Robotic operating arm for fundus retinal microsurgery

A technology of microsurgery and robotics, which is applied in ophthalmic surgery, surgical manipulators, surgical robots, etc., can solve the problems of poor accuracy and stability of surgical operations, and achieve the effects of eliminating physiological tremors, improving consistency, and determining simplicity

Active Publication Date: 2019-04-02
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem of poor accuracy and stability of surgical oper

Method used

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  • Robotic operating arm for fundus retinal microsurgery
  • Robotic operating arm for fundus retinal microsurgery
  • Robotic operating arm for fundus retinal microsurgery

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0015] Specific implementation mode 1: Combination Figure 1 to Figure 5 Explaining this embodiment, the robot operating arm for fundus retinal microsurgery in this embodiment includes a cantilever rotation module 1; it also includes a link assembly 2 and an end effector assembly 3, and the cantilever rotation module 1 includes a rotation module 1- 1. Cantilever base 1-2, cantilever 1-3, cantilever linear guide module 1-4, cantilever slider 1-5, cantilever slider connector 1-6 and rotating module housing 1-7, cantilever base 1- One end of 2 is connected to the external mobile device, the other end of the cantilever base 1-2 is connected to the rotating module 1-1, the cantilever 1-3 is connected to the rotating module 1-1, and the cantilever linear guide module 1-4 is installed on the cantilever 1. -3, the cantilever slider 1-5 is slidably mounted on the cantilever linear guide module 1-4, the cantilever slider connector 1-6 is mounted on the cantilever slider 1-5, and the rotat...

Example Embodiment

[0024] Specific implementation manner two: combination Figure 4 To illustrate this embodiment, the rotary module 1-1 of this embodiment includes a motor, a transmission device, a worm, and a worm gear. The output end of the motor is connected to the transmission device, the output end of the transmission device is connected to the worm gear, and the worm is installed on the cantilever 1-3. On the inner side, and the worm meshes with the worm gear. In actual use, the manufacturer of the rotary module 1-1 is R150M produced by Parker. This arrangement drives the rotation of the entire cantilever 1-3 around the axis of the cantilever; the connection method is simple and reliable, and other components and connection relations are the same as those in the first embodiment.

Example Embodiment

[0025] Specific implementation mode three: combination figure 1 To describe this embodiment, the cantilever linear guide module 1-4 of this embodiment adopts the model KK40-01P-150A-F2ES2 (PNP). With this arrangement, the stroke is large, the production is convenient, and the cost is low. Other components and connection relationships are the same as those in the first or second embodiment.

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Abstract

A robotic operating arm for a fundus retinal microsurgery relates to a minimally invasive actuator. The present invention solves the problem of poor accuracy and stability of the surgical instrumentsin surgical operations in the prior art. The robotic operating arm comprises a cantilever rotation module (1), and further comprises a link assembly (2), an end actuator assembly (3), a base (A), an X-axis linear guide module (B), a Y-axis linear guide module (C) and a Z-axis linear guide module (D). The X-axis linear guide module (B) is horizontally mounted on the base (A); the Y-axis linear guide module (C) is mounted on the X-axis linear guide module (B); the Z-axis linear guide module (D) is mounted on the Y-axis linear guide module (C); the cantilever rotation module (1) is mounted on theZ-axis linear guide module (D); a linkage rod assembly (2) is mounted on the cantilever rotation module (1); and the end actuator assembly (3) is attached to the linkage rod assembly (2). The roboticoperating arm is used in the fundus microsurgery.

Description

technical field [0001] The invention relates to a robot operating arm, in particular to a robot operating arm for retinal microsurgery. Background technique [0002] When the blood vessels on the fundus retina are blocked or pathological, the simplest and most effective method is to inject drugs at the diseased blood vessels to achieve the effect of prescribing the right medicine and clearing the blockage. In traditional ophthalmic microsurgery, the chief surgeon needs to hold ophthalmic instruments to complete the corresponding fine operations under the microscope. Due to the small size of the eyeball and the delicate and fragile structure of the eyeball, ophthalmic microsurgery requires the doctor to have extremely high Hand-eye coordination and perception of fine manipulation. The high difficulty of surgery also makes patients prone to postoperative complications due to minimal trauma during surgery. [0003] In recent years, with the rapid development of medical robots...

Claims

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Application Information

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IPC IPC(8): A61F9/007A61B34/30A61B34/00
CPCA61F9/007A61B34/30A61B34/72A61B34/75
Inventor 张赫廖一博赵杰
Owner HARBIN INST OF TECH
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