Robot-assisted subretinal injection system

Abstract

The invention discloses a robot-assisted subretinal injection system which comprises a machine table, a controller is installed on the machine table, one side of the machine table is connected with a mechanical arm through a rotating assembly so that the mechanical arm can rotate horizontally, the end of the mechanical arm is rotationally connected with an angle adjusting seat, and the angle adjusting seat is movably connected with an injection platform. A clamp capable of sliding along the injection platform is arranged on the front side of the injection platform, a driving assembly is arranged in the clamp and used for pushing an injector out of the front end of the clamp or retracting the injector into the clamp, and a thrust linear motor is further arranged on the front side of the injection platform. A pressing plate used for being connected with the tail end of a push rod on the injector is installed on a main shaft of the thrust linear motor, an injection micropump is arranged on the machine table, and the injection micropump is connected with the injector through a pipeline. The problem that in the moving process of an existing eye subretina injection device, the needle point of an injector is exposed to the outer side, and potential safety hazards exist can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments and equipment, and in particular to a robot-assisted subretinal injection system. Background Art

[0002] Subretinal injection is a precise injection procedure that delivers drugs into the retinal blood vessels or subretinal space, that is, between the retinal neuroepithelial layer and the retinal pigment epithelium. It is commonly used in gene therapy for inherited retinal diseases, cell therapy for age-related macular degeneration, injection of tissue plasminogen activator (t-PA) for retinal vascular occlusion, and anti-VEGF treatment of retinal neovascularization.

[0003] Due to the limitation of the subretinal space, the injection operation in this area requires extremely high precision to avoid adverse consequences such as retinal rupture and immune response caused by drug reflux. At present, there is still controversy at home and abroad about the general procedure of subretinal injection. It is generally believed that subretinal injection should be carried out in two steps, that is, under the premise of vitrectomy, the balanced salt solution (BSS) is first injected to pre-form a blister, and then the drug is injected into the blister. This operation is intended to improve the tolerance rate due to the low precision of manual injection and hand tremor. The two-step method is suitable for low-precision artificial subretinal injection, and there are some defects, such as the need for vitrectomy before injection, greater damage to the eye, and high difficulty in repeated administration.

[0004] The prior art 202110063385.6 discloses a robot remote fixed-point control method for subretinal injection in the human eye. The syringe is controlled to move along a motion path by setting a syringe at the end of a robotic arm, and the needle tip of the syringe is extended to a designated target position. However, when the syringe follows the robotic arm to move along the motion trajectory, there are certain safety hazards because the needle tip of the syringe is exposed on the outside. Summary of the invention

[0005] The present invention provides a robot-assisted subretinal injection system, which can solve the problem that the needle tip of the injector is exposed to the outside during the movement of the existing subretinal injection device, which poses a potential safety hazard.

[0006] To achieve the above-mentioned purpose, the present invention provides a robot-assisted subretinal injection system, comprising a machine platform, a controller is installed on the machine platform, one side of the machine platform is connected to a mechanical arm through a rotating component to enable the mechanical arm to rotate horizontally, the mechanical arm comprises an up and down lifting component and a horizontal moving component arranged on the up and down lifting component, the horizontal moving component is provided with a slider that can move horizontally, the end of the horizontal moving component is rotatably connected to an angle adjustment seat, the upper end of the angle adjustment seat is connected to the slider through an angle adjustment connecting rod, the angle adjustment seat is movably connected with an injection platform, the front side of the injection platform is provided with a clamp that can slide along the injection platform, the clamp is provided with a driving component, and the driving component It is used to push the syringe out of the front end of the clamp or retract it into the inside of the clamp. A thrust linear motor is also arranged on the front side of the injection platform. A pressure plate for connecting with the tail end of the push rod on the syringe is installed on the main shaft of the thrust linear motor. An injection micropump is arranged on the machine platform. The injection micropump is connected to the syringe through a pipeline. The robotic arm, drive assembly, thrust linear motor and injection micropump are all electrically connected to the controller. Through the multi-angle movement of the robotic arm, the injection platform can be moved to the specified position quickly and accurately, and the angle of the syringe can be adjusted. During the movement of the robotic arm, the needle tip of the syringe enters the clamp, which can improve the safety of use and avoid safety hazards in the process of the robotic arm driving the syringe to move.

[0007] Preferably, a first adjusting screw is provided on the inner side of the angle adjustment seat along its length direction, and a fine-tuning nut is provided on the first adjusting screw. The fine-tuning nut is movably connected to the injection platform by at least one connecting rod. The position of the fine-tuning nut can be adjusted by rotating the first adjusting screw, thereby adjusting the front and rear position of the injection platform. At the same time, the swing of the connecting rod can also realize the adjustment of the position of the injection platform, making the adjustment of the position of the injection platform more flexible.

[0008] Preferably, the rotating assembly includes a rotating connection seat connected to the robot arm and an electric rotating seat arranged on the machine platform, and the rotating connection seat is mounted on the electric rotating seat, and the robot arm can be driven to rotate horizontally through the electric rotating seat.

[0009] Preferably, a second adjusting screw is provided inside the injection platform, an adjusting nut is provided on the second adjusting screw, the clamp is mounted on the adjusting nut, and the position of the clamp on the injection platform can be adjusted by rotating the second adjusting screw.

[0010] Preferably, a mounting hole is provided on the clamp, and the drive assembly is installed in the mounting hole. The drive assembly includes a fixed sleeve and a first electromagnet installed at the rear end of the fixed sleeve, and the syringe passes axially through the fixed sleeve. A second electromagnet is fixed to the outside of the syringe, and an elastic member is arranged between the second electromagnet and the front end of the fixed sleeve. The magnetic fields generated by the first electromagnet and the second electromagnet after being energized are opposite in magnetism. When the first electromagnet and the second electromagnet are energized, a magnetic field is generated, and the magnetic field moves the first electromagnet and the syringe to the front end together, compressing the elastic member, so that the front end of the syringe can be extended from the front end of the clamp, so that injection can be performed. When the first electromagnet and the second electromagnet are powered off, the magnetic field disappears, and the elastic member can push the second electromagnet and the syringe to retract together into the clamp.

[0011] Preferably, a detachable first fixing ring is installed at the tail end of the fixing sleeve, and the first electromagnet is connected and fixed to the first fixing ring. After the first fixing ring is removed, the syringe can be removed smoothly, and replacement of the syringe is very convenient.

[0012] Preferably, a second fixing ring is installed at the front end of the fixing sleeve, and one end of the elastic member is against the second fixing ring. The second fixing ring can limit the elastic member and guide the axial movement of the syringe to improve the stability of the syringe movement.

[0013] Preferably, the injection micropump is connected to a switch-controlled foot pedal, and the injection micropump can be controlled to work by the switch-controlled foot pedal. When the pressure plate is stepped on, the pressure plate will squeeze the sensor downward, and the sensor will transmit the signal to the controller. Then the controller controls the microinjection micropump to pump a specified amount of medicine into the syringe. Each time the switch-controlled foot pedal is stepped on, the injection micropump can be controlled to inject a specified amount of medicine into the syringe once, which is easy to operate.

[0014] Preferably, the controller is a PLC controller or an intelligent computer, and the control program can be adjusted according to actual needs.

[0015] Preferably, the horizontal moving component includes a connecting block connected to the lifting block on the upper and lower lifting components and an extension seat located on one side of the connecting block and extending horizontally toward the front side. The sliding block slides along the sliding groove on the extension seat, and the lower end of the angle adjustment seat is rotatably connected to the front end of the extension seat. The horizontal moving component has a compact structure and can cooperate with the upper and lower lifting components to achieve angle adjustment of the angle adjustment seat while performing lifting and lowering.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] By setting up a drive assembly, the needle tip of the syringe can enter the fixture during the movement of the robotic arm, which can improve the safety of use and avoid potential safety hazards when the robotic arm drives the syringe to move. The thrust linear motor can drive the puncture needle in the syringe to perform retinal puncture, and retract it into the thick needle of the syringe after the injection is completed, making the damage caused by the puncture less and protecting the thin puncture needle.

[0018] Through the multi-angle movement of the robotic arm, the injection platform can be quickly and accurately moved to the designated position, eliminating the physiological tremor of the doctor during manual puncture and injection, significantly enhancing the stability of the puncture process, and avoiding problems such as repeated puncture and fundus tissue damage caused by tremor. By introducing a precision injection pump dedicated to retinal injection, the volume of the drug solution injection is stable and controllable, avoiding the injection action affecting the puncture stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is the overall main structural diagram of the present invention;

[0020] Figure 2 It is a three-dimensional structural diagram of the clamp of the present invention;

[0021] Figure 3 It is a structural diagram of the disassembled state of the clamp and the driving assembly of the present invention;

[0022] Figure 4 A first schematic diagram of the working state of the driving assembly of the present invention;

[0023] Figure 5 This is a second schematic diagram of the working state of the driving assembly of the present invention.

[0024] Reference numerals:

[0025] 1. Robotic arm, 2. Syringe, 3. Injection platform, 4. Clamp, 5. Drive assembly, 6. Controller, 7. Injection micro pump, 8. Fixed sleeve, 9. Elastic member, 10. Second electromagnet, 11. First electromagnet, 12. Mounting hole, 13. Second fixing ring, 14. First fixing ring, 15. Screw, 16. Thrust linear motor, 17. Press plate, 18. Switch control pedal, 100. Machine, 101. Fine-tuning nut, 102. Angle adjustment connecting rod, 103. Horizontal moving assembly, 104. Up and down lifting assembly, 105. Rotating assembly, 106. Extension seat, 107. Slider, 108. Angle adjustment seat, 109. Connecting rod, 110. First adjustment screw. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0027] like Figure 1-5 As shown, the present invention solves the problem that there is no test device and test method that can truly simulate the pre-brake collision process of an automobile with an active braking function, and provides the following technical solutions: a robot-assisted subretinal injection system, including a machine platform 100, on which a controller 6 is installed, one side of the machine platform 100 is connected to a mechanical arm 1 through a rotating component 105 to enable the mechanical arm 1 to rotate horizontally, the mechanical arm 1 includes an up and down lifting component 104 and a horizontal moving component 103 arranged on the up and down lifting component 104, the horizontal moving component 103 is provided with a horizontally movable slider 107, the end of the horizontal moving component 103 is rotatably connected to an angle adjustment seat 108, the upper end of the angle adjustment seat 108 is connected to the slider 107 through an angle adjustment connecting rod 102, the angle adjustment seat 108 is movably connected to an injection platform 3, and the front side of the injection platform 3 is provided with a slider that can be moved along the injection The clamp 4 on which the injection platform 3 slides has a driving component 5 disposed inside the clamp 4. The driving component 5 is used to push the syringe 2 out of the front end of the clamp 4 or retract it into the inside of the clamp 4. A thrust linear motor 16 is also disposed on the front side of the injection platform 3. A pressing plate 17 for connecting to the tail end of the push rod on the syringe 2 is mounted on the main shaft of the thrust linear motor 16. An injection micropump 7 is disposed on the machine 100. The injection micropump 7 is connected to the syringe 2 through a pipeline. The robotic arm 1, the driving component 5, the thrust linear motor 16 and the injection micropump 7 are all electrically connected to the controller 6. Through the multi-angle movement of the robotic arm 1, the injection platform 3 can be quickly and accurately moved to the specified position and the angle of the syringe 2 can be adjusted. During the movement of the robotic arm 1, the needle tip of the syringe 2 enters the clamp 4, which can improve the safety of use and avoid potential safety hazards in the process of the robotic arm 1 driving the syringe 2 to move.

[0028] Specifically, the machine 100 generally adopts a floor-standing structure and is placed next to the treatment bed during treatment. The controller 6 has a display on which various parameters can be set. The position between the machine 100 and the treatment bed can be relatively fixed, and the position of the patient on the treatment bed is also relatively fixed, so that the robot 1 can quickly move to a relatively accurate position when it moves. The horizontal moving component 103 and the up and down lifting component 104 on the robot 1 can be driven by electric control, such as by a linear motor or a screw drive. The function of the up and down lifting component 104 is to drive the horizontal moving component 103 to move up and down, and the function of the horizontal moving component 103 is to drive the slider 107 to move horizontally, and the angle of the angle adjustment seat 108 is adjusted by driving the slider 107 to move horizontally. The relative position of the clamp 4 on the injection platform 3 is also adjusted by an electric cylinder or a linear motor, which is uniformly controlled by the controller 6. These are all existing technologies and can be selected and set as needed.

[0029] When the robot arm 1 moves the syringe 2 to the specified position, for example, when it is directly above the retina, there is a long distance between the syringe 2 and the retina at this time, and then the syringe 2 is driven by the drive component 5, so that the needle tip of the syringe 2 extends out of the clamp 4, and then the syringe 2 is driven by the robot arm 1 to fine-tune the position, so that the needle tip of the syringe 2 reaches the eye surface needle insertion position and adjusts the injection angle. Subsequently, the injection platform 3 drives the syringe 2 downward into the eyeball, completing the puncture action from the eye surface to the front of the retina, and stays in front of the retina; then, the thrust linear motor 16 drives the pressure plate 17 to move downward, driving the small puncture syringe in the syringe 2, and the small puncture needle penetrates from the thick needle of the syringe 2 to complete the retinal puncture action.

[0030] Wherein, the controller 6 is a PLC controller or an intelligent computer, and the control program can be adjusted according to actual needs to control the motion trajectory of the robot arm 1 and the motion distance of the injection platform 3 and the thrust linear motor 16, so as to facilitate the accuracy of the operation. Wherein, the injection micropump 7 is an existing structure, which is used to inject a specified amount of medicine into the syringe 2, and the volume of the injected medicine and the injection speed can be directly set through the controller 6. The injection micropump 7 can be connected to a switch control pedal 18, and the injection micropump 7 can be controlled by the switch control pedal 18 to work. When the pressure plate is stepped on, the pressure plate will squeeze the sensor downward, and the sensor will transmit the signal to the controller 6, and then the controller 6 controls the micro-injection micropump 7 to pump a specified amount of medicine into the syringe 2. Each time the switch control pedal 18 is stepped on, the injection micropump 7 can be controlled to inject a specified amount of liquid medicine into the syringe 2, which is easy to operate.

[0031] After the injection of the liquid medicine is completed, the thrust linear motor 16 drives the pressure plate 17 to move backward, so that the puncture needle is retracted into the thick needle of the syringe 2; then, the injection platform 3 drives the clamp 4 and the syringe 2 to move backward, so that the needle retreats away from the eyeball; then the drive component 5 further drives the thick needle of the syringe 2 to retract into the clamp 4 to avoid the occurrence of safety hazards. Among them, the injection platform 3 is provided with a second adjustment screw rod inside, and the second adjustment screw rod is provided with an adjustment nut, and the clamp 4 is installed on the adjustment nut. The position of the clamp 4 on the injection platform 3 can be adjusted by rotating the second adjustment screw rod. A drive motor can be installed at one end of the second adjustment screw rod, which is uniformly controlled by the controller 6, so that the position of the clamp 4 and the syringe 2 can be accurately adjusted, so that the syringe 2 can accurately complete the retinal puncture action.

[0032] In this embodiment, if Figure 1 As shown, a first adjusting screw rod 110 is arranged inside the angle adjustment seat 108 along its length direction, and a fine-tuning nut 101 is arranged on the first adjusting screw rod 110. The fine-tuning nut 101 is movably connected to the injection platform 3 through at least one connecting rod 109. The position of the fine-tuning nut 101 can be adjusted by rotating the first adjusting screw rod 110, thereby adjusting the front and rear position of the injection platform 3. At the same time, the swing of the connecting rod 109 can also adjust the position of the injection platform 3, making the adjustment of the position of the injection platform 3 more flexible. A driving motor can be installed at one end of the first adjusting screw rod 110, and the driving is uniformly controlled by the controller 6. The position of the connecting rod 109 is adjusted manually.

[0033] In this embodiment, in order to improve the automation and positioning accuracy of the syringe 2, the rotating assembly 105 includes a rotating connection seat connected to the robot arm 1 and an electric rotating seat arranged on the machine 100, and the rotating connection seat is mounted on the electric rotating seat, which can drive the robot arm 1 to rotate horizontally.

[0034] In this embodiment, if Figure 2-5As shown, the fixture 4 is provided with a mounting hole 12, the driving assembly 5 is installed in the mounting hole 12, the driving assembly 5 comprises a fixing sleeve 8 and a first electromagnet 11 installed at the tail end of the fixing sleeve 8, the syringe 2 passes axially through the fixing sleeve 8, a second electromagnet 10 is fixed on the outer side of the syringe 2, an elastic member 9 is arranged between the second electromagnet 10 and the front end of the fixing sleeve 8, the magnetic fields generated by the first electromagnet 11 and the second electromagnet 10 after being energized are opposite in magnetism, when the first electromagnet 11 and the second electromagnet 10 are energized, a magnetic field is generated, the magnetic field moves the first electromagnet 11 and the syringe 2 to the front end together, compresses the elastic member 9, the front end of the syringe 2 can extend from the front end of the fixture 4, so that injection can be performed, when the first electromagnet 11 and the second electromagnet 10 are powered off, the magnetic field disappears, and the elastic member 9 can push the second electromagnet 10 and the syringe 2 to retract together into the fixture 4. The structure of the entire driving assembly 5 is simple, and there is no need to set up traditional driving components such as motors, electric cylinders, and air cylinders. Only the first electromagnet 11, the second electromagnet 10 and the elastic member 9 are needed to complete the extension and retraction of the syringe 2. The first electromagnet 11 and the second electromagnet 10 are both ring-shaped and externally connected to a power supply. The on and off of the power supply is uniformly controlled by the controller 6. The elastic member 9 can be a spring, which is sleeved on the outside of the syringe 2.

[0035] Among them, a detachable first fixing ring 14 is installed at the tail end of the fixing sleeve 8, and the first electromagnet 11 is connected and fixed to the first fixing ring 14. After the first fixing ring 14 is removed, the syringe 2 can be smoothly removed, and it is very convenient to replace the syringe 2. The first fixing ring 14 can be connected to the tail end face of the fixing sleeve 8 by multiple screws 15, or by other methods, such as threading, clamping, etc.

[0036] At the same time, a second fixing ring 13 is installed at the front end of the fixing sleeve 8, and one end of the elastic member 9 is against the second fixing ring 13. The second fixing ring 13 can limit the elastic member 9 and guide the axial movement of the syringe 2 to improve the stability of the movement of the syringe 2.

[0037] In this embodiment, the horizontal moving component 103 includes a connecting block connected to the lifting block on the up and down lifting component 104 and an extension seat 106 located on one side of the connecting block and extending horizontally toward the front side. The slider 107 slides along the slide groove on the extension seat 106, and the lower end of the angle adjustment seat 108 is rotatably connected to the front end of the extension seat 106. The horizontal moving component 103 has a compact structure and can cooperate with the up and down lifting component 104 to achieve angle adjustment of the angle adjustment seat 108. The slider 107 is driven by existing technologies in the extension seat 106, such as linear motors, screw drives, etc., which will not be elaborated here.

[0038] In combination with the above, when in use, the needle insertion position can be selected by observing the eye image through an external ophthalmic surgical microscope system, and the movement path of the mechanical arm 1 can be set through the controller 6. Then, when the mechanical arm 1 drives the syringe 2 to move above the eye, it will pause for a moment to facilitate the needle tip to extend out of the fixed sleeve 8. Here, the start or stop of the mechanical arm 1 can be controlled by the controller 6. When the needle tip extends out of the fixed sleeve 8, under the action of the first electromagnet 10 and the second electromagnet 11, the position of the syringe 2 in the fixed sleeve 8 is in a fixed state, and there will be no shaking. At this time, the mechanical arm 1 is used to fine-tune the syringe 2 so that its needle tip reaches the previously selected eye surface needle insertion position, and then the injection platform 3 is controlled so that the needle tip pierces the eye along the predetermined position and angle and stays in front of the retina. The position at this time can be specifically adjusted in combination with the fundus image of the surgical microscope; then the pressure plate 17 pushes the small injection syringe in the syringe 2 so that the puncture needle extends below the retina for injection.

[0039] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0040] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0041] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

Claims

1. A robot-assisted subretinal injection system, comprising a machine (100), wherein a controller (6) is installed on the machine (100), characterized in that: One side of the machine platform (100) is connected to the robot arm (1) through a rotating component (105) so that the robot arm (1) can rotate horizontally. The robot arm (1) includes an up-and-down lifting component (104) and a horizontal moving component (103) arranged on the up-and-down lifting component (104). The horizontal moving component (103) is provided with a slider (107) that can move horizontally. The end of the horizontal moving component (103) is rotatably connected to an angle adjustment seat (108). The upper end of the angle adjustment seat (108) is connected to the slider (107) through an angle adjustment connecting rod (102). The angle adjustment seat (108) is movably connected to an injection platform (3). The front side of the injection platform (3) is provided with a movable A clamp (4) slides along the injection platform (3), and a driving component (5) is arranged in the clamp (4). The driving component (5) is used to push the syringe (2) out of the front end of the clamp (4) or retract it into the clamp (4). A thrust linear motor (16) is also arranged on the front side of the injection platform (3). A pressure plate (17) for connecting to the rear end of the push rod on the syringe (2) is installed on the main shaft of the thrust linear motor (16). An injection micropump (7) is arranged on the machine (100). The injection micropump (7) is connected to the syringe (2) through a pipeline. The mechanical arm (1), the driving component (5), the thrust linear motor (16) and the injection micropump (7) are all electrically connected to the controller (6).

2. The robot-assisted subretinal injection system according to claim 1, characterized in that: A first adjusting screw rod (110) is arranged on the inner side of the angle adjustment seat (108) along its length direction, and a fine-tuning nut (101) is arranged on the first adjusting screw rod (110). The fine-tuning nut (101) is movably connected to the injection platform (3) via at least one connecting rod (109).

3. The robot-assisted subretinal injection system according to claim 1, characterized in that: The rotating assembly (105) comprises a rotating connection seat connected to the mechanical arm (1) and an electric rotating seat arranged on the machine platform (100), and the rotating connection seat is sleeved on the electric rotating seat.

4. The robot-assisted subretinal injection system according to claim 1, characterized in that: A second adjusting screw rod is arranged inside the injection platform (3), an adjusting nut is arranged on the second adjusting screw rod, and the clamp (4) is mounted on the adjusting nut.

5. The robot-assisted subretinal injection system according to claim 1, characterized in that: The clamp (4) is provided with a mounting hole (12), the driving assembly (5) is installed in the mounting hole (12), the driving assembly (5) comprises a fixing sleeve (8) and a first electromagnet (11) installed at the rear end of the fixing sleeve (8), the syringe (2) passes axially through the fixing sleeve (8), a second electromagnet (10) is fixed on the outer side of the syringe (2), an elastic member (9) is arranged between the second electromagnet (10) and the front end of the fixing sleeve (8), and the magnetic fields generated by the first electromagnet (11) and the second electromagnet (10) after being energized are opposite in magnetic field.

6. The robot-assisted subretinal injection system according to claim 5, characterized in that: A detachable first fixing ring (14) is installed at the rear end of the fixing sleeve (8), and the first electromagnet (11) is connected and fixed to the first fixing ring (14).

7. The robot-assisted subretinal injection system according to claim 5, characterized in that: A second fixing ring (13) is installed at the front end of the fixing sleeve (8), and one end of the elastic member (9) abuts against the second fixing ring (13).

8. The robot-assisted subretinal injection system according to claim 1, characterized in that: The injection micro pump (7) is connected to a switch control foot pedal (18).

9. The robot-assisted subretinal injection system according to claim 1, characterized in that: The controller (6) is a PLC controller or an intelligent computer.

10. The robot-assisted subretinal injection system according to claim 1, characterized in that: The horizontal moving assembly (103) comprises a connecting block connected to the lifting block on the up and down lifting assembly (104) and an extension seat (106) located on one side of the connecting block and extending horizontally toward the front side. The sliding block (107) slides along the sliding groove on the extension seat (106), and the lower end of the angle adjustment seat (108) is rotatably connected to the front end of the extension seat (106).

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