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Operation method of human-machine cooperative ophthalmic microsurgery auxiliary robot system

A robot system and microsurgery technology, applied in surgical robots, surgical manipulators, etc., can solve the problems of poor accuracy and stability of surgical operations, and achieve the effect of eliminating restrictions, ensuring consistency, and simple operation steps

Active Publication Date: 2019-04-12
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] 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
Finally, a human-machine collaborative ophthalmic microsurgery assisted robot system operation method is provided

Method used

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  • Operation method of human-machine cooperative ophthalmic microsurgery auxiliary robot system
  • Operation method of human-machine cooperative ophthalmic microsurgery auxiliary robot system
  • Operation method of human-machine cooperative ophthalmic microsurgery auxiliary robot system

Examples

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specific Embodiment approach 1

[0016] Specific implementation mode one: combine Figure 1 to Figure 7 Describe this embodiment, the operation method of this embodiment is aimed at a kind of ophthalmic microsurgery auxiliary dual-arm robot system, this dual-arm robot system comprises main operating table 6, and main operating table 6 is installed on the workbench, and it also Including a 3D video microscope device 7, a dual-arm robot 8 and a foot switch 9, the main operating table 6 is located between the dual-arm robots 8, and the lower part of the main operating table 6 is connected to the base of the dual-arm robot 8 As a whole, the 3D video microscopic device 7 is hoisted above the middle part of the dual-manipulator robot 8, and the foot switch 9 is connected to the 3D video microscopic device 7 and the dual-manipulator robot 8 through flexible cables and drag chains; The arm robot 8 includes a main operating arm and a secondary operating arm, which are symmetrically arranged; the main operating arm inc...

specific Embodiment approach 2

[0030] 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

[0031] 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

The invention relates to an operation method of a human-machine cooperative ophthalmic microsurgery auxiliary robot system, and relates to the operation method of the robot system. The present invention aims to solve the problem of poor accuracy and stability of the surgical operation of surgical instruments in the prior art. The method comprises the following steps: step 1: a rough positioning stage: in the rough positioning stage of the ophthalmic microsurgery, manually dragging the end effector of a double-operation arm robot by a hand-held mode, perceiving the direction of force through asix-dimensional force sensor, and controlling the double-operation arm robot to move so as to realize the rough posture adjustment on the surgical end effector; step 2: a fine positioning stage: stepping on a pedal switch, enabling a surgical syringe to enter perforation membrane on the sclera of a patient's eye with the help of a 3D microscopic device and by using a rocker on a surgeon's controlpanel, and adjusting the posture of the surgical syringe under the illumination of the light source on a sub-operating arm until the syringe aims at focus position; and step 3: drug injection. The method is used for fundus microsurgery.

Description

technical field [0001] The invention relates to an operating method of a dual-arm robot system, in particular to an operating method of a man-machine collaborative ophthalmic microsurgery auxiliary robot system. Background technique [0002] In traditional ophthalmic microsurgery, the chief surgeon completes the corresponding fine operations under the microscope with hand-held ophthalmic instruments. Due to the small size of the eyeball and the fine and fragile structure of the eyeball tissue, ophthalmic microsurgery requires the doctor to have extremely high Hand-eye coordination and perception of fine manipulation. The high difficulty of surgery makes patients prone to postoperative complications due to small intraoperative trauma. Among them, once the operation on delicate structures such as posterior lens capsule, corneal endothelium, lens zonule, and retinal macular area, etc. Mistakes can even cause irreparable iatrogenic damage to the patient's vision. [0003] In r...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/37
CPCA61B34/37A61B34/70
Inventor 张赫武睿赵杰
Owner HARBIN INST OF TECH
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