Eyeball operation positioning method and system based on RCM mechanism and electronic equipment

Abstract

The embodiment of the invention provides an eyeball operation positioning method and system based on an RCM mechanism and electronic equipment, and belongs to the technical field of ophthalmologic operation instrument control. The method comprises the steps that trocar identification information on an eyeball is collected in real time through an image collecting device, and at least one trocar is fixed to the sclera of the eyeball; determining an initial position coordinate of an RCM point on the eyeball and initial attitude information of the RCM point according to the at least one piece of trocar identification information; adjusting the position of an RCM mechanism according to the initial position coordinate of the RCM point, and adjusting the posture of the RCM mechanism according to the initial posture information of the RCM point, so that the axis direction of an injection needle connected to the tail end of the RCM mechanism covers the center point of the target operation area. The method not only can realize high-precision operation positioning, but also can adapt to the dynamic change of eyeballs in the operation process, ensures that an operation instrument is always aligned with a target area, and greatly improves the safety and success rate of the operation.

Description

Technical Field

[0001] The present application belongs to the field of ophthalmic surgical instrument control technology, and specifically relates to an eyeball surgical positioning method, system and electronic equipment based on an RCM mechanism. Background Art

[0002] In microscopic ophthalmic surgeries, such as cataract surgery and retinal surgery, accurate insertion of injection needles or other surgical tools into the eye is crucial. The eyeball, a highly sensitive and mobile target, presents multiple challenges during such procedures. To improve surgical safety and success rates, a technology solution is needed that can automatically position and precisely control the needle insertion process.

[0003] Although many automated or semi-automated surgical assistance devices on the market have improved surgical accuracy, most systems focus mainly on precise positioning of the eye under static conditions. It is difficult to maintain the same high precision when performing surgery in a dynamic environment. Summary of the Invention

[0004] The present application provides an eye surgery positioning method, system and electronic equipment based on a Remote Center of Motion (RCM) mechanism, which can solve the current problem of difficulty in maintaining high surgical precision when performing surgical operations in a dynamic eye environment.

[0005] In order to solve the above technical problems, this application adopts the following technical solutions: In a first aspect, an embodiment of the present invention provides an eyeball surgical positioning method based on an RCM mechanism, comprising: real-time acquisition of identification information of a poke card on the eyeball through an image acquisition device, wherein the poke card is fixed on the sclera of the eyeball, and the poke card includes at least one; determining the initial position coordinates of an RCM point on the eyeball and initial posture information of the RCM point based on at least one of the poke card identification information; adjusting the position of the RCM mechanism based on the initial position coordinates of the RCM point, and adjusting the posture of the RCM mechanism based on the initial posture information of the RCM point, so that the axial direction of the injection needle connected to the end of the RCM mechanism covers the center point of the target surgical area.

[0006] In a second aspect, an embodiment of the present invention provides an eye surgery positioning system based on an RCM mechanism, comprising: an image acquisition device, an RCM mechanism, a poke card, an injection needle, a data processing module, and a control module, wherein the image acquisition device is used to acquire image information; the RCM mechanism is connected to the injection needle and is used to perform surgical operations on the eyeball; the poke card is fixed on the sclera of the eyeball and is used to provide an entry port for the injection needle to pass through the poke card to reach the target surgical area; the data processing module is used to process the image information acquired by the image acquisition device; and the control module is used to adjust the position and posture of the RCM mechanism.

[0007] In a third aspect, an embodiment of the present invention provides an electronic device comprising: a memory, a processor, and computer executable instructions stored on the memory and executable on the processor. When the computer executable instructions are executed by the processor, the steps of the eye surgery positioning method based on the RCM mechanism as described in the first aspect above are implemented.

[0008] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium for storing computer-executable instructions, which, when executed by a processor, implement the steps of the eye surgery positioning method based on the RCM mechanism as described in the first aspect above.

[0009] An embodiment of the present application provides a method for positioning eye surgery based on a resonator-controlled micromanipulation (RCM) mechanism. The method utilizes an image acquisition device to collect identification information from a stamp card on the eye in real time. The stamp card, which includes at least one stamp card, is fixed to the sclera of the eye. The method then determines the initial position coordinates and initial posture information of the RCM point on the eye based on the identification information from at least one stamp card. The method then adjusts the position of the RCM mechanism based on the initial position coordinates of the RCM point and adjusts the posture of the RCM mechanism based on the initial posture information of the RCM point, so that the axis of the injection needle connected to the end of the RCM mechanism overlaps the center of the target surgical area. This method, through real-time monitoring and dynamic adjustment mechanisms, can adapt to changes in the eye even during movement, ensuring that the axis of the injection needle overlaps the center of the target surgical area. This dynamic adjustment significantly improves the accuracy and safety of eye surgery in the dynamic environment of the eye, while also enhancing the precision and reliability of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 This is a flow chart of an eye surgery positioning method based on an RCM mechanism disclosed in an embodiment of the present application.

[0011] Figure 2 This is a structural diagram of an electronic device disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0012] The following will be combined with the accompanying drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.

[0013] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects; for example, the first object can be one or more. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.

[0014] Below, in conjunction with the accompanying drawings, a method for eye surgery positioning based on the RCM mechanism provided by the embodiment of the present application is described in detail through specific embodiments and application scenarios.

[0015] Figure 1 This is a flow chart of an eye surgery positioning method based on an RCM mechanism disclosed in an embodiment of the present application. The method 100 can be executed by an electronic device. In other words, the method can be executed by software or hardware installed in the electronic device. Figure 1 As shown, the method may include the following steps.

[0016] S110: The image acquisition device is used to collect the identification information of the eyeball stamp card in real time.

[0017] The poking card is fixed on the sclera of the eyeball, and the poking card includes at least one.

[0018] Specifically, before eye surgery, a high-resolution image capture device, such as a high-resolution camera, is required to capture real-time images of the eye's surface. During this process, one or more specially designed stamps are pre-attached to the eye's sclera. These stamps not only serve as position markers but also possess a certain degree of biocompatibility to ensure patient safety. The image capture device is capable of accurately identifying the identification information on these stamps.

[0019] S120: Determine the initial position coordinates of the RCM point on the eyeball and the initial posture information of the RCM point according to at least one stamp card identification information.

[0020] Computer vision algorithms analyze the collected identification information from the stamp cards to determine the exact position and posture of each stamp card. Since the stamp cards are fixed, their relative positions remain unchanged, providing a basis for calculating the RCM points on the eyeball. Based on the identification information from at least one stamp card, the system can calculate the initial position coordinates and initial posture of the RCM points.

[0021] S130: Adjust the position of the RCM mechanism according to the initial position coordinates of the RCM point, and adjust the posture of the RCM mechanism according to the initial posture information of the RCM point, so that the axial direction of the injection needle connected to the end of the RCM mechanism covers the center point of the target surgical area.

[0022] According to the initial position coordinates and posture information of the RCM point obtained in S120, the position and posture of the RCM mechanism are automatically adjusted. Specifically, the RCM mechanism is equipped with a robotic arm, which is designed to support delicate operations, such as the operation of an injection needle. Through precise control, the axial direction of the injection needle connected to the end of the RCM mechanism can cover the center point of the target surgical area. This ensures that when performing operations such as drug injection, the motion trajectory of the injection needle always revolves around the RCM point, reducing damage to the tissues around the surgical site. After confirming that the RCM mechanism is correctly set, the surgical operator can perform the next surgical operation through remote control or manual mode.

[0023] The eye surgery positioning method based on the RCM mechanism provided in this application utilizes a high-precision image acquisition device and advanced computer vision technology. The system can capture subtle changes caused by eye movements in real time, and dynamically adjust the position and posture of the RCM mechanism accordingly to ensure that the surgical instruments are always aligned with the predetermined target. Its dynamic adjustment mechanism effectively avoids surgical errors caused by involuntary eye movements, greatly improves the safety and reliability of the surgical process, and reduces potential risks to tissues around the surgical site. Whether in static or dynamic conditions, this method can provide stable operational support, ensuring that each operation can achieve the desired effect, bringing a high degree of precision and consistency to ophthalmic surgery.

[0024] In one implementation, when only one stamp card is used, the initial position coordinates of the RCM point are located at the center of the stamp card, and the initial posture information of the RCM point is determined by the stamp card's identification information. During high-precision eye surgery, establishing a stable reference point is crucial to ensuring that the surgical needle accurately reaches the target area. This embodiment describes in detail how to use the information from the stamp card to determine the initial position coordinates and posture information of the RCM point, and adjust the position and posture of the RCM mechanism accordingly, when only one stamp card is used.

[0025] Specifically, during the preparatory stage for eye surgery, a specially designed stamp is selected and fixed to the sclera of the eye. This stamp not only serves as a position marker but also requires sufficient stability to withstand minor eye movements. A high-resolution image acquisition device is used to acquire real-time image data of the eye's surface, focusing specifically on the stamp's position and its identifying features. Computer vision algorithms are used to accurately identify the stamp's center point and its identifying features. The stamp's center point position, obtained in the aforementioned steps, is directly defined as the initial position coordinates of the RCM point. This means that regardless of eye movement, the RCM mechanism will adjust based on this fixed point. Using the identifying features on the stamp (e.g., specific shape, color, or texture), the stamp's posture relative to the eye's surface is calculated. This posture information includes, but is not limited to, key parameters such as the stamp's tilt angle, rotation direction, and rotation speed. Based on the determined initial position coordinates and posture information of the RCM point, the position and posture of the RCM robotic arm are adjusted. This ensures that the injection needle attached to the end of the RCM mechanism is accurately aligned with the center of the target surgical area and maintains the correct axial orientation.

[0026] The single-stamp method simplifies surgical preparation while still providing sufficiently accurate positioning information. This method is particularly suitable for surgical scenarios that require rapid response to eye movements, ensuring high precision and safety during the operation. Furthermore, by eliminating the complex calibration work between multiple stamp cards, it also reduces operational difficulty and technical requirements.

[0027] In one implementation, when at least two stamping cards are used, the initial position coordinates of the RCM point are located at the center of the primary stamping card, and the initial posture information of the RCM point is determined by the identification information of the at least two stamping cards. In certain complex eye surgeries, the use of at least two stamping cards may be necessary to improve positioning accuracy and stability. This embodiment describes in detail how to determine the initial position coordinates and initial posture information of the RCM point when using at least two stamping cards, and how to adjust the position and posture of the RCM mechanism based on this information to ensure accurate alignment of the surgical instrument with the target area.

[0028] Specifically, during the preparation stage for eye surgery, at least two specially made stamps are selected and fixed on the sclera of the eye. Among them, one is designated as the main stamp card. This main stamp card can be manually designated or automatically determined by the system according to preset rules. Specific preset rules may include the following methods: Distance priority principle: The stamp card closest to the target surgical area is selected as the main stamp card. Stability priority principle: The stamp card with the most stable fixation and the least impacted by eye movement is selected as the main stamp card. Identification information priority principle: The system can pre-set the priority based on the identification information of the stamp card (such as code or shape) and select the stamp card with the highest priority as the main stamp card.

[0029] The primary stamp card is used to determine the initial position coordinates of the RCM point; the remaining stamp cards serve as auxiliary stamp cards to help determine the initial posture information of the RCM point. A high-resolution image acquisition device captures real-time image data of the eye surface and the stamp cards. The center point of the primary stamp card is defined as the initial position coordinates of the RCM point. This setting provides a stable and easily identifiable reference point, which is crucial for subsequent adjustment of the RCM mechanism. The initial posture information of the RCM point is calculated using identification information on at least two stamp cards, including the primary and auxiliary stamp cards. Specifically, by analyzing parameters such as the relative position relationship and angle differences between the stamp cards, the posture of the RCM point relative to the eye surface is determined, including but not limited to key posture parameters such as tilt angle, rotation direction, and rotation speed. Based on the initial position coordinates and posture information of the RCM point determined above, the position and posture of the RCM manipulator are automatically adjusted. This ensures that the injection needle connected to the end of the RCM mechanism is precisely aligned with the center point of the target surgical area and maintains the correct axis orientation.

[0030] The use of at least two poking cards significantly improves positioning accuracy and reliability, especially during complex eye surgeries. This approach not only provides a more stable reference point but also more accurately captures changes in the eye's posture, further enhancing surgical precision and safety. Furthermore, the use of multiple poking cards reduces potential errors associated with a single card, which is particularly important in ophthalmic surgeries requiring highly precise manipulation.

[0031] In one implementation, the above steps of adjusting the position of the RCM mechanism according to the initial position coordinates of the RCM point may include: adjusting the X, Y, and Z axial actuators of the RCM mechanism according to the initial position coordinates of the RCM point, so that the end of the RCM mechanism moves to a position close to the initial position coordinates of the RCM point. When performing high-precision eye surgery, ensuring that the RCM mechanism is accurately positioned at the target position is crucial to ensuring that the surgical instruments reach the target area accurately. This embodiment describes in detail how to adjust the X, Y, and Z axial actuators of the RCM mechanism according to the initial position coordinates of the RCM point, so that the end of the RCM mechanism moves to a position close to the initial position coordinates of the RCM point.

[0032] First, the identification information of the stamp on the eyeball is identified through an image acquisition device and a computer vision algorithm, and the initial position coordinates of the RCM point are calculated. These coordinates are specific values ​​in three-dimensional space, corresponding to the position values ​​on the X, Y, and Z axes respectively. Before starting adjustments, ensure that the RCM mechanism is in a safe and easy-to-operate starting position. By controlling the motor or other drive device, the RCM mechanism first moves along the X-axis direction until its end position matches the X-axis coordinate of the RCM point, and then moves along the Y-axis direction until its end position matches the Y-axis coordinate of the RCM point. Finally, according to the Z-axis value in the initial position coordinates of the RCM point, the Z-axis actuator of the RCM mechanism is adjusted until its end position matches the Z-axis coordinate of the RCM point. After confirming the final position, the status of each axial actuator of the RCM mechanism is locked, and preparation is made for the next posture adjustment or direct entry into the surgical operation phase.

[0033] This step-by-step adjustment method allows the RCM mechanism to be precisely moved to a position close to the initial coordinates of the RCM point, laying a solid foundation for subsequent posture adjustments. By fine-tuning each axis individually, this method achieves very high positioning accuracy, which is particularly important for ophthalmic surgeries requiring extreme precision. Furthermore, it breaks down the complex three-dimensional positioning problem into multiple simple single-axis adjustment tasks, reducing operational difficulty and technical requirements. Precise positioning reduces the risks associated with improper robot arm movement and ensures surgical safety.

[0034] In one implementation, after step S130, the method may further include capturing a first reference marker of the RCM mechanism using an image acquisition device, and performing secondary confirmation of the position and posture of the RCM mechanism based on the first reference marker to ensure that the axis of the injection needle covers the center point of the target surgical area. This embodiment introduces a method for capturing a first reference marker of the RCM mechanism using an image acquisition device and performing secondary confirmation based on the first reference marker.

[0035] Specifically, the first reference marker is pre-set at a key position of the RCM mechanism, such as a target ball connected to the end of the RCM mechanism, and the target ball is marked with a specific color, shape or coded pattern. A high-resolution image acquisition device is used to capture image data containing the RCM mechanism and its first reference marker in real time. The captured image is analyzed by a computer vision algorithm to identify the specific position of the first reference marker and its posture information relative to the surrounding environment, and the position and posture of the RCM mechanism are reconfirmed. Based on the recognition result of the first reference marker, the system will automatically compare the actual position and posture of the current RCM mechanism with the expected target position and posture to see if they are consistent. If any deviation is detected, the system will automatically trigger a correction program to fine-tune the position or posture of the RCM mechanism until the preset standards are met, ensuring that the axis direction of the injection needle covers the target surgical area. This method adds an extra layer of safety, ensuring that even in the complex and changing environment of the eye, the surgical instrument can always maintain the optimal working position and posture, reducing the risk of surgical failure caused by a single positioning error, and improving the success rate and effectiveness of the surgery.

[0036] In one implementation, after step S130, the following steps may also be performed: capturing image information of the base of the injection needle and a second reference marker of the RCM mechanism using an image acquisition device; determining the actual use length of the injection needle based on the base image information and the second reference marker; recording the location where the injection needle contacts the puncture card during the process of the injection needle entering the eyeball as the RCM point, and dynamically adjusting the position coordinates of the RCM point based on the actual use length of the injection needle and the length of the injection needle entering the eyeball, so that the position coordinates of the RCM point are always at the center of the puncture card. Because the position of the injection needle base is not fixed, depending on the user's installation method and the specifications of the injection needle used, the actual use length of the injection needle is not fixed. Therefore, this embodiment introduces a mechanism for determining the actual use length of the injection needle by capturing image information of the injection needle base and the second reference marker of the RCM mechanism, and dynamically adjusting the position coordinates of the RCM point during the injection needle entering the eyeball.

[0037] Easily recognizable secondary reference markers are pre-placed at key locations within the RCM mechanism, such as the needle's mounting base or key points on the robotic arm. These markers should have distinct features that enable quick and accurate identification by the image capture device. A high-resolution image capture device captures real-time image data containing the needle base and its secondary reference marker. Computer vision algorithms analyze the captured images to identify the specific location of the needle base and the precise position of the secondary reference marker. Based on the positional relationship between the needle base image information and the secondary reference marker, the system calculates the actual length of the needle in use. As the needle begins to enter the eye, the system monitors the exact point of contact between the needle and the eye in real time and records it as the current RCM point. Simultaneously, the system continuously monitors the depth of the needle's entry into the eye, i.e., the length of entry. Based on the needle's entry length and the actual length of the needle in use, the system dynamically adjusts the coordinates of the RCM point to ensure it remains at the center of the puncture card. This means that as the needle progresses deeper into the eye, the RCM point's position updates accordingly, maintaining consistency with the center of the puncture card, ensuring precise positioning of the surgical instrument, significantly improving surgical accuracy, and delivering better treatment outcomes for patients.

[0038] In one implementation, the method may further include, after step S130, obtaining real-time posture information of the RCM point based on the identification information on the stamp card as the injection needle is about to enter the eyeball; and adjusting the posture of the RCM mechanism in real time based on the posture information of the RCM point, so that the axis of the injection needle always covers the center point of the target surgical area. This embodiment details a method for obtaining real-time posture information of the RCM point based on the identification information on the stamp card as the injection needle is about to enter the eyeball, and adjusting the posture of the RCM mechanism accordingly, to ensure that the axis of the injection needle always covers the center point of the target surgical area.

[0039] Specifically, the initial position coordinates and posture information of the RCM point are determined using the stamped card information on the eyeball. Based on this information, the position and posture of the RCM mechanism are adjusted so that the axis of the injection needle connected to the end of the RCM mechanism overlaps the center of the target surgical area. During the actual surgical procedure, just before the injection needle enters the eyeball, a high-resolution image acquisition device captures image data containing the stamped card identification information in real time. Computer vision algorithms analyze the captured images and calculate the posture changes of the stamped card relative to the eyeball surface in real time. Based on these posture parameters, the system updates the posture information of the RCM point in real time to reflect the current state of the eyeball. The system adjusts the posture of the RCM mechanism in real time based on the newly acquired RCM point posture information. Specifically, by controlling the various joints or actuators of the robotic arm, the RCM mechanism adjusts accordingly to changes in the eyeball's posture. This step ensures that the axis of the injection needle remains aligned with the center of the target surgical area, even with slight movements or changes in the eyeball's posture. This method not only ensures precise positioning of the injection needle before entry but also adapts to the dynamic changes of the eyeball during the actual operation, ensuring optimal results with every injection.

[0040] In one implementation, the following steps S130 may include: controlling the injection needle to enter the eyeball, and the surgeon performing surgery on the target surgical area; monitoring the displacement and rotation of the eyeball in real time based on the identification information on the stamp card; and prompting the surgeon to adjust the procedure when the displacement of the eyeball is greater than a first preset displacement threshold and less than a second preset displacement threshold and / or the rotation of the eyeball is greater than a first preset angle threshold and less than a second preset angle threshold; and prompting the surgeon and automatically and urgently withdrawing the injection needle when the displacement of the eyeball is not less than the second preset displacement threshold and / or the rotation of the eyeball is not less than the second preset angle threshold. This embodiment details a method for monitoring the displacement and rotation of the eyeball in real time and providing prompts or taking emergency measures based on preset thresholds.

[0041] Specifically, a first angle preset threshold and a second angle preset threshold are preset (for example, the first angle preset threshold is 2 degrees, and the second angle preset threshold is 5 degrees) to distinguish between slight rotation, rotation requiring attention, and large rotation requiring emergency treatment.

[0042] The initial position coordinates and posture of the RCM point are determined using the stamped card information on the eye. Based on this information, the position and posture of the RCM mechanism are adjusted so that the axis of the injection needle connected to the end of the RCM mechanism covers the center of the target surgical area. The injection needle is then slowly and smoothly guided into the eye, and the surgeon begins the specific surgical procedure. A high-resolution image acquisition device continuously captures image data containing the stamped card identification information. Computer vision algorithms analyze the captured images to monitor eye movement and rotation in real time. This includes, but is not limited to, eye movement along the X, Y, and Z axes, as well as rotation angles around each axis. If the monitored eye movement exceeds a first preset displacement threshold but is less than a second preset displacement threshold, and / or if the eye rotation exceeds a first preset angle threshold but is less than a second preset angle threshold, the system issues a warning to the surgeon, advising them to adjust their technique or pause the procedure to reassess the situation. If the displacement of the eyeball is detected to be no less than the second preset displacement threshold, and / or the rotation change of the eyeball is no less than the second preset angle threshold, the system will not only immediately issue a more serious warning to the surgical operator, but will also automatically trigger the emergency withdrawal procedure of the injection needle to ensure the safe withdrawal of the injection needle from the eyeball and prevent unnecessary harm to the patient. After the emergency situation is properly handled, it can be decided whether to restart the surgical operation based on the actual situation. If conditions permit, the position and posture of the RCM mechanism can be adjusted again, the injection needle can be repositioned, and the operation can continue. This automated monitoring and feedback mechanism provides additional safety protection, allowing surgical operators to work in a more controlled environment, effectively reducing the number of surgical interruptions due to unexpected eye movements, and improving surgical efficiency and success rate.

[0043] It is worth noting that the injection needles used in the above embodiments of the present application can be replaced with other types of surgical instruments and are not limited to injection needles. This flexibility makes the method widely applicable to various ophthalmic surgical scenarios to meet different surgical needs.

[0044] It should be noted that the embodiment of the present application provides an RCM-based eye surgery positioning method, and the execution entity may be an RCM-based eye surgery positioning system, or a control module in the eye surgery positioning system for executing the eye surgery positioning method. The embodiment of the present application uses the eye surgery positioning system executing the eye surgery positioning method as an example to illustrate the eye surgery positioning system provided in the embodiment of the present application.

[0045] The eye surgery positioning system based on the RCM mechanism provided in the embodiment of the present application mainly includes: an image acquisition device, an RCM mechanism, a poke card, an injection needle, a data processing module and a control module, wherein the image acquisition device is used to acquire image information; the RCM mechanism is connected to the injection needle for performing surgical operations on the eyeball; the poke card is fixed on the sclera of the eyeball and is used to provide an entry port for the injection needle to pass through the poke card to reach the target surgical area; the data processing module is used to process the image information acquired by the image acquisition device; and the control module is used to adjust the position and posture of the RCM mechanism.

[0046] In the embodiment of the present application, the image information may include at least one of stamp card identification information, injection needle base image information, a first reference identifier of the RCM mechanism, and a second reference identifier of the RCM mechanism.

[0047] Specifically, the image acquisition device is used to capture real-time image information of the eyeball and the stamp on it. This device can be a high-resolution microscope camera or other imaging device suitable for delicate operations. During the preoperative phase, the image acquisition device captures the specific location and identification features of the eyeball surface and the stamp, providing basic data for subsequent calculations. The RCM mechanism is connected to an injection needle or other surgical instrument and can precisely adjust its position and posture according to control commands to perform surgical operations on the eyeball. Based on the coordinate information provided by the data processing module, the RCM mechanism automatically adjusts the position of the end effector to accurately align the injection needle with the target surgical area. The stamp is a special marker fixed to the sclera of the eyeball, which not only serves as a reference point on the eyeball surface but also provides a safe entry point for the injection needle to enter the eyeball. Before the operation begins, one or more stamps are fixed to the eyeball surface, and their unique identification information helps determine the location and posture of the RCM point. The injection needle is the main tool directly involved in the surgical process and is typically used for drug injection or other therapeutic procedures. Depending on actual needs, the injection needle can be precisely located and inserted into a specific location in the eyeball using the RCM mechanism for precise treatment. The data processing module is responsible for processing all image data captured by the image acquisition device, including tasks such as identifying the card's location and calculating the coordinates of the RCM points. Advanced computer vision algorithms analyze the image content, extract useful information, and convert this information into data that can be used to guide the robotic arm's movements. The control module receives information from the data processing module and, based on this information, issues commands to adjust the position and posture of the RCM mechanism, ensuring that the surgical instruments follow the intended path. If eye movement is detected, the control module immediately responds, dynamically adjusting the posture of the RCM mechanism to ensure that the injection needle remains aligned with the target area.

[0048] In summary, this embodiment provides an eye surgery positioning system based on the RCM mechanism, which integrates multiple advanced technologies, can efficiently and accurately complete complex ophthalmic surgery tasks, and has important clinical value.

[0049] An eye surgery positioning system based on an RCM mechanism provided in an embodiment of the present application can execute each method in the foregoing method embodiment and realize the functions and beneficial effects of each method in the foregoing method embodiment, which will not be repeated here.

[0050] Optional, such as Figure 2 As shown, an embodiment of the present application further provides an electronic device 200, including a processor 201, a memory 202, and a program or instruction stored in the memory 202 and executable on the processor 201. When the program or instruction is executed by the processor 201, each process of the above-mentioned embodiment of the eye surgery positioning method based on the RCM mechanism is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0051] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the various processes of the above-mentioned embodiment of the eye surgery positioning method based on the RCM mechanism are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0052] The processor 201 is the processor in the electronic device 200 described in the above embodiment. The readable storage medium includes a computer-readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0053] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, which are coupled to the processor. The processor is used to run network-side device programs or instructions to implement the various processes of the above-mentioned embodiment of the eye surgery positioning method based on the RCM mechanism, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0054] An embodiment of the present application also provides a computer program product, which includes a processor, a memory, and a program or instruction stored in the memory and runnable on the processor. When the program or instruction is executed by the processor, each process of the above-mentioned embodiment of the eyeball party committee surgery method based on the RCM mechanism is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0055] The above embodiments of this application focus on the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. Considering the simplicity of the text, they will not be repeated here.

[0056] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also includes other elements that are not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited, and the functions are performed in the order shown or discussed, and may also include performing the functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0057] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

Claims

1. An eye surgery positioning method based on RCM mechanism, characterized in that: include: The image acquisition device is used to collect identification information of a stamp card on the eyeball in real time, wherein the stamp card is fixed on the sclera of the eyeball and the stamp card includes at least one; Determine the initial position coordinates of the RCM point on the eyeball and the initial posture information of the RCM point according to at least one of the stamp card identification information; The position of the RCM mechanism is adjusted according to the initial position coordinates of the RCM point, and the posture of the RCM mechanism is adjusted according to the initial posture information of the RCM point, so that the axis direction of the injection needle connected to the end of the RCM mechanism covers the center point of the target surgical area.

2. The eyeball surgery positioning method according to claim 1, characterized in that: In the case that the stamp card includes one, the initial position coordinates of the RCM point are located at the center point of the stamp card, and the initial posture information of the RCM point is determined by the identification information of the stamp card.

3. The eyeball surgery positioning method according to claim 1, characterized in that: In the case where the stamp cards include at least two, the initial position coordinates of the RCM point are located at the center point of the main stamp card, and the initial posture information of the RCM point is determined by the identification information of the at least two stamp cards.

4. The eyeball surgery positioning method according to claim 1, characterized in that: The adjusting the position of the RCM mechanism according to the initial position coordinates of the RCM point comprises: The X, Y, and Z axial actuators of the RCM mechanism are adjusted according to the initial position coordinates of the RCM point so that the end of the RCM mechanism moves to a position close to the initial position coordinates of the RCM point.

5. The eyeball surgery positioning method according to claim 1, characterized in that: After adjusting the position of the RCM mechanism according to the initial position coordinates of the RCM point and adjusting the posture of the RCM mechanism according to the initial posture information of the RCM point so that the axis direction of the injection needle connected to the end of the RCM mechanism covers the center point of the target surgical area, the method further includes: The first reference mark of the RCM mechanism is captured by an image capture device, and the position and posture of the RCM mechanism are reconfirmed based on the first reference mark to ensure that the axis direction of the injection needle covers the center point of the target surgical area.

6. The eyeball surgery positioning method according to claim 1, characterized in that: After adjusting the position of the RCM mechanism according to the initial position coordinates of the RCM point and adjusting the posture of the RCM mechanism according to the initial posture information of the RCM point so that the axis direction of the injection needle connected to the end of the RCM mechanism covers the center point of the target surgical area, the method further includes: Capturing image information of the base of the injection needle and a second reference mark of the RCM mechanism by an image acquisition device; determining an actual use length of the injection needle according to the base image information and the second reference mark; During the process of the injection needle entering the eyeball, the position where the injection needle contacts the puncture card is recorded as the RCM point. The position coordinates of the RCM point are dynamically adjusted according to the actual use length of the injection needle and the length of the injection needle entering the eyeball, so that the position coordinates of the RCM point are always at the center point of the puncture card.

7. The eyeball surgery positioning method according to claim 1, characterized in that: After adjusting the position of the RCM mechanism according to the initial position coordinates of the RCM point and adjusting the posture of the RCM mechanism according to the initial posture information of the RCM point so that the axis direction of the injection needle connected to the end of the RCM mechanism covers the center point of the target surgical area, the method further includes: When the injection needle is about to enter the eyeball, the posture information of the RCM point is acquired in real time according to the identification information of the stamp card; The posture of the RCM mechanism is adjusted in real time according to the posture information of the RCM point, so that the axis direction of the injection needle always covers the center point of the target surgical area.

8. The eyeball surgery positioning method according to claim 1, characterized in that: After adjusting the position of the RCM mechanism according to the initial position coordinates of the RCM point and adjusting the posture of the RCM mechanism according to the initial posture information of the RCM point so that the axis direction of the injection needle connected to the end of the RCM mechanism covers the center point of the target surgical area, the method further includes: Controlling the injection needle to enter the eyeball, the surgical operator performs surgery on the target surgical area; monitoring the displacement and rotation of the eyeball in real time according to the identification information of the stamp card, and prompting the operator to adjust the operation when the displacement of the eyeball is greater than a first preset displacement threshold and less than a second preset displacement threshold and / or the rotation change of the eyeball is greater than a first preset angle threshold and less than a second preset angle threshold; When the displacement of the eyeball is not less than a second preset displacement threshold and / or the rotation change of the eyeball is not less than a second preset angle threshold, the operator is prompted and the injection needle is automatically and urgently withdrawn.

9. An eyeball surgery positioning system based on an RCM mechanism, used to implement the eyeball surgery positioning method according to any one of claims 1 to 8, characterized in that: include: Image acquisition device, RCM mechanism, stamp card, injection needle, data processing module and control module, wherein, The image acquisition device is used to acquire image information; The RCM mechanism is connected to the injection needle for performing surgical operations on the eyeball; The stamp card is fixed on the sclera of the eyeball and is used to provide an entry port for the injection needle to pass through the stamp card and reach the target surgical area; The data processing module is used to process the image information collected by the image collection device; The control module is used to adjust the position and posture of the RCM mechanism.

10. An electronic device, characterized in that: include: A memory, a processor, and computer executable instructions stored in the memory and executable on the processor, wherein the computer executable instructions, when executed by the processor, implement the steps of the eye surgery positioning method based on the RCM mechanism as described in any one of claims 1-8.

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