CN111658145B - ICL implantation operation robot system - Google Patents

Abstract

The invention provides a robot system for implanting operation of posterior chamber type artificial lens of crystalline eye, which can be used by matching with the existing ophthalmic operation robot, judges the state of operation by monitoring the eye image in the operation process in real time and comparing the eye image with a model preset before the operation, does not directly control the operation, but monitors and judges the operation process in real time at different moments, accurately detects and judges the implantation path, implantation position and unfolding direction and angle of the artificial lens, provides real-time reference for a main surgeon, so as to find and correct the deviation in the operation process in time, ensures the success of the implantation operation and reduces the damage of surrounding tissues. The system has the advantages of strong timeliness and accuracy in operation state evaluation, high result reliability and suitability for popularization and application in the intraocular lens implantation operation.

Description

ICL Implantation Surgical Robot System

technical field

The invention belongs to the technical field of surgical robots, in particular to an ICL implantation surgical robot system.

Background technique

Posterior chamber intraocular lens implantation in phakic eyes is considered a state-of-the-art alternative to LASIK, PRK and other ablation procedures for refractive correction. The phakic posterior chamber intraocular lens mainly includes implantable contact lens (Implantable collamer lens, ICL) and phakic refractive lens. ICL implantation is the mainstream phakic intraocular lens implantation at home and abroad. On the premise of preserving the intact cornea, the intraocular lens with diopter is implanted into the posterior chamber ciliary sulcus to correct moderate to high myopia, hyperopia and astigmatism , can effectively improve the postoperative visual acuity and visual quality of patients, and is a new choice for successful removal of mirrors for patients with high and super high myopia. ICL implantation is a high-precision intraocular refractive surgery. Although there are few surgical complications and a wide range of operations, the precision of the surgery directly affects the rapid recovery of postoperative vision. Therefore, it is urgent to develop an ICL implanted surgical robot system for micro-ophthalmology to assist doctors in carrying out surgical path tracking, trajectory prediction, ICL online calibration and distance feedback. It can improve the precision and safety of surgery.

SUMMARY OF THE INVENTION

In order to solve the above technical problems, the present invention provides an ICL implantation surgical robot method and system.

The specific technical scheme of the present invention is as follows:

The present invention provides an ICL implantation surgical robot system, comprising at least one processor and a memory, wherein the memory stores instructions, and when the instructions are executed by the at least one processor, the following method is implemented:

Collect eye raw data and eye real-time data before and during surgery respectively;

According to the original data and the real-time data, the three-dimensional models of the eye before and during the operation are respectively constructed;

Extract three-dimensional data from the three-dimensional eye model before and during the operation, respectively, and compare them to obtain a real-time surgical path;

The real-time operation path is compared with the expected operation path, and the real-time state of the operation is judged and monitored.

Further, when the processor executes the instruction to construct the three-dimensional model of the eye, the following method is implemented:

Obtain the original eye data before surgery, and convert it into data that can be used to construct a three-dimensional model to construct an original three-dimensional model of the eye; during the intraocular lens implantation process, obtain the real-time eye data regularly, and convert into data that can be used to build a 3D model, and build a real-time 3D model of the eye at different times;

Construct a three-dimensional model of the intraocular lens that is proportional to the original three-dimensional model of the eye according to the preset parameter information of the intraocular lens;

The intraocular lens three-dimensional model and the original three-dimensional model are assembled according to a predetermined implantation path, and a GIF model is generated from the complete assembly process.

Further, when the processor executes the instruction to obtain the surgical path, the following method is implemented:

converting the extracted three-dimensional data into data that can be used to generate a real-time surgical path;

Obtain theoretical parameter information from the original 3D model of the eye, and obtain real-time parameter information from the real-time 3D model of the eye. The relative position of the lens to the surrounding tissue is judged to determine the accuracy of the intraocular lens implantation.

Further, when the processor executes the instruction to collect the original eye data and the real-time eye data, the following method is implemented:

Acquiring raw ocular optical data from multiple angles on the eye before surgery, and periodically collecting real-time ocular optical data from the multiple angles during intraocular lens implantation;

Before surgery, ultrasonic waves with a frequency of 40-100 MHz are emitted to the eye, and raw acoustic data is collected from multiple positions of the eye;

At this time, the eye raw data includes the raw eye optical data and the raw acoustic data, and the eye real-time data is the real-time eye optical data.

Further, when the processor executes the instruction to construct the three-dimensional model of the eye, the following method is implemented:

Obtain slice data through the original optical data of the eye, and obtain depth data through the original acoustic data, and construct the original three-dimensional model of the eye accordingly;

During the implantation of the intraocular lens, slice data is periodically acquired through the real-time optical data of the eye, and real-time three-dimensional models of the eye at different times are constructed accordingly.

Further, when the processor executes the three-dimensional eye model constructed by the instruction to construct a GIF model, the following method is implemented:

The three-dimensional model of the intraocular lens is combined with the original three-dimensional model of the eye, and multiple time points are selected according to the predetermined implantation path, and the coordinate information of each point is extracted respectively, and the simulated three-dimensional model of multiple time points is constructed. Parts are fitted and filled to generate a complete GIF ultrasound model.

Further, when the processor executes the instruction to obtain the real-time implantation path, the following method is implemented:

Obtain theoretical parameter information from the original 3D model of the eye, and obtain real-time parameter information from the real-time 3D model of the eye. The relative position of the crystal to the surrounding tissue is judged.

Further, when the processor executes the instruction and compares the real-time surgical path with the expected surgical path, the following method is implemented:

The real-time implantation path is compared with the predetermined implantation path, the deviation at each time of data acquisition is recorded, and the deviation value is calculated according to the relative position of the intraocular lens and surrounding tissue.

Further, when the processor executes the instruction and judges and monitors the real-time state of the operation, the following method is implemented:

The calculated deviation value is compared with a preset allowable deviation range, and a reminder message is sent to the chief surgeon according to the comparison result.

Further, when the processor executes the instruction and compares the calculated deviation value with the preset allowable deviation range, the following method is implemented:

The allowable deviation range is set for multiple links of the predetermined implantation path, and the judgment weight is set for each of the links respectively. The allowable deviation range includes at least one deviation direction and the deviation distance in the deviation direction; it will include the current deviation. The deviation value of the links including the link is compared with the corresponding allowable deviation range, and all the links whose deviation value exceeds the allowable deviation range are extracted, and the total deviation is calculated according to the weight, Based on this, the operation status of the current session can be judged.

The beneficial effects of the present invention are as follows: the present invention provides an ICL implantation surgical robot system, which can be used in conjunction with an existing ophthalmic surgical robot. Compare and judge the status of the operation. It does not directly control the operation. Instead, it monitors and evaluates the different moments of the operation in real time. It can accurately determine the implantation path, implantation position, and deployment direction and angle of the intraocular lens. It provides real-time reference for the chief surgeon to detect and correct the deviations in the operation process in time to ensure the success of the implantation operation and reduce the damage to the surrounding tissue; at the same time, the operation information of this time can also be stored in the system, as Historical data provide reference for subsequent surgeries. The system has the advantages of strong timeliness, good accuracy and high reliability of results in evaluating the operation status, and is suitable for popularization and application in intraocular lens implantation surgery.

Description of drawings

Fig. 1 is the working flow chart of the ICL implantation surgical robot system according to the embodiment;

FIG. 2 is a flowchart of a method for constructing a three-dimensional model of an ICL surgical robot according to an embodiment.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings and the following examples.

Example

As shown in FIG. 1 , this embodiment provides an ICL implantation surgical robot system, which includes at least one processor 1 and a memory 2 , and the memory 2 stores instructions. When the instructions are executed by at least one processor 1 , the implementation is as follows method:

Collect eye raw data and eye real-time data before and during surgery respectively;

Build 3D eye models before and during surgery based on raw data and real-time data, respectively;

Extract 3D data from the 3D eye models before and during surgery and compare them to obtain real-time surgical paths;

Compare the real-time surgical path with the expected surgical path, and judge and monitor the real-time status of the operation.

The robot system can be used in conjunction with existing ophthalmic surgical robots. By monitoring the eye image during the operation in real time and comparing it with the model preset before the operation, it can judge the status of the operation without directly controlling the operation. It is to monitor the surgical process in real time and provide real-time reference for the surgeon, so as to detect and correct the deviations in the surgical process in time; at the same time, the current surgical information can also be stored in the system as historical data to provide reference for subsequent operations .

In some specific embodiments, when the processor 1 executes the instructions to construct a three-dimensional model of the eye, the following methods are implemented:

Obtain the original eye data before surgery and convert it into data that can be used to build a 3D model to build an original 3D model of the eye; during the intraocular lens implantation process, obtain real-time eye data regularly and convert it into data that can be used to build a 3D model data to build real-time 3D models of the eyes at different times;

Construct a 3D model of the intraocular lens that is proportional to the original 3D model of the eye according to the preset parameter information of the intraocular lens;

The 3D model of the intraocular lens and the original 3D model are assembled according to the predetermined implantation path, and a GIF model is generated from the complete assembly process.

The GIF model can completely simulate the process of implanting the intraocular lens 3D model into the original 3D model of the eye according to the predetermined implantation path, thus completely showing the ideal state of the implantation operation. By collecting images and constructing real-time 3D models at multiple times during the operation, the real-time operation state at different sampling times can be determined. In this way, when the eye structure state and various parameters are determined, the GIF model can be used as the benchmark. , to evaluate the different moments of the actual surgical process separately to ensure the timeliness and accuracy of the evaluation of the surgical status.

In some specific embodiments, when the processor 1 executes the instructions to obtain the surgical path, the following methods are implemented:

Convert the extracted 3D data into data that can be used to generate real-time surgical paths;

The theoretical parameter information is obtained from the original 3D model of the eye, and the real-time parameter information is obtained from the real-time 3D model of the eye. The position is judged to determine the accuracy of IOL implantation.

In some specific embodiments, when the processor 1 executes the instruction to collect the original eye data and the real-time eye data, the following methods are implemented:

Collect raw ocular optical data from multiple angles before surgery, and periodically collect real-time ocular optical data from multiple angles during intraocular lens implantation;

Before surgery, ultrasonic waves with a frequency of 40-100 MHz are emitted to the eye, and raw acoustic data is collected from multiple positions of the eye;

At this time, the original eye data includes original eye optical data and original acoustic data, and the real-time eye data is real-time eye optical data.

Optical data can be collected by optical coherence tomography (OCT). OCT is a low-loss, high-resolution, non-invasive medical imaging technology that uses the basic principle of weakly coherent light to detect incident weak coherence at different depths of biological tissue. The back-reflection or scattering signal of light can obtain nano-scale tangential fundus imaging or three-dimensional image; but its drawback is that the penetration depth is insufficient, so it is combined with ultrasound, which has strong penetration but low imaging resolution. , for more accurate eye data collection.

Acoustic data can be obtained by scanning ultrasonic biomicroscopy (UBM). UBM uses objects to image the reflection and scattering of ultrasonic waves, which can clearly display different tissue structures of the eye in a living state. It has the characteristics of repeatability, dynamics and simplicity, and has high resolution, equivalent to optical microscope, and is not disturbed by corneal opacity; however, it needs to be placed on the eye cup and injected with coupling agent, which cannot be used during the operation. Therefore, it can only be used for preoperative and postoperative examinations.

As shown in FIG. 2 , on the basis of simultaneously using optical methods and acoustic methods to collect eye data, when the processor 1 executes an instruction to construct a three-dimensional model of the eye, the following methods are implemented:

The slice data is obtained through the original optical data of the eye, and the depth data is obtained through the original acoustic data, and the original 3D model of the eye is constructed accordingly;

In the process of intraocular lens implantation, slice data is obtained regularly through real-time optical data of the eye, and real-time three-dimensional models of the eye at different times are constructed accordingly.

In some specific embodiments, when the processor 1 executes the instructions to construct the GIF model using the three-dimensional model of the eye, the following method is implemented:

Combine the 3D model of the intraocular lens with the original 3D model of the eye, select multiple time points according to the predetermined implantation path, extract the coordinate information of each time point respectively, build a simulated 3D model of multiple time points, and simulate the interrupted part. Combine, fill, and generate a complete GIF ultrasound model.

In some specific embodiments, when the processor 1 executes the instruction to obtain the real-time implantation path, the following methods are implemented:

The theoretical parameter information is obtained from the original 3D model of the eye, and the real-time parameter information is obtained from the real-time 3D model of the eye. Determine the location.

In some specific embodiments, when the processor 1 executes the instructions to compare the real-time surgical path with the expected surgical path, the following methods are implemented:

Compare the real-time implantation path with the predetermined implantation path, record the deviation at the moment of each acquisition of data, and calculate the deviation value according to the relative position of the intraocular lens and surrounding tissue.

In some specific embodiments, when the processor 1 executes the instructions to judge and monitor the real-time state of the operation, the following methods are implemented:

The calculated deviation value is compared with the preset allowable deviation range, and a reminder message is sent to the chief surgeon according to the comparison result.

The way to send out the reminder information can be a sound alarm or a flashing icon on the monitoring screen, etc. At the same time, the specific comparison situation can be displayed on the monitoring screen, which is convenient for the chief surgeon to observe and judge.

In some specific embodiments, when the processor 1 executes the instruction and compares the calculated deviation value with the preset allowable deviation range, the following method is implemented:

The allowable deviation range is set for multiple links of the predetermined implantation path, and the judgment weight is set for each link respectively. The allowable deviation range includes at least one deviation direction and deviation distance in the deviation direction; the deviation value of the links including the current link is set. Compare with the corresponding allowable deviation range, extract all the links whose deviation value exceeds the allowable deviation range, calculate the total deviation according to the weight, and judge the operation status of the current link accordingly.

The allowable deviation range represents the acceptable deviation degree during intraocular lens implantation. Since the surgical process cannot be carried out 100% strictly according to the set implantation path, it is necessary to appropriately expand the comparison template under the premise of ensuring safety and effect. In this way, for small deviations, if they are within the scope of the expanded contrast template, they are not sufficient to affect the surgical effect, and do not need to be taken into account in the statistical deviations. For deviations that exceed the allowable deviation range, depending on their specific locations (including the physical location of the eye tissue and the temporal and logical locations in the implantation path), the impact on the surgical effect is also different. The set weight is reflected; therefore, through the weight of each link before the current moment and the specific deviation value, the total deviation of the operation to the current moment (current link) can be calculated, and then the operation status at the current moment can be judged.

The above-mentioned embodiments only represent several embodiments of the present invention, and the descriptions thereof are specific and detailed, but should not be construed as a limitation on the scope of the patent of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can also be made, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be subject to the appended claims.

Claims (2)

1. an ICL implantation surgical robot system, is characterized in that, comprises at least one processor and memory, described memory is stored with instruction, when at least one described processor executes described instruction, implements the following method: The original eye data and the real-time eye data are collected before and during the operation respectively; when the processor executes the instruction to collect the original eye data and the real-time data of the eye, the following method is implemented: before the operation collecting raw ocular optical data from multiple angles of the eye, and periodically collecting real-time ocular optical data from the multiple angles during intraocular lens implantation; Ultrasonic waves with a frequency of 40~100MHz are emitted to the eye before surgery, and raw acoustic data is collected from multiple positions of the eye; According to the original data and the real-time data, the three-dimensional models of the eye before and during the operation are respectively constructed; Extract three-dimensional data from the three-dimensional eye model before and during the operation, respectively, and compare them to obtain a real-time surgical path; Comparing the real-time surgical path with the expected surgical path, and judging and monitoring the real-time state of the operation; The eye raw data includes the raw eye optical data and the raw acoustic data, and the eye real-time data is the real-time eye optical data; Obtain slice data through the original optical data of the eye, and obtain depth data through the original acoustic data, and construct the original three-dimensional model of the eye accordingly; During the implantation of the intraocular lens, the slice data is periodically obtained through the real-time optical data of the eye, and the real-time three-dimensional model of the eye at different times is constructed accordingly; The optical data is acquired using optical coherence tomography (OCT); When the processor executes the instruction and uses the three-dimensional model of the eye to construct a GIF model, the following method is implemented: Construct a three-dimensional model of the intraocular lens that is proportional to the original three-dimensional model of the eye according to the preset parameter information of the intraocular lens; Combine the three-dimensional model of the intraocular lens with the original three-dimensional model of the eye, select multiple time points according to the expected surgical path, extract the coordinate information of each point respectively, construct a simulated three-dimensional model of multiple time points, and interrupt the operation. Partially fit and fill to generate a complete GIF model; The GIF model completely simulates the process of implanting the intraocular lens 3D model into the original 3D model of the eye according to the expected surgical path, thereby completely showing the ideal state of the implantation operation; Images are collected at each time and a real-time 3D model is constructed, which can determine the real-time surgical state at different sampling times. In this way, when the eye structure state and various parameters are determined, the GIF model can be used as a benchmark to analyze the actual surgical process. judged separately at different times; When the processor executes the instruction to obtain a real-time surgical path, the following method is implemented: Obtain theoretical parameter information from the original 3D model of the eye, and obtain real-time parameter information from the real-time 3D model of the eye. The relative position of the crystal and the surrounding tissue is judged; When the processor executes the instructions to compare the real-time surgical path with the expected surgical path, the following method is performed: Comparing the real-time surgical path with the expected surgical path, recording the deviation at each data acquisition moment, and calculating the deviation value according to the relative position of the intraocular lens and surrounding tissue; When the processor executes the instruction and compares the calculated deviation value with a preset allowable deviation range, the following method is implemented: The allowable deviation range is set for multiple links of the expected surgical path, and the judgment weight is set for each of the links respectively. The allowable deviation range includes at least one deviation direction and the deviation distance in the deviation direction; it will include the current deviation. The deviation value of the links including the link is compared with the corresponding allowable deviation range, and all the links whose deviation value exceeds the allowable deviation range are extracted, and the total deviation is calculated according to the weight, Based on this, the operation status of the current session can be judged. 2. The ICL implantation surgical robot system as claimed in claim 1, wherein when the processor executes the instruction and judges and monitors the real-time state of the operation, the following method is implemented: The calculated deviation value is compared with a preset allowable deviation range, and a reminder message is sent to the chief surgeon according to the comparison result.

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