End effector of ophthalmic surgical robot with sensitization touch detection function

Abstract

One end of an intraocular tweezers core penetrates through an intraocular tweezers cylinder and is connected with a tactile force sensitization structure, the tactile force sensitization structure is arranged on a tray, and an FBG (fiber bragg grating) sensor group is arranged at the position, close to the intraocular tweezers cylinder, of the intraocular tweezers core and used for detecting transverse force of the tweezers cylinder; the intraocular tweezers barrel is connected with a pin shaft through a tweezers barrel bearing fixing ring, one end of the pin shaft is connected with the front bracket, and the other end of the pin shaft penetrates through the tweezers barrel bearing fixing ring and a linear bearing to be connected with a self-rotating gear on the tray; the intraocular tweezers cylinders are connected with a linear driving module arranged on the tray through arc-shaped connecting pieces and used for achieving tweezers core axial force detection. The method is good in decoupling performance and real-time performance, accords with an intraocular surgery operation mechanism, makes up for tactile micro-force perception lacking when a surgery robot is used for surgery, achieves perception of intraocular tactile micro-force, and lays a foundation for further development and utilization of subsequent ophthalmic surgery robots.

Description

technical field [0001] The invention belongs to the technical field of ophthalmic medical instruments, and in particular relates to an ophthalmic surgical robot end effector with enhanced tactile detection. Background technique [0002] Among the known human eye diseases in the world, macular hole is a relatively common fundus disease in ophthalmology clinic. If not treated in time, the patient will eventually lead to irreversible damage due to eyeball atrophy. At present, the main method of treating macular holes is surgery. By performing vitrectomy, stripping the posterior vitreous cortex, epiretinal membrane or internal limiting membrane around the hole, the tensile stress around the macular hole is relieved and the hole is closed. During the operation, the doctor will inevitably experience natural shaking of the hand after long-term operation, subtle shaking caused by the physiological structure of the human hand, and visual errors caused by the human eye under the influ...

AI Technical Summary

Problems solved by technology

During the operation, the doctor will inevitably experience natural shaking of the hand after a long period of operation, subtle shaking caused by the physiological structure of the human hand, and visual errors caused by the human eye under the influence of external factors such as light and small space. It leads to the generation of uncontrollable wounds, which greatly increases the difficulty of surgery

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