A Continuum-based Ophthalmic Surgical Robot

Abstract

The invention relates to an ophthalmic surgery robot based on a continuum configuration. It includes a workbench, a mounting bracket, a driving mechanism and a scalpel. The driving mechanism includes a continuum joint, a connecting rod, a continuum bracket, and a pulley bracket for fixing the first pulley block and the second pulley block. The driving mechanism also includes a The motor base and the first motor, the second motor, the third motor, the fourth motor and the fifth motor fixed on the motor base, the output terminals of the first motor, the second motor, the third motor and the fourth motor are connected with the first motor respectively. The first flexible cable, the second flexible cable, the third flexible cable, and the fourth flexible cable are connected, and the first flexible cable, the second flexible cable, the third flexible cable, and the fourth flexible cable pass through the first pulley group and the second pulley group in sequence , connected with the joint of the continuum through the connecting rod to realize the adjustment of the degree of freedom of the pitch and deflection of the scalpel, and the output end of the fifth motor is connected with the support of the continuum to drive the scalpel to realize the adjustment of the degree of freedom of telescoping.

Description

An ophthalmic surgical robot based on continuum configuration technical field [0001] The invention belongs to the field of robots, and in particular relates to an ophthalmic surgical robot based on a continuum configuration. Background technique Compared with traditional surgery, robot-assisted minimally invasive surgery has the advantages of accurate target positioning and easy to achieve micro-surgery. The advantages of invasiveness and remote surgery have laid a solid foundation for the third-generation surgery with minimally invasive and refined features. It can improve the efficiency and success rate of surgery, reduce the pain of surgery, and shorten the recovery time after surgery. but any one The progress of various surgical methods has inevitably brought about an increase in the difficulty of surgical operations, and minimally invasive means smaller surgical incisions. This poses a big challenge to the stability and accuracy of the doctor's hand movement. ...

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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