Robot remote fixed point control method for human eye subretinal injection

Abstract

The invention relates to a robot remote fixed point control method for human eye subretinal injection, which comprises the following steps of: 1, selecting a needle inserting position, and setting a motion path of a mechanical arm; 2, obtaining an injection through an injector; 3, controlling the mechanical arm to move along a set movement path, and making the tail end of the needle tip move to a turning point along the movement path; 4, using the mechanical arm to drive the tail end of the needle tip to execute RCM movement at the turning point; 5, using the mechanical arm to drive the tail end of the needle tip to continue to move to the target position of the retina layer according to the movement path set in the step 2; and 6, injecting a certain amount of injection to the target position. According to the method, in a high-precision environment with resistance, the degree of freedom of motion of the mechanical arm can be guaranteed, a control mode of precisely completing closed-loop motion can be provided, the precision limitation caused when the mechanical arm is manually operated to complete a retina injection operation is overcome, the precision is improved, the difficulty of manual operation is reduced, and unnecessary injuries are avoided.

Description

technical field [0001] The present invention relates to the field of mechanical arm control, and more specifically, relates to a robot remote fixed-point control method for subretinal injection of human eyes. Background technique [0002] Retinal injection is a new treatment method for fundus diseases. Compared with vitreous injection therapy, retinal injection can deliver drugs to the fundus disease area more accurately, which can not only improve the curative effect, but also reduce side effects. However, due to its difficult operation and high precision limit, it is still very difficult for experienced doctors to complete the retinal injection operation. [0003] The Chinese patent application with the publication number "CN109602499A" and the publication date of April 12, 2019 discloses a human-machine collaborative ophthalmic microsurgery assisted robot system operation method, step 1: rough positioning stage; In the rough positioning stage of the operation, the end ef...

AI Technical Summary

Problems solved by technology

[0005] In order to overcome the above-mentioned problem in the prior art that the artificially controlled robot is difficult to perform retinal injection operation, the present invention provides a robot remote fixed-point control method for subretinal injection of human eyes. The injector is automatically controlled by the mechanical arm to inject the retinal layer without Manual operation improves the accuracy and difficulty of retinal injection

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