Operation mechanism for ophthalmic corneal transplantation surgical robot

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 ...

AI Technical Summary

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 opening and closing freedom Therefore, it cannot be used for corneal transplantation. Researchers tried to use the Da Vinci surgical system in the United States for corneal transplantation, but it has the disadvantages of low motion stiffness, large moment of inertia, and poor flexibility.

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