A flexible force-sensitive operating mechanism of an ophthalmic surgical robot

Abstract

The invention discloses a flexible force-sensitive operating mechanism of an ophthalmic surgical robot, which includes an operating arm and a miniature execution end. The operating arm includes: front-end connecting ring, operating end, cables and compensation springs; multiple cables are laid around the outer layer of the inner helical spring, the outer layer of the cable is installed with the outer helical spring to form a flexible shaft, and the outer layer of the cable is installed with a hard sleeve to form a Rigid shaft; one end of the cable is connected to the front connecting ring, and the other end of the cable is connected to the operating end; the operating end is a rigid hollow structure, and the compensation spring is installed on the cable in the operating end; the operating end is equipped with a bracket and an end control module ; The compensation spring is in elastic contact with the inner end of the operating end and the inner side of the bracket; the miniature execution end is connected with the front connecting ring for ophthalmic surgery. The invention can effectively improve the operation accuracy of the ophthalmic operation process, restrain the involuntary movement of the doctor during the operation, and has the advantages of high degree of freedom of movement, low cost, convenient and safe use, and the like.

Description

technical field [0001] The invention relates to medical instruments, in particular to a flexible force-sensitive operating mechanism of an ophthalmic surgery robot. Background technique [0002] At present, there are many eye diseases. Macular hole is a common fundus disease in clinical practice, which can lead to severe impairment of visual function of patients, and even retinal detachment and eyeball atrophy. It is generally believed that idiopathic macular hole may be related to vitreous traction. The onset of the disease is hidden, and it is often discovered when the other eye is covered. Therefore, early detection and timely treatment are the key factors affecting the final prognosis of the patient. Clinically, the diagnosis and staging of the disease mainly rely on ophthalmologist fundus examination and OCT auxiliary examination. Currently, vitrectomy, especially peeling off the posterior vitreous cortex, epiretinal membrane or inner limiting membrane, to loosen the ...

AI Technical Summary

Problems solved by technology

[0003] Research on ophthalmic surgical robots is the key to solving such problems. Judging from the current development trend, foreign ophthalmic surgical robots, such as the multi-million dollar system-Da Vinci master / slave robot, are commercially successful. Minimally invasive surgery can be performed, but the cost of the system is too high, the cost of the operation is high, and the robot is bulky and the rigid structure has a low degree of freedom, which are the key factors restricting its further development and expanding the medical market

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