An ophthalmic surgical robot system and its control method
A surgical robot and ophthalmic surgery technology, applied in ophthalmic surgery, surgical robots, surgical manipulators, etc., can solve the problems of narrow visual field of view of the diseased eye space, iatrogenic retinal breaks, improper operation, etc., and achieve the goal of reducing surgical accidents Effects of reducing risk, reducing the amount of surgical operations, and improving safety
Active Publication Date: 2021-08-13
XI AN JIAOTONG UNIV
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Problems solved by technology
[0003] However, due to the natural shaking of the doctor's hand during the operation, the physical fatigue of the long-term operation, the narrow visual field angle of the eye space of the diseased object, and improper operation, etc., may cause complications such as cataracts, visual field defects, and iatrogenic retinal tears.
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[0056] figure 1 A schematic block diagram of various parts of a surgical robot system that can be used to perform ophthalmic surgery according to an embodiment of the present invention is shown. As shown in the figure, the ophthalmic surgical robot system involved in the present invention mainly includes:
[0057] Sensing unit 110, which is responsible for collecting relevant information of the patient in real time during the operation, and generates high-resolution image data representing the operation site and force data at the end of the operation tool;
[0058] The calculation unit 120 is responsible for receiving the data collected by the sensing unit, storing and calculating it, storing relevant data of the sensing unit and the control unit, and performing calculations on it according to the program;
[0059] The control unit 130 is responsible for receiving the data processed by the computing unit 120, presenting it to the surgeon and used by the surgeon, generating co...
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The invention provides an ophthalmic surgery robot system and a control method thereof. The ophthalmic surgical robot system includes: a surgical part that moves and rotates a surgical tool up to four degrees of freedom, and performs ophthalmic surgery directly on a patient; a sensing part that generates high-resolution image data representing a surgical site and a surgical tool tip The force data of the computer provides information basis for visual feedback and tactile feedback; the control part generates the control instructions required by the surgeon, thereby affecting the relevant parameters of the operation part and the sensory part; and the calculation part stores the information of the sensory part and the control part Relevant data and operate on it according to the program. The control method is used to guide and configure surgical tools before surgery. The invention can effectively improve the accuracy and efficiency of ophthalmic surgery, reduce the operation amount of surgeons, and reduce the risk of surgical accidents.
Description
technical field [0001] The invention relates to a robot control method, in particular to a surgical robot system and a control method used in eye surgery. Background technique [0002] For idiopathic macular hole, clinical diagnosis and analysis of the disease mainly rely on ophthalmologist's fundus examination and OCT auxiliary examination. Currently, vitrectomy, especially peeling off the posterior vitreous cortex, epiretinal membrane or inner limiting membrane, to loosen the traction around the macular hole is the most important and effective treatment. [0003] However, due to the natural shaking of the doctor's hand during the operation, the physical fatigue of the long-term operation, and the narrow visual field angle of the eye space of the lesion, improper operation and other reasons may cause complications such as cataracts, visual field defects, and iatrogenic retinal tears. Therefore, how to accurately locate the hierarchy of pulling factors, eliminate involuntar...
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IPC IPC(8): A61F9/007A61B34/37A61B3/10A61B3/14
CPCA61B3/102A61B3/14A61F9/007A61F2009/00863A61F2009/00874A61B34/37A61B34/72A61B34/76
Inventor 张政贾浩然张小栋王宁
Owner XI AN JIAOTONG UNIV