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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 operation when the existing surgical instruments need to penetrate the patient's eyeball from the sclera puncture point

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

specific Embodiment approach 1

[0015] Specific implementation mode one: combine Figure 1 to Figure 5 Describe this embodiment, the robotic arm of this embodiment for microsurgery of the fundus and retina 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 shell 1-7, cantilever base 1- One end of 2 is connected to an 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 In -3, the cantilever slider 1-5 is slidably installed on the cantilever linear guide rail module 1-4, the cantilever slider connector 1-6 is installed on the cantilever slider 1-5, and t...

specific Embodiment approach 2

[0024] Specific implementation mode two: combination Figure 4 Describe this embodiment, the rotating module 1-1 of this embodiment comprises motor, transmission device, worm and worm wheel, the output end of motor is connected with transmission device, the output end of transmission device is connected with worm wheel, and worm screw is installed on the cantilever 1-3 Inside, and the worm meshes with the worm gear. In actual use, the manufacturer of the rotation module 1-1 is R150M produced by Parker. Such arrangement drives the rotation of the entire cantilever 1-3 around the cantilever axis; the connection method is simple and reliable, and other components and connection relations are the same as those in the first embodiment.

specific Embodiment approach 3

[0025] Specific implementation mode three: combination figure 1 To describe this embodiment, the model of the cantilever linear guide module 1-4 in this embodiment is KK40-01P-150A-F2ES2 (PNP). With such arrangement, the stroke is large, the production is convenient, and the cost is low. Other compositions and connections are the same as those in Embodiment 1 or 2.

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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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