Ophthalmic surgical robot based on continuum configuration

Abstract

The invention relates to an ophthalmic surgical robot based on continuum configuration. The ophthalmic surgical robot comprises a workbench, a mounting support, a driving mechanism and a scalpel, the driving mechanism comprises a continuum joint, a connecting rod, a continuum support and a pulley block support used for fixing a first pulley block and a second pulley block, the driving mechanism further comprises a motor base connected with the mounting support, a first motor, a second motor, a third motor, a fourth motor and a fifth motor, the first motor, the second motor, the third motor, the fourth motor and the fifth motor are fixed to the motor base, and the output ends of the first motor, the second motor, the third motor and the fourth motor are connected with a first flexible cable, a second flexible cable, a third flexible cable and a fourth flexible cable respectively. The first flexible cable, the second flexible cable, the third flexible cable and the fourth flexible cable sequentially wind around the first pulley block and the second pulley block and then are connected with the continuum joint through the interior of the connecting rod so as to adjust the pitching degree of freedom and the deflection degree of freedom of the scalpel, and the output end of the fifth motor is connected with the continuum support so as to drive the scalpel to adjust the telescopic degree of freedom.

Description

technical field [0001] The invention belongs to the field of robots, in particular to an ophthalmic surgery robot based on a continuum configuration. Background technique [0002] Compared with traditional surgery, robot-assisted minimally invasive surgery has the advantages of accurate target positioning, easy to achieve minimally invasive, and remote surgery, etc., laying a technical foundation for the third-generation surgery with minimally invasive and refined features It can improve the efficiency and success rate of the operation, reduce the pain of the operation, and shorten the recovery time after the operation. However, the advancement of any surgical method will inevitably bring about an increase in the difficulty of surgical operations. Minimally invasive means smaller surgical incisions, which poses a big challenge to the stability and accuracy of the doctor's hand movements. . During the operation, the movement precision limit of the doctor's arm and hand trem...

AI Technical Summary

Problems solved by technology

The patent with the publication number CN107019559A discloses a fully automatic ophthalmic surgery robot. The invention patent has the characteristics of flexible movement, high installation and movement precision, but its structure is complicated, the manufacturing cost is high, and installation and debugging are difficult.

The patent with the publication number CN210962596U discloses an ophthalmic surgical robot. The invention patent has the advantages of short debugging period, high stability and simple control. It is not easy to find the reason, and it is easy to generate dynamic error accumulation due to its long transmission line

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