Intelligent surgical robot system based on optical coherence tomography

Abstract

The invention discloses an intelligent surgical robot system based on optical coherence tomography. The intelligent surgical robot system comprises an imaging system which is used for carrying out two-dimensional microscopic imaging and optical coherence tomography three-dimensional imaging of a surgical region, a control system which controls a mechanical arm group to perform an operation, a termination system which is used for immediately controlling the robot system to stop working, a monitoring system which is used for monitoring the working condition of the robot system in real time, andan alarm system which is used for receiving monitoring information in real time and giving an alarm when the monitoring information does not accord with a preset safety condition. An optical coherencetomography technology and a robot technology are combined, so that tomographic imaging can be carried out on the human eyes, the focus position can be accurately positioned, and real-time navigationof an ophthalmologic operation is achieved; and meanwhile, different surgical instruments are installed at the tail ends of the multiple mechanical arms, a surgical path can be automatically planned,and more complex operations can be achieved through mutual cooperation, so that the accuracy and operability of the operation are improved while more accurate and visual operation navigation information is obtained and the workload of doctors is reduced.

Description

technical field [0001] The invention relates to the fields of optical coherence tomography, intelligent robot technology, etc., and in particular to an intelligent surgical robot system based on optical coherence tomography. Background technique [0002] At present, optical coherence tomography has been widely used in clinical diagnosis and treatment such as neurosurgery and ophthalmic surgery. It has the characteristics of non-contact, non-invasive, real-time dynamic imaging, and high detection sensitivity. Tomographic imaging can more accurately locate the surgical target site and provide precise navigation for surgery. With the development of the third-generation swept source optical coherence tomography (swept-source optical coherence tomography, SS-OCT) technology, real-time OCT imaging becomes possible, providing a technical basis for surgical navigation. Although the difficulty of surgery has been greatly reduced with the improvement of technology, the doctor still n...

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Problems solved by technology

The Ophthorobotics ophthalmic surgery robot developed by Zhongrui Funing is only used for automatic intraocular drug injection, but it cannot image the eye, so it cannot assist other ophthalmic operations, and has relatively large limitations; the Preceyes ophthalmic surgery system developed by Oxford University has passed The two robotic arms synchronize the doctor's hands to complete the micro-manipulation, and can perform more complicated eye surgery, but its imaging system only includes two-dimensional microscopic imaging function, and the doctor cannot perceive the depth information during the operation, and the whole operation still depends on the The doctor's hands did not reduce the doctor's workload

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