A real-time corneal damage prevention warning system and method for an eye plastic surgery robot

Abstract

The present invention discloses a real-time corneal damage prevention warning system and method for an ocular plastic surgery robot, wherein the warning system comprises: a corneal deformation monitoring unit, a corneal biomechanics analysis unit, an ocular plastic surgery robot, a robot control unit, an ultrasonic thickness measurement unit, and an ultrasonic data analysis unit. The present invention can clearly feedback the robot and the actual eyelid position and posture, accurately identify and feedback the force of the puncture needle passing through different tissues, and through the simulation preset of corneal biomechanics, the surgical robot has standardized force feedback when puncturing different tissues, thereby ensuring safety when cutting different tissues.

Description

Technical Field

[0001] The present invention belongs to the field of ocular plastic surgery instruments, and in particular relates to a real-time corneal damage prevention warning system and method for an ocular plastic surgery robot. Background Art

[0002] Eye plastic surgery includes cosmetic surgery of the upper and lower eyelids, eyebrows and other parts. It plays a finishing touch to a person's appearance. Clinically, it is seen in patients of all ages, such as children with congenital ptosis, strabismus, small palpebral fissures, eyelid coloboma and various congenital malformations, which require elective surgery depending on the condition.

[0003] Double eyelid surgery, also known as double eyelid shaping, is one of the most common surgeries in plastic surgery. The surgical methods are different for different double eyelid surgery cases. Generally, it is divided into two categories: incision method and buried suture method. Each category has derived many kinds of surgical procedures, adding up to no less than a hundred, but no matter what surgical procedure is adopted, the basic principles and methods are the same. Even if the eyelid skin is connected to the levator palpebrae superioris aponeurosis, the upper eyelid skin can be sunken to form a double eyelid groove when the eyes are opened.

[0004] Common surgical methods include tarsal incision fixation, buried suture method, suture method, scarless eyelash lift method, scarless double eyelid surgery, Korean double eyelid surgery, etc.

[0005] The double eyelid formed by the tarsal plate incision fixation method is stable and long-lasting, with deep wrinkles and a three-dimensional effect. The disadvantage is that the operation is relatively complicated and requires familiarity with eyelid anatomy. The operator must have a solid foundation in plastic surgery. After the operation, the scar of the incision line is more obvious within 3-6 months, and gradually disappears with time. Edema can often be detected one month after the operation, but by 2 months or longer after the operation, it often looks very natural. The tarsal plate incision fixation method is suitable for all eye shapes, and the probability of double eyelid disappearance is small, and it can be maintained almost for life.

[0006] The buried suture method is suitable for young people with large palpebral fissures, thin eyelids, no bloating, no loose eyelid skin, normal tension, and no epicanthus. The advantages are simple operation and easy to master. It is less traumatic, and the ligature is fixed between the upper eyelid dermis and the levator palpebrae superioris aponeurosis in front of the tarsus or the upper edge of the tarsus, and the wrinkle has a natural appearance. There is no incision, and the postoperative tissue reaction is small, which does not affect work. It is easy to be accepted by the patient. If beginners do not master the skills properly, once a failure occurs, the original method or the incision method can be used to make up for it without leaving any sequelae.

[0007] The disadvantage is that the upper eyelid fold is easy to become shallow and narrow. If the case is not selected properly or the technique is not mastered well, the upper eyelid fold is easy to disappear. The knot is easy to loosen, resulting in surgical failure. The knot is buried too shallowly, it is easy to be exposed or form a small cyst. The case selection range is narrower than the incision method. If the upper eyelid is slightly bloated and the patient insists on the buried thread method, a small incision can be made at the outer 1 / 3 of the upper eyelid fold to remove the orbital fat.

[0008] In clinical practice, the more common complications of double eyelid surgery are mainly the following:

[0009] Complications of blepharoplasty 1: Conjunctival hyperemia: This often occurs after blepharoplasty that requires flipping the upper eyelid and performing through-suture ligation.

[0010] Second complication of double eyelid surgery: slow swelling: eye swelling after surgery is normal. However, if the swelling does not subside after 1 week or even lasts for several months, it should be classified as a complication of double eyelid surgery. The reasons for this are the surgeon's lack of experience, rough operation, more injuries, or infection.

[0011] Blepharoplasty Complication 3: Hematoma: The main reason for hematoma in blepharoplasty is that the bleeding is not stopped carefully during the operation. In addition, there is an arterial arch of the eyelid about 2mm away from the eyelid margin. If the orbicularis oculi muscle is cut too low during the operation, this artery will often be damaged. Complications of blepharoplasty will cause more immediate bleeding or postoperative bleeding. Severe postoperative bleeding requires opening the wound to stop the bleeding.

[0012] Blepharoplasty complication 4: Infection: Blepharoplasty wound infection is of course caused by not strictly following aseptic operation. However, rough operation techniques and non-invasive techniques reduce tissue vitality, which is also a cause of infection. Once an infection complication of blepharoplasty occurs, it must be treated with effective antibiotics.

[0013] Deficiencies of existing technology:

[0014] 1. It is highly dependent on the doctor's ability and experience. Most doctors will produce congestion in the patient's cornea after surgery.

[0015] 2. Physiological tremors in the doctor's hands can reduce surgical accuracy and even lead to complications such as corneal bleeding;

[0016] 3. It is not a minimally invasive surgery, the operation time is long, and the movement of the eyeball and eyelids will lead to poor surgical results;

[0017] 4. Corneal damage is prone to occur;

[0018] 5. Doctors lack the ability to perceive real-time and accurate information about the surgical area, including puncture force, eyelid deformation, soft tissue deformation, and the location of the scalpel;

[0019] 6. It is greatly affected by the patient's eye movement and eyelid blinking. The patient's eye movement and eyelid blinking will cause the eyelid to rise and fall, as well as multi-directional nonlinear displacement and deformation of tissues and organs (movement, rotation, etc.), causing the target surgical position to drift. Ultimately, it is difficult to accurately pierce the target position, resulting in poor results or failure of double eyelid surgery. Excessive pressure on the cornea may lead to serious vision loss. Summary of the invention

[0020] To solve the above problems, the primary purpose of the present invention is to provide a real-time corneal damage prevention warning system and method for an eye plastic surgery robot. The system and method can clearly feedback the robot and the actual eyelid position and posture, accurately identify and feedback the force of the puncture needle passing through different tissues. Through the simulation preset of corneal biomechanics, the surgical robot has standardized force feedback when puncturing different tissues, ensuring safety when cutting different tissues.

[0021] Another object of the present invention is to provide a real-time corneal damage prevention warning system and method for an eye plastic surgery robot. The system and method have high positioning accuracy and short operation time. It has a well-planned path and automatic positioning, thereby shortening the operation time, reducing the labor intensity of doctors, improving the safety of the eye plastic surgery robot and the ultimate success rate of the operation, and reducing the sequelae and recurrence probability of eye plastic surgery.

[0022] To achieve the above objectives, the technical solution of the present invention is as follows.

[0023] A real-time corneal damage prevention warning system for an eye plastic surgery robot, comprising:

[0024] Corneal deformation monitoring unit,

[0025] Corneal Biomechanics Analysis Unit,

[0026] Eye plastic surgery robot,

[0027] Robot control unit,

[0028] Ultrasonic thickness measurement unit,

[0029] Ultrasound data analysis unit;

[0030] Wherein: Corneal deformation monitoring unit: used to monitor the deformation of the cornea;

[0031] Corneal biomechanical analysis unit: calculates the pressure exerted by the tarsal plate on the posterior surface of the eyelid according to the deformation of the cornea, and feeds the value back to the robot control unit;

[0032] Eye plastic surgery robot: used for eyelid puncture, double eyelid shaping, and removal of excess skin tissue;

[0033] Ultrasonic thickness measurement unit: obtains multiple sets of eyelid skin thickness data;

[0034] Ultrasonic data analysis unit: converts the data of the ultrasonic thickness measurement unit into an eyelid thickness map in real time and transmits it to the robot control unit;

[0035] Robot control unit: used to receive data from the corneal biomechanics analysis unit and the ultrasonic data analysis unit and control the movements of the eye plastic surgery robot and provide real-time force feedback to the doctor.

[0036] Furthermore, the robot control unit determines based on the analysis results that if the corneal pressure exceeds a set threshold, the eye plastic surgery robot will alarm; the puncture depth of the eye plastic surgery robot is calculated based on the real-time eyelid thickness map, and if it exceeds the set threshold, the eye plastic surgery robot will alarm.

[0037] The cornea refers to the front surface of the cornea.

[0038] Eye plastic surgery includes: ptosis surgery, double eyelid surgery, eye bag removal surgery, etc.

[0039] A real-time corneal damage prevention warning method for an eye plastic surgery robot comprises the following steps:

[0040] S1, the corneal deformation monitoring unit monitors the deformation of the cornea and transmits the deformation amount to the corneal biomechanics analysis unit;

[0041] S2, the corneal biomechanical analysis unit calculates the magnitude of corneal pressure according to the deformation of the cornea, and feeds back the magnitude of the corneal pressure to the robot control unit;

[0042] The formula for calculating corneal pressure is as follows:

[0043] F=P*S

[0044] Where F is the corneal pressure value of externally applied pressure; P is the intraocular pressure (IOP is abbreviated as P), which is measured by a tonometer before surgery; S is the area of ​​corneal flattening caused by corneal pressure F;

[0045] The purpose of this value: If F is too large, it means that a large amount of deformation has been produced on the cornea, which may cause corneal damage and impair vision.

[0046] S3, the ultrasonic thickness measuring unit obtains multiple sets of eyelid skin thickness data and transmits them to the ultrasonic data analysis unit;

[0047] S4, ultrasonic data analysis unit: converts the data of the ultrasonic thickness measurement unit into an eyelid thickness map in real time and transmits it to the robot control unit;

[0048] S5. The eyelid thickness map is the basis for the ophthalmic plastic surgery robot to perform surgery. The robot control unit compares the surgical data of the ophthalmic plastic surgery robot with the eyelid thickness map in real time to determine whether it is within a reasonable range. A reasonable range means that the eyelid thickness threshold is not exceeded. If the eyelid thickness threshold is exceeded (the eyelid thickness threshold can be defined manually or obtained through experiments), the ophthalmic plastic surgery robot will alarm. The puncture depth of the ophthalmic plastic surgery robot is calculated based on the real-time eyelid thickness map. If it exceeds the set threshold, the ophthalmic plastic surgery robot will alarm.

[0049] This monitoring is a double insurance. The eyelid thickness map can guide the robot's movements. If it is within a reasonable range, the cornea will not be damaged. However, the eyelid thickness map may not be completely correct in real time at all times. For safety, the second level of insurance is: corneal deformation monitoring unit; the corneal deformation is monitored by the corneal deformation monitoring unit, and the puncture depth of the surgical robot is determined according to the corneal deformation. If it exceeds the set threshold, the eye plastic surgery robot will alarm.

[0050] The eyelid thickness map can also be used for the selection of surgical methods before surgery (for double eyelid surgery, due to the different thickness of eyelid skin, the tarsal plate fixation method, buried suture method, and three-point double eyelid surgery can be selected) and the navigation planning of the surgical robot before surgery.

[0051] The beneficial effects of the present invention are:

[0052] 1. High positioning accuracy and short operation time. The robot can automatically position itself according to the path planned by the doctor and complete operations with high positioning accuracy and no jitter, thereby shortening the operation time and reducing the doctor's labor intensity.

[0053] 2. The robot can provide doctors with the best surgical path selection, and if deviation from the planned path, soft tissue displacement and deformation, eye movement, eyelid blinking causing drift, etc. occurs, the robot can compensate in a timely and effective manner and assist in completing the action, thereby improving the success rate, efficiency and surgical safety.

[0054] 3. The robotic arm is more stable than human hands and provides higher rigidity and precision.

[0055] 4. The effect achieved by robot-assisted upper facial rejuvenation is the same as that of conventional endoscopic-assisted brow lift. Robotic operation only requires tiny incisions and can be performed over a wide area, making the treatment more precise and reliable.

[0056] 5. The continuous stability of the eye plastic surgery robot is far superior to that of our human hands, and its error is at the millimeter level. At the same time, it also has the tactile function of the hand, which makes it easier for doctors to perform complex and difficult operations in a small space.

[0057] 6. In addition, the surgical robot also has an excellent control device. If the doctor touches the dangerous area, the corneal damage prevention warning system will automatically identify the prompt to help the doctor perform surgery within a safe range. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 Schematic diagram of eyelid thickness according to the present invention.

[0059] Figure 2 It is a schematic diagram of the corneal force deformation implemented by the present invention.

[0060] Figure 3 It is a schematic diagram of the unit structure implemented by the present invention.

[0061] Figure 4 It is a schematic diagram of the steps and methods for implementing the present invention.

[0062] Figure 5 It is a schematic diagram of the principle of the implementation of the present invention. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0064] The real-time corneal damage prevention warning system of the eye plastic surgery robot implemented by the present invention is as follows: Figure 3 As shown, including:

[0065] Corneal deformation monitoring unit,

[0066] Corneal Biomechanics Analysis Unit,

[0067] Eye plastic surgery robot,

[0068] Robot control unit,

[0069] Ultrasonic thickness measurement unit,

[0070] Ultrasound data analysis unit.

[0071] Wherein: Corneal deformation monitoring unit: used to monitor the deformation of the cornea;

[0072] Corneal biomechanical analysis unit: calculates the pressure exerted by the tarsal plate on the posterior surface of the eyelid according to the deformation of the cornea, and feeds the value back to the robot control unit;

[0073] Eye plastic surgery robot: used for eyelid puncture, double eyelid shaping, and removal of excess skin tissue;

[0074] Ultrasonic thickness measurement unit: obtains multiple sets of eyelid skin thickness data;

[0075] Ultrasonic data analysis unit: converts the data of the ultrasonic thickness measurement unit into an eyelid thickness map in real time and transmits it to the robot control unit;

[0076] Robot control unit: used to receive data from the corneal biomechanics analysis unit and the ultrasonic data analysis unit and control the movements of the eye plastic surgery robot and provide real-time force feedback to the doctor.

[0077] The robot control unit determines based on the analysis results that if the corneal pressure exceeds a set threshold, the ophthalmic plastic surgery robot will alarm; the puncture depth of the ophthalmic plastic surgery robot is calculated based on a real-time eyelid thickness map, and if it exceeds a set threshold, the ophthalmic plastic surgery robot will alarm.

[0078] The cornea refers to the front surface of the cornea.

[0079] Eye plastic surgery includes: ptosis surgery, double eyelid surgery, eye bag removal surgery, etc.

[0080] Combination Figure 1-Figure 5 As shown, the real-time corneal damage prevention warning method of the eye plastic surgery robot implemented by the present invention is Figure 1 As shown, the eyelids of both eyes of a person have a certain thickness. In the figure, the thicknesses of the five points a, b, c, d, and e are 2.34 mm, 2.21 mm, 2.59 mm, 2.40 mm, and 2.76 mm respectively. Figure 4 , Figure 5 As shown, the real-time corneal damage prevention warning method of the eye plastic surgery robot includes the following steps:

[0081] S1. The corneal deformation monitoring unit monitors the deformation of the cornea and transmits the deformation data to the corneal biomechanics analysis unit. The force F applied by the surgical robot to the eyelid plate will cause the cornea to deform, such as Figure 2 shown.

[0082] S2, the corneal biomechanical analysis unit calculates the corneal pressure according to the corneal deformation and feeds the value back to the robot control unit;

[0083] The formula for calculating corneal pressure is as follows:

[0084] F=P*S

[0085] Where F is the corneal pressure value of externally applied pressure; P is the intraocular pressure (IOP is abbreviated as P) (Intraocular pressure P: the normal range of intraocular pressure is 1.47-2.79 kPa (11-21 mmHg); it is measured by a tonometer before surgery;)

[0086] S is the area of ​​corneal flattening caused by corneal pressure F ( Figure 2 );

[0087] The function of this value is: If F is too large and exceeds a threshold value (the threshold value can be set based on experience or defined manually), it means that a large deformation amount has been generated on the cornea, which may cause corneal damage and impair vision.

[0088] S3, the ultrasonic thickness measuring unit obtains multiple sets of eyelid skin thickness data and transmits them to the ultrasonic data analysis unit;

[0089] S4, ultrasonic data analysis unit: converts the data of the ultrasonic thickness measurement unit into an eyelid thickness map in real time and transmits it to the robot control unit;

[0090] S5. According to the data from the corneal biomechanical analysis unit: Specifically, the eyelid thickness map is the basis for the eye plastic surgery robot to perform surgery. The robot control unit compares the surgical data of the eye plastic surgery robot with the eyelid thickness map in real time to determine whether it is within a reasonable range. A reasonable range means that the eyelid thickness threshold is not exceeded; if the eyelid thickness threshold is exceeded (the eyelid thickness threshold can be defined manually or obtained through experiments), the eye plastic surgery robot will alarm; the puncture depth of the eye plastic surgery robot is calculated based on the real-time eyelid thickness map. If the set threshold is exceeded, the eye plastic surgery robot will alarm.

[0091] The eyelid thickness map can also be used for the selection of surgical methods before surgery (for double eyelid surgery, due to the different thickness of eyelid skin, the tarsal plate fixation method, buried suture method, and three-point double eyelid surgery can be selected) and the navigation planning of the surgical robot before surgery.

[0092] This monitoring is a double insurance. The eyelid thickness map can guide the robot's movements. If it is within a reasonable range, the cornea will not be damaged. However, the eyelid thickness map may not be completely correct in real time at all times. For safety, the second level of insurance is: corneal deformation monitoring unit; the corneal deformation is monitored by the corneal deformation monitoring unit, and the puncture depth of the surgical robot is determined according to the corneal deformation. If it exceeds the set threshold, the eye plastic surgery robot will alarm.

[0093] The system method provided by the embodiment of the present invention can improve the recognition accuracy of the eye plastic surgery robot, prevent the effectiveness of corneal damage, feedback appropriate force to the doctor, and promptly alarm when the corneal force exceeds the safe range, thereby avoiding damage to the patient's meibomian glands and the cornea underneath, improving the safety of the eye plastic surgery robot and the ultimate success rate of the operation, and reducing the sequelae and recurrence probability of eye plastic surgery.

[0094] The surgical robot system can work in an environment that is unfavorable to doctors. With the help of eyelid thickness maps, force feedback warning systems, and reference to medical images to determine positioning, it can perform continuous actions without tremor, while quickly and accurately passing through complex trajectories and accurately positioning itself to reach the target position. Finally, it can complete eye plastic surgery under the doctor's command or autonomously.

[0095] In summary, the advantages of the present invention are:

[0096] 1. High positioning accuracy and short operation time. The robot can automatically position itself according to the path planned by the doctor and complete operations with high positioning accuracy and no jitter, thereby shortening the operation time and reducing the doctor's labor intensity.

[0097] 2. The robot can provide doctors with the best surgical path selection, and if deviation from the planned path, soft tissue displacement and deformation, eye movement, eyelid blinking causing drift, etc. occurs, the robot can compensate in a timely and effective manner and assist in completing the action, thereby improving the success rate, efficiency and surgical safety.

[0098] 3. The robotic arm is more stable than human hands and provides higher rigidity and precision.

[0099] 4. The effect achieved by robot-assisted upper facial rejuvenation is the same as that of conventional endoscopic-assisted brow lift. Robotic operation only requires tiny incisions and can be performed over a wide area, making the treatment more precise and reliable.

[0100] 5. The continuous stability of the eye plastic surgery robot is far superior to that of our human hands, and its error is at the millimeter level. At the same time, it also has the tactile function of the hand, which makes it easier for doctors to perform complex and difficult operations in a small space.

[0101] 6. In addition, the surgical robot also has an excellent control device. If the doctor touches the dangerous area, the corneal damage prevention warning system will automatically identify the prompt to help the doctor perform surgery within a safe range.

[0102] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A real-time corneal damage prevention warning system for an eye plastic surgery robot, comprising: Corneal deformation monitoring unit, Corneal Biomechanics Analysis Unit, Eye plastic surgery robot, Robot control unit, Ultrasonic thickness measurement unit, Ultrasound data analysis unit; Wherein: Corneal deformation monitoring unit: used to monitor the deformation of the cornea; Corneal biomechanical analysis unit: calculates the pressure exerted by the tarsal plate on the posterior surface of the eyelid according to the deformation of the cornea, and feeds the value back to the robot control unit; Eye plastic surgery robot: used for eyelid puncture, double eyelid shaping, and removal of excess skin tissue; Ultrasonic thickness measurement unit: obtains multiple sets of eyelid skin thickness data; Ultrasonic data analysis unit: converts the data of the ultrasonic thickness measurement unit into an eyelid thickness map in real time and transmits it to the robot control unit; Robot control unit: used to receive data from the corneal biomechanics analysis unit and the ultrasonic data analysis unit, control the movements of the eye plastic surgery robot, and provide real-time force feedback to the doctor; The robot control unit determines based on the analysis results that if the corneal pressure exceeds a set threshold, the ophthalmic plastic surgery robot will alarm; the puncture depth of the ophthalmic plastic surgery robot is calculated based on a real-time eyelid thickness map, and if it exceeds a set threshold, the ophthalmic plastic surgery robot will alarm.

Images