Intraocular surgery robot constrained motion control method

A surgical robot, technology of constrained motion, applied in the field of constrained motion control of intraocular surgical robots

Inactive Publication Date: 2016-12-14
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] This problem is a typical constraint operation problem. At present, there is no motion control method for the internal constraints of the eyeball to realize a series of operations assisted by robots.

Method used

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  • Intraocular surgery robot constrained motion control method
  • Intraocular surgery robot constrained motion control method
  • Intraocular surgery robot constrained motion control method

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Embodiment Construction

[0073] The present invention will be described in detail below in conjunction with the accompanying drawings. This description is a description of a preferred embodiment of constrained motion control according to the present invention, and does not represent the only form that the present invention can be constructed or used.

[0074] The constrained motion control method of the intraocular surgical robot provided in this application mainly includes 5 steps, and any one or a combination of multiple steps in the 5 steps can be adopted. It specifically includes (in no particular order): 1. The control step (Dot VF) of the point-constrained virtual fixed primitive, which is: controlling the end of the end device or a certain position in the axial direction of the end device to gradually approach the space 2, the control step (Drection VF) of the virtual fixed primitive of direction constraint, this step is: control the axial direction of described end device to gradually approach ...

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Abstract

The invention discloses an intraocular surgery robot constrained motion control method suitable for motion control of a surgery robot end effector used for constraining eyeball internal space constraint and sclera sleeve pose constraint; the method comprises a virtual remote motion center control step: controlling the end of the end effector to fix in certain point, controlling the end effector to rotate around certain straight line of the point, and allowing the end effector to axially fall on one conical surface after increment motions. The constrained motion control method can control motions of the robot end effector according to doctor input (rocking bar and man-machine interaction interface), so the end effector can reach an assigned location in the eyeball in an assigned attitude, thus solving the apparatus motion control problems under eyeball constraint, and allowing robot auxiliary intraocular surgery to step forward to clinic practices.

Description

technical field [0001] The invention relates to the field of medical devices, in particular to a method for controlling the constrained motion of an intraocular surgical robot. Background technique [0002] Intraocular surgery is a complex microsurgery. In the current application practice, intraocular surgery such as retinal surgery is performed under a surgical microscope, and a thin rod-shaped (diameter between 0.5-1.0mm) surgical instrument is inserted into the eye through 2 to 3 scleral incisions. surgery within. Its extremely high operating precision requirements and limited operating space have brought great challenges to doctors. Therefore, robot-assisted ophthalmic surgery has gradually become a research hotspot for scholars from all over the world. [0003] At present, the development of assisting robots for intraocular surgery depends on the design of the robot's dexterous mechanism and end device, constrained motion control and adaptive stability control, among ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61F9/007
CPCA61F9/007
Inventor 杨洋贺昌岩黄龙
Owner BEIHANG UNIV
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