A method for preventing micro-jitter of ophthalmic surgical robot

Abstract

The present invention discloses an anti-micro-jitter method for an ophthalmic surgical robot, comprising obtaining a range value of an encoder reading according to the range of linear motion and rotation angle of an operating rod, dividing the maximum value of the encoder reading by the stroke of the ophthalmic surgical robot to calculate the number of actions corresponding to the stroke to obtain a mapping proportional coefficient value, obtaining the encoder reading corresponding to the current position of the operating rod, and outputting an actual output value and calculating a remainder value of the encoder reading divided by the mapping proportional coefficient value through mapping the mapping proportional coefficient value, and if the remainder value is in a lower mapping proportional coefficient interval value or an upper mapping proportional coefficient interval value, then one of two adjacent actual output values ​​is mapped and output through the mapping proportional coefficient value, and the ophthalmic surgical robot performs a corresponding surgical action according to a change in the actual output values ​​of two adjacent outputs, and if the remainder value is in a middle mapping proportional coefficient interval value, then the surgical action currently being performed by the surgical robot is maintained.

Description

Technical Field

[0001] The present invention relates to the field of ophthalmic surgical robots, and in particular to an ophthalmic surgical robot anti-micro-shake method. Background Art

[0002] Intraocular surgery requires surgical instruments to pass through the sclera into the eye for operation. Therefore, intraocular surgery is more difficult to perform than traditional open surgery. This is because surgical instruments are usually slender, there is no intuitive force feedback, and the operating space is extremely limited. The doctor's physiological tremors will lead to a decrease in operating accuracy, thereby increasing the risk of accidents.

[0003] In order to improve the accuracy of surgical operations and overcome the physiological tremor of doctors, ophthalmic surgical robots are introduced in ophthalmic surgery to assist doctors in completing ophthalmic surgeries such as cataracts, fundus macula, retina, glaucoma, etc. At present, the operation of ophthalmic surgical robots is transmitted to the encoder on the operating rod by the doctor through the operation of the operating rod, and the encoder generates a corresponding reading, and then the encoder reading is mapped to an actual output value according to the mapping ratio coefficient. The ophthalmic surgical robot performs the corresponding surgical action according to the change of the actual output value of the two adjacent outputs. The main purpose of setting the mapping ratio is to reduce the movement of the operating rod encoder corresponding to the surgical robot, which means mapping the larger movement and operation of the operating rod to the smaller movement of the robot, and mapping the rougher manual operation to the more accurate operation of the robot. At the same time, when setting the mapping ratio, due to the existence of the mapping ratio, the operation and jitter of the human hand within the mapping ratio can be ignored, which can play an anti-shake role to a certain extent, and will not cause jitter due to some minor misoperations.

[0004] However, due to the existence of a mapping ratio, each time the operation of the operating rod is calculated to correspond to the output of the surgical robot, a mapping ratio calculation will be performed, that is, the output value = rounding (current encoder reading / mapping ratio). Since it is a rounding operation and a division operation, there will definitely be a remainder, but the remainder is ignored in the rounding operation. Therefore, the output value of each step is the integer quotient. Therefore, in the process of slowly moving the operating rod, in the process of the quotient and the quotient + 1, no processing and operation are actually performed, but in the change of the remainder quotient + 1, the micro-jitter caused by the change of the value before and after the remainder value cannot be avoided. For example: the total encoder reading is 200, and the mapping ratio is set to 10 according to the required ratio mapping, which means that the rough movement of the human hand moving the operating rod is reduced by 10 times and converted into the movement of the surgical robot. Assuming that the current encoder reading is 19, the output value calculated by the mapping ratio is 1, and the remainder 9 is ignored at this time. When the moving operating rod makes the current encoder reading 20, the output value calculated by the mapping ratio is 2, and the remainder is 0 at this time. Due to the change in the output value, the robot produces a corresponding movement. When the encoder reading jumps between 19 and 20 due to slight physiological shaking of the human hand, the value output to the robot through the mapping ratio calculation will jump back and forth between 1 and 2, causing a back and forth shaking movement of the robot. Although this shaking is very slight, in the field of ophthalmic surgery, the required accuracy is at the micron level. The impact of this micro-shake will be very large, increasing the risk of the operation. Therefore, the idea of ​​the present invention is to avoid the problem of robot shaking caused by the shaking of the boundary from quotient to quotient + 1. Summary of the invention

[0005] The object of the present invention is to provide an ophthalmic surgical robot anti-micro-shake method that better meets the needs of ophthalmic surgery, so as to reduce the risks of ophthalmic surgery.

[0006] The method for preventing micro-jitter of an ophthalmic surgical robot according to the present invention comprises the following steps:

[0007] According to the range of linear motion and rotation angle of the operating lever, the range value of the encoder reading is obtained;

[0008] Calculate the number of actions corresponding to the travel of the ophthalmic surgical robot according to the travel of the ophthalmic surgical robot;

[0009] Divide the maximum value of the range value of the encoder reading by the number of actions to obtain the mapping scale factor value;

[0010] Get the encoder reading corresponding to the current position of the joystick, and output the actual output value by mapping the proportional coefficient value, and calculate the remainder value by dividing the encoder reading by the mapping proportional coefficient value;

[0011] The mapping proportional coefficient is divided into adjacent lower mapping proportional coefficient interval values, middle mapping proportional coefficient interval values, and upper mapping proportional coefficient interval values, and each interval value is compared with the remainder value;

[0012] If the remainder value is in the lower mapping proportional coefficient interval value or the upper mapping proportional coefficient interval value, one of the two adjacent actual output values ​​is output through the mapping proportional coefficient value mapping output, and the ophthalmic surgical robot generates a corresponding surgical action according to the change of the actual output values ​​of the two adjacent outputs;

[0013] If the remainder value is within the middle mapping proportional coefficient interval, the surgical action currently being performed by the surgical robot is maintained.

[0014] The method for preventing micro-jitter of an ophthalmic surgical robot disclosed in the present invention obtains the range value of the encoder reading from the range of the linear motion and rotation angle of the operating rod, and then calculates the mapping proportional coefficient value according to the stroke of the ophthalmic surgical robot and the number of actions corresponding to the stroke, thereby improving the accuracy of the obtained mapping proportional coefficient value and ensuring that the encoder reading can be mapped and output according to the mapping proportional coefficient to map the integrity of the corresponding surgical action to be performed by the ophthalmic surgical robot; when the encoder reading corresponding to the current position of the operating rod is obtained for the second time, the actual output value and the remainder value of the calculated encoder reading divided by the mapping proportional coefficient value are mapped and output through the mapping proportional coefficient value, and if the remainder value is within the lower mapping proportional coefficient interval value or the upper mapping proportional coefficient interval value, the two adjacent values ​​are mapped and output through the mapping proportional coefficient value. One of the actual output values ​​is output by the ophthalmic surgical robot, which generates a corresponding surgical action according to the change in the actual output values ​​of the two adjacent outputs, thereby ensuring that the actual output value of the remainder value mapped through the mapping proportional coefficient is a determined actual output value, so as to ensure the stability of the ophthalmic surgical robot in executing the corresponding surgical action and prevent the occurrence of micro-jitter; in addition, if the remainder value is within the mapping proportional coefficient interval value, the surgical action currently being executed by the surgical robot is maintained, which can prevent the remainder value from jumping back and forth unstably at the actual output value change point between the two adjacent outputs when it is mapped through the mapping proportional coefficient, so as to prevent the ophthalmic surgical robot from producing micro-jitter when executing the corresponding surgical action, thereby achieving the effect of meeting the needs of ophthalmic surgery and reducing the risks of ophthalmic surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a flow chart of a method for preventing micro-jitter of an ophthalmic surgical robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0016] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0018] Figure 1 A schematic diagram of a flow chart of a method for preventing micro-jitter of an ophthalmic surgical robot provided by an embodiment of the present invention. Figure 1 As shown, the method includes the following steps: S1, obtaining the range value of the encoder reading according to the range of the linear motion and rotation angle of the operating rod; S2, calculating the number of actions corresponding to the stroke according to the stroke of the ophthalmic surgical robot; S3, dividing the maximum value of the range value of the encoder reading by the number of actions to obtain the mapping proportional coefficient value; S4, obtaining the encoder reading corresponding to the current position of the operating rod, and outputting the actual output value through the mapping proportional coefficient value, and calculating the remainder value of the encoder reading divided by the mapping proportional coefficient value; S5, dividing the mapping proportional coefficient into adjacent lower mapping proportional coefficient interval values, middle mapping proportional coefficient interval values, and upper mapping proportional coefficient interval values, and comparing each interval value with the size of the remainder value respectively; S6, if the remainder value is in the lower mapping proportional coefficient interval value or the upper mapping proportional coefficient interval value, then one of the two adjacent actual output values ​​is mapped and output through the mapping proportional coefficient value, and the ophthalmic surgical robot performs the corresponding surgical action according to the change of the actual output values ​​of the two adjacent outputs; S7, if the remainder value is in the middle mapping proportional coefficient interval value, then the surgical action currently being performed by the surgical robot is maintained.

[0019] When the range of linear motion and rotation angle of the operating rod is too large, the maximum range value of the encoder reading is too large. However, the stroke of the ophthalmic surgical robot's movement and the number of actions corresponding to the stroke calculated are subject to certain restrictions. The mapping proportional coefficient value obtained will be greater than the preset mapping proportional coefficient threshold. At this time, the amplitude of the ophthalmic surgeon's hand shaking will increase. If the mapping proportional coefficient value is greater than the preset mapping proportional coefficient threshold, the range of the middle mapping proportional coefficient interval value is greater than the range of the lower mapping proportional coefficient interval value; if the mapping proportional coefficient value is less than or equal to the preset mapping proportional coefficient threshold, the range of the middle mapping proportional coefficient interval value is equal to the range of the lower mapping proportional coefficient interval value. This can prevent the middle mapping proportional coefficient interval value from being too small, resulting in the inability to filter out excess jitter, and further prevent the ophthalmic surgical robot from producing micro-jitter when performing corresponding surgical actions.

[0020] The encoder reading value is divided by the number of actions to obtain the mapping proportional coefficient value, and its mapping proportional coefficient value can be marked as K, that is, the encoder reading outputs 1 every time it passes through a K mapping. When K=10, the three interval values ​​of the mapping proportional coefficient can be set to [0, 3), [3, 6], (6, 10). [0, 3) is the lower mapping proportional coefficient interval value, [3, 6] is the middle mapping proportional coefficient interval value, and (6, 10) is the upper mapping proportional coefficient interval value. When the encoder reading corresponding to the current position of the operating lever is obtained again, the actual output value is output through the mapping proportional coefficient value mapping and the remainder value of the encoder reading divided by the mapping proportional coefficient value is calculated. If the remaining value is in [0, 3) or (6, 10), then one of the two adjacent actual output values ​​is mapped and output through the mapping proportional coefficient value, and the ophthalmic surgical robot performs the corresponding surgical action according to the change in the actual output values ​​of the two adjacent outputs. If the remainder value is in [3, 6], the surgical action currently being performed by the surgical robot is maintained.

[0021] It can prevent the remainder value from jumping back and forth unstably at the actual output value change point between two adjacent outputs when the output is mapped through the mapping proportional coefficient, so as to prevent the ophthalmic surgical robot from producing micro-jitter when performing the corresponding surgical action, thereby achieving the effect of meeting the needs of ophthalmic surgery and reducing the risks of ophthalmic surgery.

[0022] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A method for preventing micro-jitter of an ophthalmic surgical robot, characterized in that , including the following steps: According to the range of linear motion and rotation angle of the operating lever, the range value of the encoder reading is obtained; Calculate the number of actions corresponding to the stroke according to the motion stroke of the ophthalmic surgical robot; Divide the maximum value of the range value of the encoder reading by the number of actions to obtain the mapping scale factor value; Get the encoder reading corresponding to the current position of the joystick, and output the actual output value by mapping the proportional coefficient value, and calculate the remainder value of the encoder reading divided by the mapping proportional coefficient value; The mapping proportional coefficient is divided into adjacent lower mapping proportional coefficient interval values, middle mapping proportional coefficient interval values, and upper mapping proportional coefficient interval values, and each interval value is compared with the remainder value; If the remainder value is within the lower mapping proportional coefficient interval value or the upper mapping proportional coefficient interval value, one of the two adjacent actual output values ​​is output through the mapping proportional coefficient value mapping output, and the ophthalmic surgical robot performs the corresponding surgical action according to the change of the actual output values ​​of the two adjacent outputs; If the remainder value is in the middle mapping proportional coefficient interval value, the surgical action currently being performed by the surgical robot is maintained.

2. The method for preventing micro-jitter of an ophthalmic surgical robot according to claim 1, characterized in that: If the mapping ratio coefficient value is greater than the preset threshold of the mapping ratio coefficient value, the range of the middle mapping ratio coefficient interval value is greater than the range of the lower mapping ratio coefficient interval value; if the mapping ratio coefficient value is less than or equal to the preset threshold of the mapping ratio coefficient value, the range of the middle mapping ratio coefficient interval value is equal to the range of the lower mapping ratio coefficient interval value.

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