By using the micro-force sensor based on the FBG fiber bragg grating on the surgical injector, whether the injector is inserted into a retinal blood vessel can be detected, the action of the robot operating arm is stopped after the injector is inserted into the retinal blood vessel, and the medicine is injected into the retinal blood vessel.
The specific working process of the invention is as follows:
firstly: under the initial angle of the cantilever 1-3, 30 degrees of two assemblies of the cantilever base are enabled to form 65 degrees with the central axis of the pupil of a patient by adjusting the cantilever linear guide rail module 1-4, and simultaneously, the RCM position of the tip of the surgical injector 3-4 and the extension line of the axis of the cantilever 1-3 is recorded by utilizing a photoelectric switch and an incremental grating ruler on the end effector linear guide rail module 3-3 by enabling the surgical injector 3-4 to be horizontally laid and determining to be 65 degrees with the plane of an operating table by the operation of a doctor, so that the calibration of the RCM point is completed.
Then, a main surgeon holds the end effector guide rail module 3-3 of the double-arm robot for dragging, and moves the robot operation arm in the XYZ-axis direction by means of the direction of the sensing force of the six-dimensional force sensor 3-2 and the sensing position of the incremental grating ruler on each linear guide rail module and realizes large-range quick movement and rough pose adjustment of the operation injector in a handheld mode, so that the tip of the operation injector is close to the hole membrane and is positioned obliquely above the hole membrane. And then, by means of an external 3D microscopic imaging device and a robot operating arm controller which are matched with each other, the position and posture of the operation injector are accurately adjusted, so that the needle head RCM of the operation injector is positioned at the position of the porous membrane.
After the operation is finished, the operation injector 3-4 is inserted into the hole membrane by means of the end effector linear guide rail module 3-3 and is aligned to the focus position to perform linear motion, the control of the pitching angle of the operation injector 3-4 within the eyeball within +/-45 degrees is accurately realized by utilizing the cantilever linear guide rail module 1-4 and the connecting rod assembly 2, and the rotation around the RCM is realized by utilizing the rotation function of the cantilever rotation module 1. By means of the micro-force sensor 3-5 based on the FBG (fiber Bragg Grating) on the surgical injector, whether the surgical injector 3-4 is inserted into a retinal blood vessel or not can be detected, the action of the robot operating arm is stopped after the surgical injector is inserted into the retinal blood vessel, the safety of a patient is guaranteed, and meanwhile drugs can be accurately injected into the retinal blood vessel.
Finally, the operation injector 3-4 is withdrawn, and the corresponding operation after the operation is finished.
Claims (6)
1. A robot operating arm facing fundus retina microsurgery comprises a cantilever rotating module (1); the method is characterized in that: the mechanical arm device is characterized by further comprising a connecting rod assembly (2), an end effector assembly (3), a base (A), an X-axis linear guide rail module (B), a Y-axis linear guide rail module (C) and a Z-axis linear guide rail module (D), wherein the X-axis linear guide rail module (B) is horizontally arranged on the base (A), the Y-axis linear guide rail module (C) is arranged on the X-axis linear guide rail module (B), the Z-axis linear guide rail module (D) is arranged on the Y-axis linear guide rail module (C), a cantilever rotating module (1) is arranged on the Z-axis linear guide rail module (D), the connecting rod assembly (2) is arranged on the cantilever rotating module (1), and the end effector assembly (3) is arranged on the connecting rod assembly (2);
the cantilever rotating module (1) comprises a rotating module (1-1), a cantilever base (1-2), a cantilever (1-3), a cantilever linear guide rail module (1-4), a cantilever slider (1-5), a cantilever slider connecting piece (1-6) and a rotating module shell (1-7), one end of the cantilever base (1-2) is connected with an external moving device, the other end of the cantilever base (1-2) is connected with the rotating module (1-1), the cantilever (1-3) is connected with the rotating module (1-1), the cantilever linear guide rail module (1-4) is installed in the cantilever (1-3), the cantilever slider (1-5) is slidably installed on the cantilever linear guide rail module (1-4), the cantilever slider connecting piece (1-6) is installed on the cantilever slider (1-5), the rotary module shell (1-7) covers the rotary module (1-1) and the cantilever base (1-2);
the connecting rod assembly (2) comprises a driving rod (2-1) and a single-degree-of-freedom parallelogram connecting rod mechanism, one end of the driving rod (2-1) is hinged to the cantilever slider connecting piece (1-6), the bottom of the single-degree-of-freedom parallelogram connecting rod mechanism is hinged to the other end of the cantilever (1-3), and the other end of the driving rod (2-1) is connected with the end face of one side of the single-degree-of-freedom parallelogram connecting rod mechanism;
the driving rod (2-1) is a solid driving rod, and two ends of the driving rod (2-1) are both in a fork shape;
the parallelogram link mechanism with the single degree of freedom comprises a first middle extension rod (2-2), a second middle extension rod (2-3), a first tail end support rod (2-4), a second tail end support rod (2-5) and a plurality of self-lubricating shaft sleeves (2-6), wherein the lower end of the first middle extension rod (2-2) and the lower end of the second middle extension rod (2-3) are hinged to the other end of a cantilever (1-3), the side end face of the first middle extension rod (2-2) is hinged to a drive rod (2-1), one end of the first tail end support rod (2-4) and one end of the second tail end support rod (2-5) are hinged to the upper end of the first middle extension rod (2-2) and the upper end of the second middle extension rod (2-3), the other end of the first tail end support rod (2-4) and the other end of the second tail end support rod (2-5) are hinged to the other end of the second tail end support rod (2-5) The tail end bases (3-1) are connected; the hinged parts of the first middle extension rod (2-2), the second middle extension rod (2-3), the first tail end support rod (2-4) and the second tail end support rod (2-5) are hinged through a self-lubricating shaft sleeve (2-6) respectively;
the end effector component (3) comprises an end base (3-1), a six-dimensional force sensor (3-2), an end effector linear guide rail module (3-3), a surgical injector (3-4) and a micro force sensor (3-5) based on FBG (fiber Bragg Grating), wherein the end base (3-1) is hinged with the end face of the other side of the parallelogram linkage mechanism with single degree of freedom, the end effector linear guide rail module (3-3) is installed on the end base (3-1), the six-dimensional force sensor (3-2) is installed between the end base (3-1) and the end effector linear guide rail module (3-3), the surgical injector (3-4) is fixedly connected with a sliding block on the end effector linear guide rail module (3-3), and the micro force sensor (3-5) based on the FBG (fiber Bragg Grating) is installed on the surgical injector (3-4), the intersection point of the extension line of the tip of the operation injector (3-4) and the extension line of the central shaft of the cantilever (1-3) forms an RCM point.
2. The robotic manipulator for fundus retinal microsurgery according to claim 1, wherein: the cantilever rotating module (1) further comprises a cantilever incremental grating ruler and a plurality of cantilever photoelectric switches, and the cantilever incremental grating ruler and the plurality of cantilever photoelectric switches are installed on the rotating module (1-1).
3. The robotic manipulator for fundus retinal microsurgery according to claim 2, wherein: the FBG-based fiber bragg grating micro-force sensor (3-5) is arranged at the needle tip of the surgical syringe (3-4).
4. A robotic manipulator arm for fundus retinal microsurgery according to claim 3 and wherein: the end effector component (3) also comprises an end incremental grating ruler and a plurality of end photoelectric switches, and the end incremental grating ruler and the plurality of end photoelectric switches are arranged on the effector linear guide rail module (3-3).
5. A robotic manipulator arm for fundus retinal microsurgery according to claim 1 or 4 and wherein: the base (A) comprises a rod-shaped part (A-1), an elbow part (A-2) and a platform part (A-3), wherein the rod-shaped part (A-1) is horizontally arranged, the platform part (A-3) is horizontally arranged at one end of the rod-shaped part (A-1), and the rod-shaped part (A-1) and the platform part (A-3) are connected through the elbow part (A-2).
6. A robotic manipulator arm for fundus retinal microsurgery according to claim 5 and wherein: the X-axis linear guide rail module (B) comprises an X-axis linear guide rail (B-1), a sliding block (B-2), an X-axis increment grating ruler (B-3) and two X-axis photoelectric switches (B-4), wherein the X-axis increment grating ruler (B-3) is installed on one side end face of the X-axis linear guide rail (B-1) along the length direction of the X-axis linear guide rail (B-1), the two X-axis photoelectric switches (B-4) are installed at two ends of the other side end face of the X-axis linear guide rail (B-1) along the length direction of the X-axis linear guide rail (B-1), and the sliding block (B-2) is installed on the X-axis linear guide rail (B-1) in a sliding mode.
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| US12396810B2 (en) | 2018-05-15 | 2025-08-26 | The Regents Of The University Of California | System and method for automated image-guided robotic intraocular surgery |
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