A method, device, electronic device and storage medium for retinal needle insertion

Abstract

The present application provides a method, device, electronic device and storage medium for retinal needle insertion. The method includes: determining a safe needle insertion depth of an injection point of the retina to be injected based on the optical coherence tomography information of the retina to be injected; determining a first retraction depth of a depth control motor of the surgical robotic arm before needle insertion based on the injection speed of the surgical robotic 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 retraction depth and a second retraction depth; controlling the depth control motor to perform an injection operation on the injection dose based on the injection speed, and after the injection is completed, controlling the depth control motor to withdraw from the retina to be injected after a first preset time interval. The needle insertion and injection processes are completed by a surgical robotic arm and a depth control motor, and the needle insertion depth, injection speed and dose are automatically adjusted according to preset parameters, improving the accuracy of retinal injection and reducing the operation difficulty of doctors.

Description

Technical Field

[0001] This application relates to the technical field of ophthalmic injection treatment, and particularly to a method and device for retinal needle insertion, an electronic device, and a storage medium. Background Art

[0002] In ophthalmic surgeries, especially in injection operations related to fundus surgeries, the existing technology mainly relies on manual operations. Doctors manually control the insertion of the needle and the injection process of the drug. The operation risk during the manual needle insertion process is relatively high. The experience and technical level of doctors directly affect the success rate of the surgery and the safety of patients. Moreover, the fundus conditions are relatively complex, resulting in a large degree of operation uncertainty. Therefore, how to improve the accuracy of retinal injection has become a technical problem that cannot be underestimated. Summary of the Invention

[0003] In view of this, the purpose of this application is to provide a method and device for retinal needle insertion, an electronic device, and a storage medium. The needle insertion and injection processes are completed by a surgical robotic arm and a depth control motor, and the needle insertion depth, injection speed, and dosage are automatically adjusted according to preset parameters, improving the accuracy of retinal injection and reducing the operation difficulty of doctors.

[0004] An embodiment of this application provides a method for retinal needle insertion. The method for retinal needle insertion is applied to a surgical robotic arm, and the method for retinal needle insertion includes:

[0005] 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;

[0006] Based on the injection speed of the surgical robotic arm, determine the first retraction depth of the depth control motor of the surgical robotic arm before needle insertion;

[0007] 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 retraction depth, and the second retraction depth;

[0008] After the needle insertion operation is completed, control the depth control motor to perform an injection operation on the injection dosage based on the injection speed. After the injection is completed, control the depth control motor to withdraw from the retina to be injected after a first preset time interval.

[0009] In a possible implementation manner, the step of 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 retraction depth, and the second retraction depth includes:

[0010] Control the depth control motor to move backward by the first retraction depth along the current injection angle, and detect whether the current position of the depth control motor has returned to the first target position corresponding to the first retraction depth;

[0011] If it is the first target position, control the depth control motor to move forward by the safe needle insertion depth at the first target position, and detect whether the current position of the depth control motor is the second target distance corresponding to advancing to the safe needle insertion depth;

[0012] If it is the second target distance, control the depth control motor to move backward by the second needle retraction depth at the second target position, and detect whether the current position of the depth control motor is the third target distance corresponding to retracting to the second needle retraction depth;

[0013] If it is the third target distance, the needle insertion operation ends.

[0014] In a possible implementation manner, the controlling the depth control motor to move backward by the first needle retraction depth along the current injection angle includes:

[0015] Determine the target movement steps of the depth control motor based on the first needle retraction depth and the step length of each movement of the depth control motor;

[0016] Switch the current state of the depth control motor to the moving state, control the depth control motor to move backward by the step length along the current injection angle, 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;

[0017] If not, correct the current position of the depth control motor, and control the depth control motor to perform the next step movement at the corrected position information;

[0018] If so, control the depth control motor to perform the next step movement until the movement steps of the depth control motor reach the target movement steps and then stop moving.

[0019] In a possible implementation manner, after the controlling the depth control motor to move backward by the step length along the current injection angle, the retina needle insertion method further includes:

[0020] After performing the step movement, control the depth control motor to wait for a second preset time interval and then perform the next step movement.

[0021] In a possible implementation manner, the 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:

[0022] Based on the optical coherence tomography information, determine the thickness information of the retina to be injected;

[0023] Determine the product of the thickness information and a preset percentage as the safe needle insertion depth.

[0024] In a possible implementation, the first needle retraction depth is determined by the following formula:

[0025] V² = 2aS

[0026] where V is the injection speed, a is the acceleration of the surgical robotic arm, and S is the first needle retraction depth.

[0027] In a possible implementation, during the needle insertion operation and the injection operation, the retinal needle insertion method further includes:

[0028] Visually display the injection speed, the safe needle insertion depth, the first needle retraction depth, the second needle retraction depth, and the injection dose on an interface.

[0029] An embodiment of the present application further provides a retinal needle insertion device, which includes:

[0030] A needle insertion depth determination module, configured 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;

[0031] A needle retraction depth determination module, configured to determine the first needle retraction depth of the depth control motor of the surgical robotic arm before needle insertion based on the injection speed of the surgical robotic arm;

[0032] A needle insertion processing module, configured 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 retraction depth, and the second needle retraction depth;

[0033] An injection processing module, configured to, after the needle insertion operation is completed, control the depth control motor to perform an injection operation on the injection dose based on the injection speed, and after the injection is completed, control the depth control motor to withdraw from the retina to be injected after a first preset time interval.

[0034] An embodiment of the present application further provides an electronic device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device runs, the processor communicates with the memory through the bus. When the machine-readable instructions are executed by the processor, the steps of the above-mentioned retinal needle insertion method are executed.

[0035] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, the steps of the above-mentioned retinal needle insertion method are executed.

[0036] A retinal needle insertion method, device, electronic device and storage medium provided by an embodiment of the present application, the retinal needle insertion method includes: determining a safe needle insertion depth of an injection point of the retina to be injected based on optical coherence tomography information of the retina to be injected; determining a first retraction depth of a depth control motor of the surgical robotic arm before needle insertion based on the injection speed of the surgical robotic arm; controlling the depth control motor to perform a needle insertion operation according to the safe needle insertion depth, the first retraction depth and the second retraction 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 a first preset time interval after the injection is completed.

[0037] To make the above objects, features and advantages of the present application more obvious and understandable, the following specifically enumerates preferred embodiments and, in conjunction with the accompanying drawings, the detailed description is as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required in the embodiments. It should be understood that the following drawings only show some embodiments of the present application and should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0039] Figure 1 It is a flowchart of a retinal needle insertion method provided by an embodiment of the present application;

[0040] Figure 2 It is a schematic diagram of moving backward the first retraction depth in a retinal needle insertion method provided by an embodiment of the present application;

[0041] Figure 3 It is a schematic diagram of moving forward the safe needle insertion depth during a retinal needle insertion provided by an embodiment of the present application;

[0042] Figure 4 It is a schematic diagram of moving backward the second retraction depth during a retinal needle insertion provided by an embodiment of the present application;

[0043] Figure 5 It is one of the structural schematic diagrams of a retinal needle insertion device provided by an embodiment of the present application;

[0044] Figure 6 It is the second structural schematic diagram of a retinal needle insertion device provided by an embodiment of the present application;

[0045] Figure 7 It is a structural schematic diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0046] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are only a part rather than all of the embodiments of the present application. Components of the embodiments of the present application described and illustrated herein generally may be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but is merely representative of selected embodiments of the present application. Based on the embodiments of the present application, every other embodiment obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present application.

[0047] First, the applicable application scenarios of the present application are introduced. The present application can be applied to the technical field of ophthalmic injection treatment.

[0048] Through research, it is found that in ophthalmic surgeries, especially in the injection operations involving fundus surgeries, the existing technologies mainly rely on manual operations. Doctors manually control the insertion of the needle and the injection process of the drug. The operation risk during the manual needle insertion process is relatively high. The experience and technical level of doctors directly affect the success rate of the surgery and the safety of patients. Moreover, the fundus conditions are relatively complex, resulting in great operation uncertainty. Therefore, how to improve the accuracy of retinal injection has become a technical problem that cannot be underestimated.

[0049] Based on this, the embodiments of the present application provide a retinal needle insertion method, which completes the needle insertion and injection processes through a surgical robotic arm and a depth control motor, automatically adjusts the needle insertion depth, injection speed and dosage according to preset parameters, improves the accuracy of retinal injection, and reduces the operation difficulty of doctors.

[0050] Please refer to Figure 1 , Figure 1 which is a flowchart of a retinal needle insertion method provided by an embodiment of the present application. As shown in Figure 1 , the retinal needle insertion method provided by the embodiments of the present application includes:

[0051] 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.

[0052] In this step, according to 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.

[0053] In a possible implementation, determining the safe 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:

[0054] A: Based on the optical coherence tomography information, determine the thickness information of the retina to be injected.

[0055] Here, according to the optical coherence tomography information, determine the thickness information of the retina to be injected.

[0056] B: Determine the safe insertion depth as the product of the thickness information and a preset percentage.

[0057] Here, the preset percentage is 2 / 3, and the safe insertion depth for semi-automatic injection is 2 / 3 of the retina thickness H, ensuring that the needle tip enters the retina to a certain effective depth without piercing the retina.

[0058] Among them, through OCT scanning, doctors can evaluate the local thickness of the retina, calculate the distance from the eye surface to the retina layer, and determine the safe insertion depth in combination with anatomical information to avoid penetrating the retina or damaging the choroid. At the same time, OCT can help locate the macula or the peripheral avascular area as an ideal injection point to avoid blood vessels and reduce the risk of complications. Based on this information, doctors can formulate personalized surgical plans to ensure that the injection depth is sufficient to accurately deliver the drug to the target area without damaging important intraocular structures, improving the safety and effectiveness of the surgery.

[0059] S102: Determine the first retraction depth of the depth control motor of the surgical robotic arm before needle insertion based on the injection speed of the surgical robotic arm.

[0060] In this step, determine the first retraction depth of the depth control motor of the surgical robotic arm before needle insertion according to the injection speed of the surgical robotic arm.

[0061] Among them, the depth control motor is connected to the syringe.

[0062] In a possible implementation, the first retraction depth is determined by the following formula:

[0063] V² = 2aS

[0064] Where V is the injection speed, a is the acceleration of the surgical robotic arm, and S is the first retraction depth.

[0065] Here, the injection speed and acceleration are preset.

[0066] S103: Control the depth control motor to perform needle insertion operation along the current injection angle according to the safe insertion depth, the first retraction depth, and the second retraction depth.

[0067] In this step, the depth control motor performs a needle insertion operation along the current injection angle according to the safe needle insertion depth, the first needle retraction depth, and the second needle retraction depth.

[0068] Among them, the second needle retraction depth can be determined according to OCT scanning.

[0069] Among them, the current injection angle is predetermined, and existing technical means can be used to determine the current injection angle, which will not be elaborated here.

[0070] 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 retraction depth, and the second needle retraction depth includes:

[0071] (1): Controlling the depth control motor to move backward by the first needle retraction depth along the current injection angle, and detecting whether the current position of the depth control motor is the first target position corresponding to the retraction to the first needle retraction depth.

[0072] Here, the depth control motor is controlled to move backward by the first needle retraction depth along the current injection angle, and it is detected whether the current position of the depth control motor is the first target position corresponding to the retraction to the first needle retraction depth.

[0073] Among them, moving backward by the first needle retraction depth is to move backward by the distance corresponding to the first needle retraction depth. For example, if the first needle retraction depth is 65 microns, the depth control motor moves backward by 65 microns along the current injection angle.

[0074] Here, a small needle retraction operation during the needle insertion process gives the needle insertion a gentle acceleration to ensure smooth needle insertion.

[0075] In a possible implementation manner, controlling the depth control motor to move backward by the first needle retraction depth along the current injection angle includes:

[0076] a: Determining the target movement steps of the depth control motor based on the first needle retraction depth and the step size of each movement of the depth control motor.

[0077] Here, the target movement steps of the depth control motor are determined according to the first needle retraction depth and the step size of each movement of the depth control motor.

[0078] Among them, the step size of each movement of the depth control motor is preset.

[0079] b: Switch the current state of the depth control motor to the moving state, control the depth control motor to move backward by the step length along the current injection angle, and detect whether the current position of the depth control motor is within the allowed error range after the depth control motor moves by the step length.

[0080] Here, switch the current state of the depth control motor to the moving state, control the depth control motor to move backward by the step length along the current injection angle, and detect whether the current position of the depth control motor is within the allowed error range after the depth control motor moves by the step length.

[0081] Among them, the error range is also preset.

[0082] Here, the states of the depth control motor include the moving state, the operating state, the calibration state, and the idle state, etc.

[0083] c: If not, correct the current position of the depth control motor, and control the depth control motor to perform the next step movement at the corrected position information; if so, control the depth control motor to perform the next step length movement until the number of movement steps of the depth control motor reaches the target number of movement steps and then stop moving.

[0084] Here, if not, correct the current position of the surgical robotic arm, and control the depth control motor to perform the next step movement at the corrected position information; if so, control the depth control motor to perform the next step length movement until the number of movement steps of the depth control motor reaches the target number of movement steps and then stop moving.

[0085] Among them, during the movement process, it does not reach the target position at one time, but uses the method of step-by-step movement. Each time, the movement direction and distance are calculated based on the current position and the target position. Move a small step each time, and the step length of the movement 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 moving one step each time, the system will perform sensor feedback correction to check whether the current position information is within the allowed error range. The correction can be based on multiple information sources such as visual sensors, position encoders, and force feedback. If the position deviation exceeds the tolerance range, the system will continue to adjust until the target position is reached.

[0086] In a possible implementation manner, after controlling the depth control motor to move backward by the step length along the current injection angle, the retinal needle insertion method further includes:

[0087] After performing the step length movement, control the depth control motor to wait for a second preset time interval and then perform the next step length movement.

[0088] Here, after each displacement, the system waits according to a 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 both the sensor data and the position are stable enough.

[0089] Among them, the second preset time interval can be 5S.

[0090] In a specific embodiment, key parameters such as step size, calibration interval, and tolerance are set. When a movement instruction is received, the surgical robotic arm switches to the "move" state and starts to perform the displacement operation. When the target position is reached or approached, it enters the "calibration" state and is calibrated through sensors. After calibration is completed, it enters the "operation" state to perform specific tasks. Each time, the movement direction and distance are calculated based on the current position and the target position, and one step size is moved each time. The step size of the movement is controlled by preset parameters. The step size is usually adjusted according to the accuracy requirements of the system to ensure that each step does not deviate too much. After moving one step size each time, the surgical robotic arm performs sensor feedback calibration to check whether the current position information is within the allowable error range. The calibration can be based on multiple information sources such as vision sensors, position encoders, and force feedback. If the position deviation exceeds the tolerance range, the surgical robotic arm will continue to adjust until the target position is reached. After each displacement, the system waits according to a 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 both the sensor data and the position are stable enough. During the interval, the system can determine again whether additional calibration actions are required or prepare for the next displacement. Before the target position is reached, the system will repeatedly perform step-by-step displacement and calibration to gradually approach the target. After each displacement, it is decided whether further calibration or movement is still required based on the sensor data. If the target position is close and the calibration is successful, the system enters the next operation process. When the robotic arm successfully reaches the target position and the calibration is completed, it enters the final operation state and performs the corresponding tasks. After the tasks are completed, the system will return to the "idle" state, waiting for new instructions or tasks. According to the task requirements, the system can continue to process the next operation or end the current task. After ending the task, the system can be reset or return to the initial state to prepare for the next round of operations. The multi-state judgment ensures smooth and accurate task switching of the system at each stage. The multi-step displacement operation reduces the error risk by small-step movement, improving the accuracy and safety of the operation. The interval and calibration during the displacement process are corrected multiple times to ensure the stability and reliability of the system during dynamic operations.

[0091] (2): If it is the first target position, control the depth control motor to move forward the safe needle insertion depth at the first target position, and detect whether the current position of the depth control motor is advanced to the second target distance corresponding to the safe needle insertion depth.

[0092] Here, if the position where the depth control motor is located is the first target position, then control the depth control motor to move forward by a safe needle insertion depth at the first target position, and detect whether the current position of the depth control motor is the second target distance corresponding to advancing to the safe needle insertion depth.

[0093] Among them, the implementation process of controlling the depth control motor to move forward by a safe needle insertion depth at the first target position is the same as the implementation process of controlling the depth control motor to move backward by the first needle withdrawal depth along the current injection angle described above, and this part will not be elaborated here.

[0094] (3): If it is the second target distance, then control the depth control motor to move backward by the second needle withdrawal depth at the second target position, and detect whether the current position of the depth control motor is the third target distance corresponding to retreating to the second needle withdrawal depth; if it is the third target distance, the needle insertion operation ends.

[0095] Here, if the position where the depth control motor is located is the second target distance, then control the depth control motor to move backward by the second needle withdrawal depth at the second target position, and detect whether the current position of the depth control motor is the third target distance corresponding to retreating to the second needle withdrawal depth; if it is the third target distance, the needle insertion operation ends.

[0096] Further, please refer to Figure 2 、 Figure 3 and Figure 4 , Figure 2 which is a schematic diagram of moving backward by the first needle withdrawal depth in a retinal needle insertion method provided by an embodiment of the present application; Figure 3 which is a schematic diagram of moving forward by a safe needle insertion depth during the retinal needle insertion process provided by an embodiment of the present application; Figure 4 which is a schematic diagram of moving backward by the second needle withdrawal depth during the retinal needle insertion process provided by an embodiment of the present application. As shown in Figure 2 control the depth control motor to retreat backward by 65 microns, as shown in Figure 3 control the depth control motor to move forward by 2500 microns at the position of retreating backward by 65 microns, as shown in Figure 4 ensure that after piercing the fundus of the eye, the microneedle retreats by 2000 microns but still remains in the fundus of the eye.

[0097] In this solution, the small-scale needle withdrawal operation during the needle insertion process gives the needle insertion a gentle acceleration to ensure smooth needle insertion, realizes the semi-automation of retinal injection, and the standardized process ensures the operation safety before each injection. At the same time, it reduces the operation difficulty of doctors and improves the safety and success rate of the surgery.

[0098] S104: After the needle insertion operation is completed, control the depth control motor to perform an injection operation on the injection dose based on the injection speed. After the injection is completed, control the depth control motor to withdraw from the retina to be injected after a first preset time interval.

[0099] In this step, after the needle insertion operation is completed, control the depth control motor to perform an injection operation on the injection dose according to the injection speed. After the injection is completed, control the depth control motor to withdraw from the retina to be injected after a first preset time interval.

[0100] Among them, the first preset time interval can be 4s.

[0101] In a specific embodiment, the surgical robotic arm moves the first needle withdrawal depth successively along the current angle, then inserts the needle to the safe needle insertion depth, and then retreats to the first needle withdrawal depth. After the depth control motor completes the movement of the retina 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 previous injection stroke. After the injection is completed, it pauses for 4 seconds to ensure that the drug effectively enters the retina. After the pause time ends, the depth control motor retreats the injection stroke to ensure that the drug in the eye is fully distributed. Control the depth control motor of the surgical robotic arm to slowly withdraw from the retina to ensure that the tip of the needle completely exits the bulging part after injection.

[0102] In a possible implementation manner, during the needle insertion operation and the injection operation, the retina needle insertion method further includes:

[0103] Visually display the injection speed, the safe needle insertion depth, the first needle withdrawal depth, the second needle withdrawal depth, and the injection dose on the interface.

[0104] In this solution, before each needle insertion, the thickness of the retina and the safe needle insertion depth of the injection site are determined according to the preoperative OCT (Optical Coherence Tomography) information. Precise control by the surgical robotic arm and the depth control motor enables fine-tuning before entering the retina, ensuring that the position and angle of the needle tip fully conform to the preoperative plan, greatly reducing the risks during the operation. The standardized operation process ensures the safety and consistency of each needle insertion, avoiding patient injuries caused by doctor operation errors. Moreover, other parameters such as the needle insertion depth, injection dose, and injection speed are visually displayed through the interface, enabling the doctor to grasp the surgical progress in real time and make adjustments according to the actual situation. The visual surgical parameters not only improve the transparency and controllability of the operation but also provide an important reference basis for the doctor, further ensuring the success rate of the operation and the safety of the patient.

[0105] A retinal needle insertion method provided by an embodiment of the present application. The retinal needle insertion method is applied to a surgical robotic arm. The retinal needle insertion method includes: determining a safe needle insertion depth at the injection point of the retina to be injected based on optical coherence tomography information of the retina to be injected; determining a first retraction depth of the depth control motor of the surgical robotic arm before needle insertion based on the injection speed of the surgical robotic 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 retraction depth, and a second retraction 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 after the injection is completed, controlling the depth control motor to withdraw from the retina to be injected after a first preset time interval. The needle insertion and injection processes are completed by the surgical robotic arm and the depth control motor, and the needle insertion depth, injection speed, and dose are automatically adjusted according to preset parameters, improving the accuracy of retinal injection and reducing the operation difficulty of doctors.

[0106] Please refer to Figure 5 、 Figure 6 , Figure 5 which is one of the structural schematic diagrams of a retinal needle insertion device provided by an embodiment of the present application. Figure 6 which is the second structural schematic diagram of a retinal needle insertion device provided by an embodiment of the present application. As Figure 5 shown in

[0107] The retinal needle insertion device 500 includes:

[0108] A needle insertion depth determination module 510, configured to determine a safe needle insertion depth at the injection point of the retina to be injected based on optical coherence tomography information of the retina to be injected;

[0109] A retraction depth determination module 520, configured to determine a first retraction depth of the depth control motor of the surgical robotic arm before needle insertion based on the injection speed of the surgical robotic arm;

[0110] A needle insertion processing module 530, configured 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 retraction depth, and a second retraction depth;

[0111] 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 retraction depth, and a second retraction depth, the needle insertion processing module 530 is specifically configured to:

[0112] Control the depth control motor to move the first needle retraction depth backward along the current injection angle, and detect whether the current position of the depth control motor is the first target position corresponding to the retraction to the first needle retraction depth;

[0113] If it is the first target position, control the depth control motor to move the safe needle insertion depth forward at the first target position, and detect whether the current position of the depth control motor is the second target distance corresponding to the advancement to the safe needle insertion depth;

[0114] If it is the second target distance, control the depth control motor to move the second needle retraction depth backward at the second target position, and detect whether the current position of the depth control motor is the third target distance corresponding to the retraction to the second needle retraction depth;

[0115] If it is the third target distance, the needle insertion operation ends.

[0116] Further, when the needle insertion processing module 530 is used to control the depth control motor to move the first needle retraction depth backward along the current injection angle, the needle insertion processing module 530 specifically is used for:

[0117] Determine the target movement steps of the depth control motor based on the first needle retraction depth and the step length of each movement of the depth control motor;

[0118] Switch the current state of the depth control motor to the moving state, control the depth control motor to move backward by the step length along the current injection angle, 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;

[0119] If not, correct the current position of the depth control motor, and control the depth control motor to perform the next step movement at the corrected position information;

[0120] If so, control the depth control motor to perform the next step movement until the movement steps of the depth control motor reach the target movement steps and then stop moving.

[0121] Further, as Figure 6 shown, the retinal needle insertion device 500 further includes a display module 550, and the display module 550 is used for

[0122] After performing the step movement, control the depth control motor to wait for a second preset time interval and then perform the next step movement.

[0123] 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 configured to:

[0124] Based on the optical coherence tomography information, determine the thickness information of the retina to be injected;

[0125] Multiply the thickness information by a preset percentage to determine the safe needle insertion depth.

[0126] Further, the needle retraction depth determination module 520 determines the first needle retraction depth through the following formula:

[0127] V² = 2aS

[0128] where V is the injection speed, a is the acceleration of the surgical robotic arm, and S is the first needle retraction depth.

[0129] A retina needle insertion device provided by an embodiment of the present application, the retina needle insertion device includes: a needle insertion depth determination module, configured 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 retraction depth determination module, configured to determine the first needle retraction depth of the depth control motor of the surgical robotic arm before needle insertion based on the injection speed of the surgical robotic arm; a needle insertion processing module, configured 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 retraction depth, and the second needle retraction depth; an injection processing module, configured to, after the needle insertion operation is completed, control the depth control motor to perform an injection operation on the injection dose based on the injection speed, and after the injection is completed, control the depth control motor to withdraw from the retina to be injected after a first preset time interval. The needle insertion and injection processes are completed by the surgical robotic arm and the depth control motor, and the needle insertion depth, injection speed, and dose are automatically adjusted according to preset parameters, improving the accuracy of retina injection and reducing the operation difficulty of doctors.

[0130] Please refer to Figure 7 , Figure 7 which is a schematic structural diagram of an electronic device provided by an embodiment of the present application. As Figure 7 shown in, the electronic device 700 includes a processor 710, a memory 720, and a bus 730.

[0131] The memory 720 stores machine-readable instructions executable by the processor 710. When the electronic device 700 runs, the processor 710 communicates with the memory 720 through the bus 730. When the machine-readable instructions are executed by the processor 710, they can execute as described above Figure 1The steps of the retinal needle insertion method in the illustrated method embodiment can be specifically implemented with reference to the method embodiment and will not be elaborated here.

[0132] The embodiments of the present application also provide a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, it can execute the steps of the retinal needle insertion method in the method embodiment as described above Figure 1 The steps of the retinal needle insertion method in the illustrated method embodiment can be specifically implemented with reference to the method embodiment and will not be elaborated here.

[0133] 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 foregoing method embodiments and will not be elaborated here.

[0134] In several embodiments provided by 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 illustrative. For example, the division of the units is only a logical function division, and there can be other division methods in actual implementation. For another 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 displayed or discussed couplings or direct couplings or communication connections to each other can be through some communication interfaces. The indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0135] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0136] In addition, in each embodiment of the present application, the functional units can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.

[0137] When the above-mentioned 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 executable by a processor. Based on such an understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs that can store program codes.

[0138] Finally, it should be noted that the above-mentioned embodiments are only specific implementation manners of this application, used to illustrate the technical solutions of this application, rather than limiting them. The protection scope of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: any person skilled in the art within the technical scope disclosed in this application can still modify the technical solutions recorded in the foregoing embodiments, or can easily think of changes, or perform equivalent replacements on some of the technical features; 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 this application, and should all be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

1. 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; A needle withdrawal 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 control the depth control motor to withdraw from the retina to be injected after a first preset time interval after the injection is completed; When the needle insertion processing module 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 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, control the depth control motor to move backward to the second needle withdrawal depth at the position corresponding to the second target distance, 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; When the needle insertion processing module 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 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.

2. The retinal needle insertion device according to claim 1, characterized in that: The needle handling module is also used for: 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.

3. The retinal needle insertion device according to claim 1, characterized in that: When the needle insertion depth determination module determines 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: 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.

4. The retinal needle insertion device according to claim 1, characterized in that: The needle withdrawal depth determination module 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.

5. The retinal needle insertion device according to claim 1, characterized in that: The retinal needle insertion device also includes a display module, which is used to: 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.

Images