Retina needle inserting method and device, electronic equipment and storage medium

Abstract

The invention provides a retina needle inserting method and device, electronic equipment and a storage medium, and the method comprises the steps: determining the safety needle inserting depth of an injection point of a to-be-injected visual net based on optical coherence tomography information of a to-be-injected retina; based on the injection speed of the surgical mechanical arm, the first needle withdrawing depth of a depth control motor of the surgical mechanical arm before needle insertion is determined; a depth control motor is controlled to conduct needle inserting operation according to the safe needle inserting depth, the first needle withdrawing depth and the second needle withdrawing depth along the current injection angle; the depth control motor is controlled to execute injection operation on the injection dosage based on the injection speed, and after injection is completed, the depth control motor is controlled to exit from the retina to be injected after a first preset time interval. Needle inserting and injection processes are completed through the surgical mechanical arm and the depth control motor, the needle inserting depth, the injection speed and the dose are automatically adjusted according to preset parameters, the retina injection accuracy is improved, and the operation difficulty of doctors is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of eye injection treatment, and in particular to a retinal needle insertion method, device, electronic device and storage medium. Background Art

[0002] In ophthalmic surgery, especially injection operations involving fundus surgery, existing technologies mainly rely on manual operation. Doctors manually control the insertion of the needle and the injection of the drug. The operation risk during manual needle insertion is high. The doctor's experience and technical level directly affect the success rate of the operation and the safety of the patient. The fundus situation is relatively complex and there is a large operational uncertainty. Therefore, how to improve the accuracy of retinal injection has become a technical issue that cannot be underestimated. Summary of the invention

[0003] In view of this, the purpose of the present application is to provide a retinal needle insertion method, device, electronic device and storage medium, which completes the needle insertion and injection process through a surgical robot arm and a depth control motor, and automatically adjusts the needle insertion depth, injection speed and dosage according to preset parameters, thereby improving the accuracy of retinal injection and reducing the difficulty of operation for doctors.

[0004] The present application embodiment provides a retinal needle insertion method, which is applied to a surgical robot arm and includes: Determining the safe needle insertion depth of the injection point of the retina to be injected based on the optical coherence tomography information of the retina to be injected; Based on the injection speed of the surgical robot arm, determining a first needle withdrawal depth of the depth control motor of the surgical robot arm before needle insertion; Controlling the depth control motor to perform a needle insertion operation along the current injection angle according to the safe needle insertion depth, the first needle withdrawal depth, and the second needle withdrawal depth; After the needle insertion operation is completed, the depth control motor is controlled to perform an injection operation on the injection dose based on the injection speed, and after the injection is completed, the depth control motor is controlled to withdraw from the retina to be injected after a first preset time interval.

[0005] In a possible implementation manner, controlling the depth control motor to perform a needle insertion operation along the current injection angle according to the safe needle insertion depth, the first needle withdrawal depth, and the second needle withdrawal depth includes: Controlling the depth control motor to move backward along the current injection angle to the first needle withdrawal depth, and detecting whether the current position of the depth control motor is withdrawn to a first target position corresponding to the first needle withdrawal depth; If it is the first target position, controlling the depth control motor to move forward to the safe needle insertion depth at the first target position, and detecting whether the current position of the depth control motor is a second target distance corresponding to the safe needle insertion depth; If it is the second target distance, controlling the depth control motor to move backwards at the second target position to the second needle withdrawal depth, and detecting whether the current position of the depth control motor is retreated to the third target distance corresponding to the second needle withdrawal depth; If it is the third target distance, the needle insertion operation is completed.

[0006] In a possible implementation manner, controlling the depth control motor to move backward along the current injection angle to the first needle withdrawal depth includes: Determining a target number of movement steps of the depth control motor based on the first needle withdrawal depth and the step length of each movement of the depth control motor; Switching the current state of the depth control motor to a moving state, controlling the depth control motor to move backward along the current injection angle by the step length, and detecting whether the current position of the depth control motor is within an allowable error range after the depth control motor moves by the step length; If not, the current position of the depth control motor is corrected, and the depth control motor is controlled to move the next step at the corrected position information; If so, the depth control motor is controlled to move in the next step length until the depth control motor stops moving when the number of moving steps reaches the target number of moving steps.

[0007] In a possible implementation manner, after controlling the depth control motor to move backward along the current injection angle by the step length, the retinal needle insertion method further includes: After performing the step movement, the depth control motor is controlled to wait for a second preset time interval before performing the next step movement.

[0008] In a possible implementation, determining the safe needle insertion depth of the injection point of the retina to be injected based on the optical coherence tomography information of the retina to be injected includes: Based on the optical coherence tomography information, determining the thickness information of the retina to be injected; The product of the thickness information and the preset percentage is determined as the safe needle insertion depth.

[0009] In a possible implementation manner, the first needle withdrawal depth is determined by the following formula: V²=2aS Wherein, V is the injection speed, a is the acceleration of the surgical robot arm, and S is the first needle withdrawal depth.

[0010] In a possible implementation, during the needle insertion and injection operations, the retinal needle insertion method further includes: The injection speed, the safe needle insertion depth, the first needle withdrawal depth, the second needle withdrawal depth and the injection dose are displayed visually on an interface.

[0011] The present application also provides a retinal needle insertion device, which comprises: A needle insertion depth determination module, used to determine the safe needle insertion depth of the injection point of the retina to be injected based on the optical coherence tomography information of the retina to be injected; A needle withdrawal depth determination module, used to determine a first needle withdrawal depth of a depth control motor of the surgical robot arm before needle insertion based on the injection speed of the surgical robot arm; A needle insertion processing module, used to control the depth control motor to perform a needle insertion operation along the current injection angle according to the safe needle insertion depth, the first needle withdrawal depth and the second needle withdrawal depth; The injection processing module is used to control the depth control motor to perform an injection operation on the injection dose based on the injection speed after the needle insertion operation is completed, and to control the depth control motor to withdraw from the retina to be injected after a first preset time interval after the injection is completed.

[0012] An embodiment of the present application also provides an electronic device, including: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, the steps of the retinal needle insertion method as described above are performed.

[0013] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the retinal needle insertion method as described above are executed.

[0014] The embodiments of the present application provide a retinal needle insertion method, device, electronic device and storage medium, the retinal needle insertion method comprising: determining a safe needle insertion depth of the injection point of the retina to be injected based on optical coherence tomography information of the retina to be injected; determining a first needle withdrawal depth of the depth control motor of the surgical robot arm before needle insertion based on the injection speed of the surgical robot arm; controlling the depth control motor to perform a needle insertion operation along the current injection angle according to the safe needle insertion depth, the first needle withdrawal depth and the second needle withdrawal depth; after the needle insertion operation is completed, controlling the depth control motor to perform an injection operation on the injection dose based on the injection speed, and controlling the depth control motor to withdraw from the retina to be injected after a first preset time interval after the injection is completed.

[0015] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 A flow chart of a retinal needle insertion method provided in an embodiment of the present application; Figure 2 A schematic diagram of moving backwards to a first needle withdrawal depth in a retinal needle insertion method provided in an embodiment of the present application; Figure 3 A schematic diagram of a safe needle insertion depth for moving forward during retinal needle insertion provided in an embodiment of the present application; Figure 4 A schematic diagram of a second needle withdrawal depth moving backward during a retinal needle insertion process provided by an embodiment of the present application; Figure 5 This is one of the structural schematic diagrams of a retinal needle insertion device provided in an embodiment of the present application; Figure 6 The second structural schematic diagram of a retinal needle insertion device provided in an embodiment of the present application; Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0018] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work belongs to the scope of protection of the present application.

[0019] First, the application scenarios to which the present application is applicable are introduced. The present application can be applied in the field of eye injection treatment technology.

[0020] Research has found that in ophthalmic surgery, especially injection operations involving fundus surgery, existing technologies mainly rely on manual operation. Doctors manually control the insertion of the needle and the injection of the drug. The operation risk during manual needle insertion is high. The doctor's experience and technical level directly affect the success rate of the operation and the safety of the patient. The fundus situation is relatively complex and there is a large degree of operational uncertainty. Therefore, how to improve the accuracy of retinal injection has become a technical issue that cannot be underestimated.

[0021] Based on this, an embodiment of the present application provides a retinal needle insertion method, which completes the needle insertion and injection process through a surgical robotic arm and a depth control motor, and automatically adjusts the needle insertion depth, injection speed and dosage according to preset parameters, thereby improving the accuracy of retinal injection and reducing the difficulty of operation for doctors.

[0022] See also Figure 1 , Figure 1 This is a flow chart of a retinal needle insertion method provided in an embodiment of the present application. Figure 1 As shown in, the retinal needle insertion method provided in the embodiment of the present application includes: S101: Based on the optical coherence tomography information of the retina to be injected, determine the safe needle insertion depth of the injection point of the retina to be injected.

[0023] In this step, the safe needle insertion depth of the injection point of the retina to be injected is determined based on the optical coherence tomography information of the retina to be injected. In a possible implementation, determining the safe needle insertion depth of the injection point of the retina to be injected based on the optical coherence tomography information of the retina to be injected includes: A: Based on the optical coherence tomography information, the thickness information of the retina to be injected is determined.

[0024] Here, the thickness information of the retina to be injected is determined based on the optical coherence tomography information.

[0025] B: The product of the thickness information and the preset percentage is determined as the safe needle insertion depth.

[0026] Here, the preset percentage is 2 / 3, and the safe needle insertion depth of semi-automatic injection is 2 / 3 of the retinal thickness H, ensuring that the needle tip enters a certain effective depth of the retina without piercing the retina.

[0027] Among them, through OCT scanning, doctors can evaluate the local thickness of the retina, calculate the distance from the surface of the eyeball to the retinal layer, and combine anatomical information to determine the safe depth of needle insertion to avoid penetrating the retina or injuring the choroid. At the same time, OCT can help locate the macula or surrounding avascular areas as ideal injection points to avoid blood vessels and reduce the risk of complications. Based on this information, doctors can develop personalized surgical plans to ensure that the injection depth is sufficient to accurately deliver the drug to the target area without damaging important structures in the eye, thereby improving the safety and effectiveness of the operation.

[0028] S102: Based on the injection speed of the surgical robot arm, determining a first needle withdrawal depth of the depth control motor of the surgical robot arm before needle insertion.

[0029] In this step, the first needle withdrawal depth of the depth control motor of the surgical robot arm before the needle is inserted is determined according to the injection speed of the surgical robot arm.

[0030] Wherein, the depth control motor is connected with the syringe.

[0031] In a possible implementation manner, the first needle withdrawal depth is determined by the following formula: V²=2aS Wherein, V is the injection speed, a is the acceleration of the surgical robot arm, and S is the first needle withdrawal depth.

[0032] Here, the injection speed and acceleration are pre-set.

[0033] S103: Control the depth control motor to perform a needle insertion operation along the current injection angle according to the safe needle insertion depth, the first needle withdrawal depth, and the second needle withdrawal depth.

[0034] In this step, the depth control motor performs the needle insertion operation along the current injection angle according to the safe needle insertion depth, the first needle withdrawal depth and the second needle withdrawal depth.

[0035] The second needle withdrawal depth can be determined based on OCT scanning.

[0036] The current injection angle is predetermined. The existing technical means can realize how to determine the current injection angle, which will not be elaborated in this part.

[0037] In a possible implementation manner, controlling the depth control motor to perform a needle insertion operation along the current injection angle according to the safe needle insertion depth, the first needle withdrawal depth, and the second needle withdrawal depth includes: (1): Controlling the depth control motor to move backward along the current injection angle to the first needle withdrawal depth, and detecting whether the current position of the depth control motor is withdrawn to the first target position corresponding to the first needle withdrawal depth.

[0038] Here, the depth control motor is controlled to move backward along the current injection angle to a first needle withdrawal depth, and it is detected whether the current position of the depth control motor is withdrawn to a first target position corresponding to the first needle withdrawal depth.

[0039] The first needle withdrawal depth moving backward is a distance corresponding to the first needle withdrawal depth moving backward. For example, if the first needle withdrawal depth is 65 microns, the depth control motor moves backward 65 microns along the current injection angle.

[0040] Here, the slight withdrawal of the needle during the needle insertion process allows the needle to have a gentle acceleration, ensuring smooth needle insertion.

[0041] In a possible implementation manner, controlling the depth control motor to move backward along the current injection angle to the first needle withdrawal depth includes: a: Determine the target number of movement steps of the depth control motor based on the first needle withdrawal depth and the step length of each movement of the depth control motor.

[0042] Here, the target number of movement steps of the depth control motor is determined according to the first needle withdrawal depth and the step length of each movement of the depth control motor.

[0043] Among them, the step length of each movement of the depth control motor is pre-set.

[0044] b: Switch the current state of the depth control motor to the moving state, control the depth control motor to move backward along the current injection angle by the step length, and detect whether the current position of the depth control motor is within the allowable error range after the depth control motor moves by the step length.

[0045] Here, the current state of the depth control motor is switched to the moving state, and the depth control motor is controlled to move backward along the current injection angle by a step length. After the depth control motor moves by the step length, it is detected whether the current position of the depth control motor is within the allowable error range.

[0046] Among them, the error range is also pre-set.

[0047] Here, the state of the depth control motor includes a moving state, an operating state, a calibration state, an idle state, and the like.

[0048] c: If not, correct the current position of the depth control motor, and control the depth control motor to move the next step at the corrected position information; if yes, control the depth control motor to move the next step length until the depth control motor stops moving when the number of moving steps reaches the target number of moving steps.

[0049] Here, if no, the current position of the surgical robot arm is corrected, and the depth control motor is controlled to move the next step at the corrected position information; if yes, the depth control motor is controlled to move the next step length until the depth control motor stops moving when the number of moving steps reaches the target number of moving steps.

[0050] The target position is not reached at once during the movement process, but a step-by-step movement method is adopted. Each time, the moving direction and distance are calculated based on the current position and the target position. Each time, a small step is moved, and the step length is controlled by preset parameters. The step length is usually adjusted according to the accuracy requirements of the system to ensure that each step does not deviate too much. After each step, the system will perform sensor feedback correction to check whether the current position information is within the allowable error range. The correction can be based on multiple information sources such as visual sensors, position encoders, force feedback, etc. If the position deviation exceeds the tolerance range, the system will continue to adjust until the target position is reached.

[0051] In a possible implementation manner, after controlling the depth control motor to move backward along the current injection angle by the step length, the retinal needle insertion method further includes: After performing the step movement, the depth control motor is controlled to wait for a second preset time interval before performing the next step movement.

[0052] Here, after each displacement, the system will wait according to the preset time interval to ensure the stability of the movement. The interval time can be adjusted according to the dynamic response characteristics of the system to ensure that the sensor data and position are sufficiently stable.

[0053] The second preset time interval may be 5S.

[0054] In a specific embodiment, key parameters such as step length, correction interval and tolerance are set. When a movement instruction is received, the surgical robot arm switches to the "movement" state and starts to perform displacement operations. When the target position is reached or close to the target, the "calibration" state is entered and the sensor is used for correction. After the correction is completed, the "operation" state is entered to perform specific tasks. Each time, the moving direction and distance are calculated based on the current position and the target position, and a step length is moved each time, and the step length of the movement is controlled by the preset parameters. The step length is usually adjusted according to the accuracy requirements of the system to ensure that each step does not deviate too much. After each step length is moved, the surgical robot arm will perform sensor feedback correction to check whether the current position information is within the allowable error range. The correction can be based on multiple information sources such as visual sensors, position encoders, force feedback, etc. If the position deviation exceeds the tolerance range, the surgical robot arm will continue to adjust until the target position is reached. After each displacement, the system will wait according to the preset time interval to ensure the stability of the movement. The interval time can be adjusted according to the dynamic response characteristics of the system to ensure that the sensor data and position are sufficiently stable. During the interval, the system can again determine whether additional correction actions are required or prepare for the next displacement. Before reaching the target position, the system will repeatedly perform step-by-step displacement and correction to gradually approach the target. After each displacement, the sensor data is used to determine whether further correction or movement is required. If the target position is close and the correction is successful, the system enters the next operation process. When the robot successfully reaches the target position and the correction is completed, it enters the final operation state and performs the corresponding task. After the task is completed, the system will return to the "idle" state and wait for new instructions or tasks. Depending on the task requirements, the system can continue to process the next operation or end the current task. After the task is completed, the system can reset or return to the initial state to prepare for the next round of operations. Multi-state judgment ensures smooth and accurate task switching at each stage of the system. Multi-step displacement operation reduces the risk of error by moving in small steps, improving the accuracy and safety of the operation. Multiple corrections of intervals and corrections during the displacement process ensure the stability and reliability of the system in dynamic operations.

[0055] (2): If it is the first target position, control the depth control motor to move forward to the safe needle insertion depth at the first target position, and detect whether the current position of the depth control motor is forward to the second target distance corresponding to the safe needle insertion depth.

[0056] Here, if the position of the depth control motor is the first target position, the depth control motor is controlled to move forward to the safe needle insertion depth at the first target position, and it is detected whether the current position of the depth control motor is the second target distance corresponding to the safe needle insertion depth.

[0057] Among them, the implementation process of controlling the depth control motor to move forward to the safe needle insertion depth at the first target position is consistent with the implementation process of controlling the depth control motor to move backward to the first needle withdrawal depth along the current injection angle, and this part will not be repeated.

[0058] (3): If it is the second target distance, control the depth control motor to move backward to the second needle withdrawal depth at the second target position, and detect whether the current position of the depth control motor is retreated to the third target distance corresponding to the second needle withdrawal depth; if it is the third target distance, the needle insertion operation is completed. Here, if the position of the depth control motor is the second target distance, the depth control motor is controlled to move backward to the second needle withdrawal depth at the second target position, and it is detected whether the current position of the depth control motor is retreated to the third target distance corresponding to the second needle withdrawal depth; if it is the third target distance, the needle insertion operation is completed.

[0059] For further information, see Figure 2 , Figure 3 as well as Figure 4 , Figure 2 A schematic diagram of moving backwards to a first needle withdrawal depth in a retinal needle insertion method provided in an embodiment of the present application; Figure 3 A schematic diagram of a safe needle insertion depth for moving forward during retinal needle insertion provided in an embodiment of the present application; Figure 4 This is a schematic diagram of a second needle withdrawal depth during a retinal needle insertion process provided by an embodiment of the present application. Figure 2 The depth control motor moves back 65 microns as shown in Figure 3 The depth control motor shown in the figure moves forward 2500 microns at a position of 65 microns backward, as shown in the figure. Figure 4 Make sure that after puncturing the fundus, the microneedle retreats 2000 microns but remains in the fundus.

[0060] In this scheme, the slight withdrawal of the needle during the insertion process allows the needle to have a gentle acceleration to ensure smooth insertion, realizing semi-automation of retinal injection. The standardized process ensures the safety of the operation before each injection, while reducing the difficulty of the doctor's operation and improving the safety and success rate of the operation.

[0061] S104: After the needle insertion operation is completed, the depth control motor is controlled to perform an injection operation on the injection dose based on the injection speed, and after the injection is completed, the depth control motor is controlled to withdraw from the retina to be injected after a first preset time interval.

[0062] In this step, after the needle insertion operation is completed, the depth control motor is controlled to perform the injection operation on the injection dose according to the injection speed, and after the injection is completed, the depth control motor is controlled to withdraw from the retina to be injected after a first preset time interval.

[0063] The first preset time interval may be 4 seconds.

[0064] In a specific embodiment, the surgical robot arm moves along the current angle to the first needle withdrawal depth, then inserts the needle to the safe needle insertion depth, and then retracts to the first needle withdrawal depth. After the depth control motor completes the movement of the retinal depth distance confirmed before the operation, a prompt window for confirming the injection pops up. After confirming the injection, the injection motor compensates for the last injection stroke and pauses for 4 seconds after the injection is completed to ensure that the drug effectively enters the retina. After the pause time is over, the depth control motor retracts the injection stroke to ensure that the drug is fully distributed in the eye. Control the depth control motor of the surgical robot arm to slowly withdraw from the retina to ensure that the needle tip is completely out of the raised part after injection.

[0065] In a possible implementation, during the needle insertion and injection operations, the retinal needle insertion method further includes: The injection speed, the safe needle insertion depth, the first needle withdrawal depth, the second needle withdrawal depth and the injection dose are displayed visually on an interface.

[0066] In this solution, the thickness of the retina and the safe depth of the injection site are determined based on the preoperative OCT (optical coherence tomography) information before each needle insertion. The precise control of the surgical robotic arm and the depth control motor can be fine-tuned before entering the retina to ensure that the position and angle of the needle tip are in full compliance with the preoperative plan, greatly reducing the risk of the operation. The standardized operating procedures ensure the safety and consistency of each needle insertion and avoid patient damage caused by doctor's operating errors. In addition, other parameters such as needle insertion depth, injection dose and injection speed are visualized through the interface, allowing doctors to grasp the progress of the operation in real time and make adjustments according to actual conditions. The visualized surgical parameters not only improve the transparency and controllability of the operation, but also provide doctors with important reference basis, further ensuring the success rate of the operation and the safety of patients.

[0067] A retinal needle insertion method provided in an embodiment of the present application is applied to a surgical robot arm, and the retinal needle insertion method includes: determining the safe needle insertion depth of the injection point of the retina to be injected based on the optical coherence tomography information of the retina to be injected; determining the first needle withdrawal depth of the depth control motor of the surgical robot arm before needle insertion based on the injection speed of the surgical robot arm; controlling the depth control motor to perform a needle insertion operation according to the safe needle insertion depth, the first needle withdrawal depth, and the second needle withdrawal depth along the current injection angle; after the needle insertion operation is completed, controlling the depth control motor to perform an injection operation on the injection dose based on the injection speed, and controlling the depth control motor to withdraw from the retina to be injected after the first preset time interval after the injection is completed. The needle insertion and injection process is completed by the surgical robot arm and the depth control motor, and the needle insertion depth, injection speed, and dose are automatically adjusted according to preset parameters, thereby improving the accuracy of retinal injection and reducing the difficulty of operation for doctors.

[0068] See also Figure 5 , Figure 6 , Figure 5 This is one of the structural schematic diagrams of a retinal needle insertion device provided in an embodiment of the present application. Figure 6 This is a second structural diagram of a retinal needle insertion device provided in an embodiment of the present application. Figure 5 As shown in , the retinal needle insertion device 500 includes: The needle insertion depth determination module 510 is used to determine the safe needle insertion depth of the injection point of the retina to be injected based on the optical coherence tomography information of the retina to be injected; The needle withdrawal depth determination module 520 is used to determine the first needle withdrawal depth of the depth control motor of the surgical robot arm before the needle is inserted based on the injection speed of the surgical robot arm; The needle insertion processing module 530 is used to control the depth control motor to perform the needle insertion operation according to the safe needle insertion depth, the first needle withdrawal depth and the second needle withdrawal depth along the current injection angle; The injection processing module 540 is used to control the depth control motor to perform an injection operation on the injection dose based on the injection speed after the needle insertion operation is completed, and to control the depth control motor to withdraw from the retina to be injected after a first preset time interval after the injection is completed.

[0069] Further, when the needle insertion processing module 530 is used to control the depth control motor to perform a needle insertion operation along the current injection angle according to the safe needle insertion depth, the first needle withdrawal depth, and the second needle withdrawal depth, the needle insertion processing module 530 is specifically used to: Controlling the depth control motor to move backward along the current injection angle to the first needle withdrawal depth, and detecting whether the current position of the depth control motor is withdrawn to a first target position corresponding to the first needle withdrawal depth; If it is the first target position, controlling the depth control motor to move forward to the safe needle insertion depth at the first target position, and detecting whether the current position of the depth control motor is a second target distance corresponding to the safe needle insertion depth; If it is the second target distance, controlling the depth control motor to move backwards at the second target position to the second needle withdrawal depth, and detecting whether the current position of the depth control motor is retreated to the third target distance corresponding to the second needle withdrawal depth; If it is the third target distance, the needle insertion operation is completed.

[0070] Further, when the needle insertion processing module 530 is used to control the depth control motor to move backward along the current injection angle to the first needle withdrawal depth, the needle insertion processing module 530 is specifically used to: Determining a target number of movement steps of the depth control motor based on the first needle withdrawal depth and the step length of each movement of the depth control motor; Switching the current state of the depth control motor to a moving state, controlling the depth control motor to move backward along the current injection angle by the step length, and detecting whether the current position of the depth control motor is within an allowable error range after the depth control motor moves by the step length; If not, the current position of the depth control motor is corrected, and the depth control motor is controlled to move the next step at the corrected position information; If so, the depth control motor is controlled to move in the next step length until the depth control motor stops moving when the number of moving steps reaches the target number of moving steps.

[0071] Further, such as Figure 6 As shown, the retinal needle insertion device 500 also includes a display module 550, which is used to After performing the step movement, the depth control motor is controlled to wait for a second preset time interval before performing the next step movement.

[0072] Further, when the needle insertion depth determination module 510 is used to determine the safe needle insertion depth of the injection point of the retina to be injected based on the optical coherence tomography information of the retina to be injected, the needle insertion depth determination module 510 is specifically used to: Based on the optical coherence tomography information, determining the thickness information of the retina to be injected; The product of the thickness information and the preset percentage is determined as the safe needle insertion depth.

[0073] Furthermore, the needle withdrawal depth determination module 520 determines the first needle withdrawal depth by the following formula: V²=2aS Wherein, V is the injection speed, a is the acceleration of the surgical robot arm, and S is the first needle withdrawal depth.

[0074] The embodiment of the present application provides a retinal needle insertion device, which includes: a needle insertion depth determination module, which is used to determine the safe needle insertion depth of the injection point of the retina to be injected based on the optical coherence tomography information of the retina to be injected; a needle withdrawal depth determination module, which is used to determine the first needle withdrawal depth of the depth control motor of the surgical robot arm before needle insertion based on the injection speed of the surgical robot arm; a needle insertion processing module, which is used to control the depth control motor to perform a needle insertion operation along the current injection angle according to the safe needle insertion depth, the first needle withdrawal depth and the second needle withdrawal depth; an injection processing module, which is used to control the depth control motor to perform an injection operation on the injection dose based on the injection speed after the needle insertion operation is completed, and control the depth control motor to withdraw from the retina to be injected after the first preset time interval after the injection is completed. The needle insertion and injection process is completed by the surgical robot arm and the depth control motor, and the needle insertion depth, injection speed and dose are automatically adjusted according to preset parameters, thereby improving the accuracy of retinal injection and reducing the difficulty of operation for doctors.

[0075] See also Figure 7 , Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 7 As shown in , the electronic device 700 includes a processor 710 , a memory 720 and a bus 730 .

[0076] The memory 720 stores machine-readable instructions executable by the processor 710. When the electronic device 700 is running, the processor 710 communicates with the memory 720 via the bus 730. When the machine-readable instructions are executed by the processor 710, the above-mentioned Figure 1 The specific implementation of the steps of the retinal needle insertion method in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0077] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 The specific implementation of the steps of the retinal needle insertion method in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0078] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0079] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0080] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0081] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0082] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, and other media that can store program codes.

[0083] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A retinal needle insertion method, characterized in that: The retinal needle insertion method is applied to a surgical robot arm, and the retinal needle insertion method comprises: Determining the safe needle insertion depth of the injection point of the retina to be injected based on the optical coherence tomography information of the retina to be injected; Based on the injection speed of the surgical robot arm, determining a first needle withdrawal depth of the depth control motor of the surgical robot arm before needle insertion; Controlling the depth control motor to perform a needle insertion operation along the current injection angle according to the safe needle insertion depth, the first needle withdrawal depth, and the second needle withdrawal depth; After the needle insertion operation is completed, the depth control motor is controlled to perform an injection operation on the injection dose based on the injection speed, and after the injection is completed, the depth control motor is controlled to withdraw from the retina to be injected after a first preset time interval.

2. The retinal needle insertion method according to claim 1, characterized in that: The controlling the depth control motor to perform a needle insertion operation along the current injection angle according to the safe needle insertion depth, the first needle withdrawal depth, and the second needle withdrawal depth includes: Controlling the depth control motor to move backward along the current injection angle to the first needle withdrawal depth, and detecting whether the current position of the depth control motor is withdrawn to a first target position corresponding to the first needle withdrawal depth; If it is the first target position, controlling the depth control motor to move forward to the safe needle insertion depth at the first target position, and detecting whether the current position of the depth control motor is a second target distance corresponding to the safe needle insertion depth; If it is the second target distance, controlling the depth control motor to move backwards at the second target position to the second needle withdrawal depth, and detecting whether the current position of the depth control motor is retreated to the third target distance corresponding to the second needle withdrawal depth; If it is the third target distance, the needle insertion operation is completed.

3. The retinal needle insertion method according to claim 2, characterized in that: The step of controlling the depth control motor to move backward along the current injection angle to the first needle withdrawal depth comprises: Determining a target number of movement steps of the depth control motor based on the first needle withdrawal depth and the step length of each movement of the depth control motor; Switching the current state of the depth control motor to a moving state, controlling the depth control motor to move backward along the current injection angle by the step length, and detecting whether the current position of the depth control motor is within an allowable error range after the depth control motor moves by the step length; If not, the current position of the depth control motor is corrected, and the depth control motor is controlled to move the next step at the corrected position information; If so, the depth control motor is controlled to move in the next step length until the depth control motor stops moving when the number of moving steps reaches the target number of moving steps.

4. The retinal needle insertion method according to claim 3, characterized in that: After controlling the depth control motor to move backward along the current injection angle by the step length, the retinal needle insertion method further includes: After performing the step movement, the depth control motor is controlled to wait for a second preset time interval before performing the next step movement.

5. The retinal needle insertion method according to claim 1, characterized in that: The method of determining the safe needle insertion depth of the injection point of the retina to be injected based on the optical coherence tomography information of the retina to be injected comprises: Based on the optical coherence tomography information, determining the thickness information of the retina to be injected; The product of the thickness information and the preset percentage is determined as the safe needle insertion depth.

6. The retinal needle insertion method according to claim 1, characterized in that: The first needle withdrawal depth is determined by the following formula: V²=2aS Wherein, V is the injection speed, a is the acceleration of the surgical robot arm, and S is the first needle withdrawal depth.

7. The retinal needle insertion method according to claim 1, characterized in that: During the needle insertion and injection operations, the retinal needle insertion method further includes: The injection speed, the safe needle insertion depth, the first needle withdrawal depth, the second needle withdrawal depth and the injection dose are displayed visually on an interface.

8. A retinal needle insertion device, characterized in that: The retinal needle insertion device comprises: A needle insertion depth determination module, used to determine the safe needle insertion depth of the injection point of the retina to be injected based on the optical coherence tomography information of the retina to be injected; A needle withdrawal depth determination module, used to determine a first needle withdrawal depth of a depth control motor of the surgical robot arm before needle insertion based on the injection speed of the surgical robot arm; A needle insertion processing module, used to control the depth control motor to perform a needle insertion operation along the current injection angle according to the safe needle insertion depth, the first needle withdrawal depth and the second needle withdrawal depth; The injection processing module is used to control the depth control motor to perform an injection operation on the injection dose based on the injection speed after the needle insertion operation is completed, and to control the depth control motor to withdraw from the retina to be injected after a first preset time interval after the injection is completed.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and the machine-readable instructions are executed by the processor to execute the steps of the retinal needle insertion method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the retinal needle insertion method according to any one of claims 1 to 7 are executed.

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