Operation mechanism for ophthalmic corneal transplantation surgical robot

A surgical robot and corneal transplantation technology, applied in the field of medical surgical robots, can solve the problems of inability to use corneal transplantation, large motion inertia, low motion stiffness, etc., and achieve the effects of reducing size, high motion stability, and improving motion stiffness.

Pending Publication Date: 2021-01-05
XI AN JIAOTONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] At present, surgical robots are developing towards specialization. The commercialized ophthalmic surgical robots mainly include the Dutch PRECEYES surgical system and the domestic Funing OR robot, which are mainly oriented to intraocular and fundus surgery, with only 3 rotations and 1

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  • Operation mechanism for ophthalmic corneal transplantation surgical robot
  • Operation mechanism for ophthalmic corneal transplantation surgical robot
  • Operation mechanism for ophthalmic corneal transplantation surgical robot

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Embodiment Construction

[0038] In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", " The orientation or positional relationship indicated by "vertical", "horizontal", "top", "bottom", "inner", "outer", "side", "end", "side" etc. is based on the Orientation or positional relationship is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicit...

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Abstract

The invention discloses an operation mechanism for an ophthalmic corneal transplantation surgical robot. The operation mechanism includes two bases arranged beside an operating table, two robotic armsrespectively fixed on vertical lifting platforms of the bases, at least two instrument-holding arms to simulate the hands of a surgeon and a mirror-holding arm to place imaging equipment; each instrument-holding arm includes a preoperative positioning mechanism and an intraoperative instrument-manipulating mechanism; the preoperative positioning mechanism is used for positioning the intraoperative instrument-manipulating mechanism; the intraoperative instrument-manipulating mechanism includes a position adjusting mechanism and a pose adjusting mechanism; the position adjusting mechanism can realize the position adjusting of the pose adjusting mechanism in space; and the motion and force transmission of the pose adjusting mechanism can be achieved through a rope-pulley mechanism so as to control tools to perform operations. Through the operation mechanism, the movement track of operation tools at any position and pose in a working space can be realized, and corneal drilling and suturing during corneal transplantation can be accomplished; and the operation mechanism is good in flexibility, high in precision, high in motion stiffness and large in motion space range.

Description

technical field [0001] The invention belongs to the technical field of medical operation robots, and in particular relates to an operating mechanism of an ophthalmic cornea transplantation operation robot. Background technique [0002] When the surgical robot performs surgery, the robotic arm operates surgical tools to complete operations such as cutting, hemostasis, and suturing. The surgeon can sit on the console to observe and guide the robotic arm. The more mature surgical robot systems that have been developed now include the telecentric fixed point (RCM) surgical system represented by the double parallelogram mechanism, the tandem robotic arm surgical system, and the dexterous surgical system with flexible joints. Surgical robot systems can realize minimally invasive surgery in surgery, orthopedics, heart and ophthalmology. Because of its advantages of improving surgical operation accuracy, reducing minimally invasive surgical trauma and reducing operator fatigue, the ...

Claims

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Application Information

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IPC IPC(8): A61F9/007A61B34/30
CPCA61F9/007A61F9/00736A61B34/30
Inventor 张小栋冯晓静王宁李明阳
Owner XI AN JIAOTONG UNIV
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