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An ophthalmic robot end device for vitreous-retinal surgery

A retinal and robotic technology, applied in surgical manipulators, surgery, ophthalmic surgery, etc., can solve the problem that the change of torque cannot be detected, and achieve the effect of compact structure design and light overall weight

Active Publication Date: 2021-07-16
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, only changes in the force at the end of the instrument can be detected, and changes in torque during the operation cannot be detected

Method used

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  • An ophthalmic robot end device for vitreous-retinal surgery
  • An ophthalmic robot end device for vitreous-retinal surgery
  • An ophthalmic robot end device for vitreous-retinal surgery

Examples

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Comparison scheme
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Embodiment Construction

[0021] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0022] An ophthalmic robot end effector for vitreous-retinal surgery, figure 1 It is a schematic diagram of the overall structure of the present invention, including: stepper motor I (1), motor mount I (2), connection block (3), motor mount II (4), coupling (5), microsurgery Hook (6), fiber grating sensor (7), stepper motor II (8), baffle plate (9), slide rail (10), slider (11), lead screw nut (12), slide rail connection seat ( 13).

[0023] Depend on figure 1 As shown, the end effector has two degrees of freedom, which are linear motion along the axial direction and rotational motion around the axial direction.

[0024] Depend on figure 1 As shown, the linear motion part is composed of a stepper motor I (1), a slide rail (10) and a slider (11). The slider (11) is connected with the motor mounting base II (4) through the connecting block (3), thereby controlling...

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Abstract

The invention discloses an ophthalmic robot end device for vitreous-retina surgery. The end device is composed of a linear motion part, a rotation part and a micro-force sensing part, and includes a stepping motor I, a motor mounting seat I, a connecting block, Motor mount II, coupling, microsurgery hook, fiber grating sensor, stepper motor II, baffle, slide rail, slider, screw nut, slide rail connection seat. The invention can realize not only the measurement of radial force but also the measurement of axial moment by using the wavelength change of three fiber grating sensors evenly distributed on the diameter of the microsurgical hook.

Description

technical field [0001] The invention relates to the field of ophthalmic medical instruments, in particular to an ophthalmic robot end device for vitreous-retinal surgery. Background technique [0002] Vitreo-retinal surgery is an intraocular surgical procedure for the treatment of retina-related diseases. Diseases such as diabetic retinopathy, epiretinal membrane, and retinal detachment all require vitreous-retinal surgery to be treated. It is a delicate surgical operation in a small intraocular space, which requires doctors to have superb surgical skills. If the operating force is too large, it may cause retinal tears and hemorrhage, resulting in irreversible tissue damage. [0003] Ophthalmic auxiliary robots are the future development trend. Their fine surgical operations can compensate for the physiological impact of doctors' own operations, making operations more accurate. The end device is installed on the important part of the front end of the machine, which is in d...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61F9/007A61B34/00
CPCA61F9/007A61B34/72
Inventor 杨洋韩少峰邬如靖
Owner BEIHANG UNIV
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