Hybrid robot system and virtual RCM motion control method

Abstract

The invention relates to the technical field of ophthalmology robots, and especially relates to a hybrid robot system and a virtual RCM motion control method. According to the hybrid robot system, an upper translation mechanism is installed on a base and comprises a first translation assembly, an upper support and an upper transfer frame, the first translation assembly is configured to drive the upper support to reciprocate in the first direction, and further configured to drive the upper support to reciprocate in the second direction, and the upper support is in pivot joint with the upper transfer frame; the lower translation mechanism is installed on the base and comprises a second translation assembly, a lower support and a lower transfer frame, the second translation assembly is configured to drive the lower support to reciprocate in the first direction, and further configured to drive the lower support to reciprocate in the second direction, and the lower support is in pivot joint with the lower transfer frame; the upper transfer frame and the lower transfer frame are in pivot joint with a tail end platform separately; and a tail end instrument is installed on the tail end platform, and the tail end platform is configured to drive the tail end instrument to carry out feeding movement.

Description

technical field [0001] The present disclosure relates to the technical field of ophthalmic robots, in particular to a hybrid robot system and a virtual RCM motion control method. Background technique [0002] Eye surgery is a difficult operation. figure 1 It is a schematic diagram of epiretinal macular peeling surgery. An incision needs to be made on the sclera. The surgical instrument is inserted into the eye from the incision and performs three-degree-of-freedom rotation around the sclera insertion point (RCM point) and feed movement along the direction of the instrument. Due to the limited perception ability of the surgeon and the uncontrollable physiological vibration, etc., there is a risk of misoperation during the operation, resulting in excessive contact force between the surgical instrument and the sclera, resulting in medical accidents. [0003] In order to solve the above problems and realize the RCM movement of the ophthalmic surgical robot, researchers have stu...

AI Technical Summary

Problems solved by technology

Since this method generally adopts a mixed configuration of the main body of the series manipulator and the parallel four-bar mechanism, the position of the RCM point is fixed and cannot be changed or adjusted, and the processing accuracy of the parallel four-bar mechanism is difficult to guarantee, so this method is not compact enough , the movement is not flexible enough, the movement precision is not high enough, etc.

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