Force and position mixed sensing and control system and method for cataract ophthalmologic operation

Abstract

The invention relates to a force and position mixed sensing and control system and method for cataract ophthalmologic surgery. The method comprises the steps that a first adjusting parameter is calculated according to position and posture change data, collected by a position and posture collecting module, of an eyeball position and posture at the first moment; acquiring an actually measured contact force at a first moment acquired by a force sensor; acquiring puncture depth data of the surgical instrument at a first moment based on a pose acquisition module; inputting the puncture depth data into a preset puncture force model to obtain a predicted contact force; operating parameters of an admittance controller are adjusted according to the force error value of the actually measured contact force and the predicted contact force; outputting a second adjustment parameter based on the admittance controller according to the actually measured contact force; and inputting the initial operation instruction, the first adjustment parameter and the second adjustment parameter into a preset instruction adjustment model to generate a target operation instruction at a second moment. The ophthalmic surgical robot can adapt to diversified surgical scenes with high precision and low interference, and meanwhile, the operation accuracy and smoothness of the ophthalmic surgical robot and the safety of the ophthalmic surgery are considered.

Description

Technical Field

[0001] The present invention relates to the medical field, and in particular to a force-position hybrid sensing and control system and method that can be used for cataract ophthalmology surgery. Background Art

[0002] Cataract is one of the most common blinding eye diseases in the world, and with the aging population, the demand for ophthalmic surgery is also increasing. Ophthalmic surgeries such as cataracts belong to the category of highly delicate microsurgery, which requires doctors to perform extremely precise operations under a microscope to ensure the success rate of the operation and the safety of the patient. However, traditional manual operations have many limitations, such as imprecise control of operating force and low repeatability, so ophthalmic surgical robots are gradually becoming an important auxiliary tool for complex surgical operations.

[0003] At present, the common problems of ophthalmic surgical robot measurement and control technology mainly include inaccurate end position positioning and difficulty for doctors or surgical instrument systems to perceive tiny forces. First, factors such as processing and manufacturing, assembly clearance, joint wear, and connecting rod deformation can cause deviations between the theoretical position and actual position of the surgical robot end. The calibration algorithm can compensate for the position system error to a certain extent. However, in actual applications, due to the complexity of the robot system, environmental interference and other factors, random errors are difficult to completely eliminate. The inaccurate end position positioning may affect the flexibility of the operation and the success rate of the operation. Secondly, the perception of force in ophthalmic surgery is very important for the quality and safety of the operation. For example, key steps such as incision and capsulotomy in cataract surgery generate interaction forces between the instrument and the eye tissue, but these forces are very weak (generally only 70-80μN). Inaccurate perception by doctors or surgical instrument systems may lead to excessive force and damage to fragile intraocular structures.

[0004] As a result, existing ophthalmic surgical robots are unable to cope with complex and changeable surgical operations, are unable to meet the dual requirements of safety and precision, and often find it difficult to achieve ideal operational accuracy, stability, and safety. Summary of the invention

[0005] The main purpose of the present invention is to provide a force-position hybrid sensing and control system and method that can be used for cataract ophthalmic surgery. In order to solve the above-mentioned technical problems, the present invention specifically adopts the following technical solutions:

[0006] The first aspect of the present invention is to provide a force-position hybrid perception and control method that can be used for cataract ophthalmic surgery. The cataract ophthalmic surgery robot is provided with a posture acquisition module and a force sensor. The force sensor is used to collect the contact force exerted on the surgical instrument of the cataract ophthalmic surgery robot. The method comprises:

[0007] S101 obtains the eyeball posture collected by the posture collection module, and calculates a first adjustment parameter according to the posture change data of the eyeball posture at the first moment;

[0008] S102 obtains the actual contact force collected by the force sensor at the first moment;

[0009] S103: acquiring the puncture depth data of the surgical instrument at the first moment based on the posture acquisition module; inputting the puncture depth data into a preset puncture force model to obtain a predicted contact force; and adjusting the operating parameters of the admittance controller according to the force error value between the measured contact force and the predicted contact force;

[0010] S104 outputs a second adjustment parameter based on the measured contact force based on the admittance controller;

[0011] S105 obtains the initial surgical instruction at the second moment, and inputs the initial surgical instruction, the first adjustment parameter, and the second adjustment parameter into a preset instruction adjustment model to generate a target surgical instruction at the second moment, wherein the first moment is earlier than the second moment.

[0012] In some embodiments, the predicted contact force includes a predicted contact force at a first moment, the force error value includes a current force error value, and S103 includes: based on the preset puncture force model, predicting the predicted contact force at the first moment according to the puncture depth data; comparing the measured contact force at the first moment with the predicted contact force at the first moment to obtain the current force error value at the first moment; when the current force error value is greater than a first threshold, adjusting the damping coefficient according to the current force error value based on a preset impedance parameter model, and the damping coefficient is greater than the first damping threshold.

[0013] In some embodiments, the predicted contact force includes a predicted contact force at a second moment, the force error value includes a sudden force error value, and S103 further includes: predicting the predicted contact force at the second moment according to the puncture depth data based on the preset puncture force model; comparing the measured contact force at the first moment with the predicted contact force at the second moment to obtain the sudden force error value between the first moment and the second moment; when the sudden force error value is greater than a second threshold or when the sudden force error value is less than a third threshold, adjusting the operating parameters of the admittance controller according to the sudden force error value.

[0014] In some embodiments, the operating parameters of the admittance controller include a damping coefficient, and when the sudden force error value is greater than a second threshold or when the sudden force error value is less than a third threshold, the operating parameters of the admittance controller are adjusted according to the sudden force error value, including: when the sudden force error value is greater than the second threshold, adjusting the damping coefficient according to the sudden force error value based on a preset impedance parameter model, and the damping coefficient is greater than the second damping threshold; when the sudden force error value is less than the third threshold, adjusting the damping coefficient according to the sudden force error value based on the preset impedance parameter model, and the damping coefficient is less than the third damping threshold; wherein the second damping threshold is greater than the third damping threshold.

[0015] In some embodiments, the penetration depth data includes an insertion amount of a surgical instrument and / or an amount of deformation of the eye tissue.

[0016] In some embodiments, the posture acquisition module includes a visual module, a position encoder at the end of the surgical instrument, and a grating sensor, and S103 includes: acquiring the surgical image acquired by the visual module in real time, and determining the first puncture depth data according to the surgical image; reading the position data acquired by the grating sensor in real time, and determining the second puncture depth data according to the position data; reading the movement data acquired by the encoder in real time, and determining the third puncture depth data according to the movement data; processing the first puncture depth data, the second puncture depth data, and the third puncture depth data based on a preset filtering fusion processing algorithm to obtain the puncture depth data.

[0017] In some embodiments, S105 includes: determining the weight coefficient between the first adjustment parameter and the second adjustment parameter according to a preset weight rule and the measured contact force; updating the weight parameter of the preset instruction adjustment model according to the weight coefficient; and inputting the initial surgical instruction, the first adjustment parameter and the second adjustment parameter into the updated preset instruction adjustment model to generate a target surgical instruction.

[0018] In some embodiments, the weight coefficient includes a posture weight coefficient of the first adjustment parameter and a force weight coefficient of the second adjustment parameter; S105 also includes: comparing the first adjustment parameter with a first abnormal value of a limiting parameter threshold, and comparing the second adjustment parameter with a second abnormal value of a limiting parameter threshold; when the first abnormal value is greater than a preset abnormal threshold, adjusting the posture weight coefficient to a zero value; when the second abnormal value is greater than the preset abnormal threshold, adjusting the force weight coefficient to a zero value.

[0019] In some embodiments, S105 also includes: when the first abnormal value is greater than the preset abnormal threshold and the second abnormal value is greater than the preset abnormal threshold, comparing the parameter difference value between the first adjustment parameter and the second adjustment parameter; when the parameter difference value is less than the preset difference value, setting the weight coefficient so that the posture weight coefficient is less than the force weight coefficient; when the parameter difference value is greater than the preset difference value, generating a surgical instruction abnormality reminder.

[0020] The second aspect of the present invention is to provide a force-position hybrid sensing and control system that can be used for cataract ophthalmic surgery, characterized in that the system comprises:

[0021] A main operator, used to collect a first surgical control instruction, where the first surgical instruction is used to generate an initial surgical instruction;

[0022] A slave operator, used to perform surgical operations according to target surgical control instructions, the slave operator is provided with a posture acquisition module and a force sensor, and a surgical instrument is also provided at the end of the slave operator, and the force sensor is used to collect the contact force exerted on the surgical instrument;

[0023] A processor is used to execute a computer program and implement a force-position mixed sensing and control method that can be used for cataract ophthalmic surgery as provided in any embodiment of the present invention when executing the computer program.

[0024] Beneficial technical effects:

[0025] The present invention provides a force-position hybrid perception and control method that can be used for cataract ophthalmic surgery. Specifically, it provides a surgical instruction optimization strategy for force-position hybrid perception and force-position fusion control applied to an ophthalmic surgical robot. The method can adapt to complex and diverse surgical scenarios with high precision and low interference, while taking into account the accuracy and smoothness of the ophthalmic surgical robot's operation and the safety of ophthalmic surgery.

[0026] The first position-based adjustment parameter is determined by the eyeball posture, which is used to adaptively adjust the initial surgical instructions according to the dynamic changes of the eyeball; the second force-based adjustment parameter is determined by the measured contact force and admittance controller, which is used to adjust the initial surgical instructions according to the force feedback of the eye tissue on the surgical instrument. In this way, the initial surgical instructions are adaptively adjusted from the two perspectives of force and position, and the target surgical instructions that are highly adapted to the current actual surgical scene are obtained, so as to realize force-position hybrid perception and force-position fusion control, dynamically adapt to various surgical scenes, and improve the accuracy and safety of ophthalmic surgical robot operation.

[0027] In this process, the puncture depth is also determined by the position change of the eye tissue or surgical instrument at the surgical site, and then the predicted contact force output by the puncture force model is obtained according to the puncture depth, and then the force error between the measured contact force based on force perception and the predicted contact force based on position perception is compared, and then the parameters of the admittance controller are adaptively adjusted according to the force error to improve the accuracy of the output second adjustment parameter, and then the response speed of the slave operator is optimized in real time to maintain good response characteristics. It should be understood that optimizing the parameters of the admittance controller through force-position hybrid perception can ensure that the needle tip can maintain stable force contact while avoiding damage to the fragile eyeball tissue during the process of entering the tissue.

[0028] Specifically, the operating parameters of the admittance controller are adjusted according to the current force error between the measured contact force and the predicted contact force at the same moment, and the output second adjustment parameter is optimized by adjusting the operating parameters, and then the movement speed, acceleration, position and other parameters of the surgical instruction at the next moment are adjusted, so as to eliminate the current force error as much as possible in the execution of the surgical instruction at the next moment, make the measured contact force tend to the normal contact force range, reduce the accumulation of force errors during the puncture process, and avoid excessive or insufficient force due to external interference or changes in tissue hardness, thereby improving the safety and accuracy of the operation.

[0029] Furthermore, the operating parameters of the admittance controller are adjusted according to the sudden force error between the measured contact force and the predicted contact force at different times to identify and respond to the impending force mutation. The second adjustment parameter of the output is optimized by adjusting the operating parameters, and then the movement speed, acceleration, position and other parameters of the surgical instructions at the next moment are adjusted in advance to avoid interference with the operation due to sudden torque changes, thereby improving the safety and accuracy of the operation.

[0030] Furthermore, the present invention also provides a hybrid control mechanism for dynamically updating force-position weights. The force value of the measured contact force can distinguish different surgical stages. The weight coefficient between the first adjustment parameter and the second adjustment parameter is dynamically adjusted according to the force value of the measured contact force, so that the current weight coefficient is highly adapted to different surgical stages, thereby obtaining more accurate target surgical instructions.

[0031] Furthermore, an adaptive weight adjustment strategy is provided for abnormal adjustment parameters. When any adjustment parameter is abnormal, the initial surgical instruction is adjusted completely based on another normal adjustment parameter to eliminate the interference of the abnormal adjustment parameter. When both the first adjustment parameter and the second adjustment parameter are abnormal, if the difference between the two parameters is small, the credibility of the abnormal adjustment parameter is higher, and the adjustment of the initial surgical instruction is dominated by the second adjustment parameter with higher reliability. In this way, it can dynamically adapt to various surgical scenarios, and improve the continuity and fluency of the surgical process on the basis of ensuring the safety and accuracy of the surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual scale. Obviously, the drawings described below are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without paying creative labor.

[0033] Figure 1 is a schematic flow chart of a force-position hybrid sensing and control method that can be used in cataract ophthalmic surgery provided by an embodiment of the present invention;

[0034] Figure 2 is a schematic flow chart of another force-position hybrid sensing and control method that can be used in cataract ophthalmic surgery provided by an embodiment of the present invention;

[0035] Figure 3 It is a schematic block diagram of a force-position hybrid sensing and control system that can be used for cataract ophthalmic surgery provided by an embodiment of the present invention;

[0036] Figure 4 is a schematic block diagram of a master-slave control system that can be used for cataract ophthalmic surgery provided by an embodiment of the present invention;

[0037] Figure 5 is a schematic flow chart of a master-slave control method that can be used for cataract ophthalmic surgery provided by an embodiment of the present invention;

[0038] Figure 6 is a schematic diagram of a surgical stage provided by an embodiment of the present invention;

[0039] Figure 7 is a schematic diagram of a communication network between a control master station and a device slave station provided in an embodiment of the present invention;

[0040] Figure 8 This is a schematic flow chart of another master-slave control method that can be used for cataract ophthalmic surgery provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0042] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0043] Herein, suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present invention, and have no specific meanings by themselves. Therefore, "module", "component" or "unit" can be used mixedly.

[0044] In this document, the terms "upper", "lower", "inner", "outer", "front", "back", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0045] In this document, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] Herein "and / or" includes any and all combinations of one or more of the associated listed items.

[0047] Herein, "plurality" means two or more than two, ie, it includes two, three, four, five, etc.

[0048] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0049] With the changes in lifestyle (such as prolonged use of electronic screens) and the increasing aging of the global population, the incidence of various eye diseases has increased significantly, resulting in a continued increase in demand for different types of eye surgeries. For example, among young people, refractive error correction surgery is becoming more and more popular because it can significantly improve the quality of life; for example, the demand for cataract surgery and glaucoma treatment for the elderly also remains high. In particular, cataracts, as one of the most common blinding eye diseases in the world, have a sharp increase in incidence in an aging society, further driving the growth in demand for ophthalmic surgical services. On this basis, due to the uneven distribution of medical resources, especially in remote areas, many patients have difficulty obtaining high-quality ophthalmic medical services, which further stimulates the demand for remote ophthalmic surgical medical services.

[0050] In addition to the above-mentioned cataract surgery, glaucoma surgery, and refractive error correction surgery, common eye surgeries also include retinal detachment repair surgery, vitrectomy, macular degeneration-related surgery, strabismus correction surgery, tear duct obstruction surgery, eyelid and periorbital area surgery, etc. Ophthalmic surgery can be roughly divided into two categories based on the surgical site: anterior segment (front segment) surgery and posterior segment (posterior segment) surgery. Anterior segment surgery usually refers to operations on the front structure of the eye (such as the cornea, iris, lens, etc.). For example, cataract surgery is anterior segment surgery. Posterior segment surgery mainly targets the back part of the eye (such as the retina, choroid, vitreous, etc.).

[0051] During ophthalmic surgery, doctors need to frequently and accurately position surgical instruments to ensure the safety and effectiveness of the surgery. However, traditional manual operation methods have certain limitations: on the one hand, the doctor's experience level, fatigue level, and physiological limitations may affect the continuous high precision required during the operation; on the other hand, natural hand tremors and other minor movements caused by tension or fatigue during long operations may have an adverse effect on the results of the operation. In addition, considering the objective surgical environment of the complex structure of the eye, the small space, and the fragile eye tissue, the operating environment of ophthalmic surgery is extremely sensitive. Any slight operating error may lead to serious consequences, so extremely high precision and accuracy are required.

[0052] It is based on the above user needs and strict requirements for surgical accuracy that the trend of transitioning from traditional manual surgery to the use of ophthalmic surgical robot-assisted mode has been promoted. At present, there are mainly two types of ophthalmic surgical robot systems on the market: collaborative and master-slave. Taking the master-slave ophthalmic surgical robot system (hereinafter referred to as the master-slave control system) as an example, the master-slave device in the system includes a master operator and a slave operator. The doctor controls the equipment of the master operator to remotely or closely control the ophthalmic surgical robot as a slave operator to perform surgical operations. The end of the slave operator is equipped with surgical instruments, such as puncture needles, microscalpels, microhooks, microtweezers, etc., which are used in ophthalmic surgery, so as to achieve delicate operations on the patient's body. The core of the master-slave control system lies in the collaborative work between the master hand and the slave hand.

[0053] The introduction of ophthalmic surgical robots can theoretically improve the success rate of surgery to a certain extent, reduce the risks caused by human factors, and provide remote control and other methods to solve the problem of insufficient medical resources in some areas, providing high-quality ophthalmic treatment services for more patients. However, the existing master-slave control system or ophthalmic surgical robot is still insufficient in dealing with complex surgical environments and remote surgery.

[0054] On the one hand, in practical applications, due to the complexity of the robot system, environmental interference and other factors, random errors are difficult to completely eliminate, and it is often difficult to achieve ideal operating accuracy and stability, and it is impossible to meet the dual requirements of safety and accuracy. For example, during the movement of the robot, factors such as processing and manufacturing, assembly clearance, joint wear, and connecting rod deformation may affect the accuracy of various data measurements. For example, inaccurate force feedback perception by doctors or master-slave control systems may lead to excessive force and damage to fragile intraocular structures.

[0055] On the other hand, although robot-assisted surgery can improve precision, if there are errors in the surgical instructions of the master operator in the master-slave control system or delays in the transmission of surgical signals, it will directly affect the positioning accuracy of the slave operator, and thus affect the real-time and stability of the master-slave control, reduce the efficiency and accuracy of the collaborative work between the master and slave hands, reduce the overall effect of the operation, and further increase the difficulty and risk of the operation.

[0056] Therefore, the present invention provides a surgical instruction optimization strategy for force-position hybrid perception and force-position fusion control applied to ophthalmic surgical robots, which can be highly adaptable to complex and diverse surgical scenarios, while taking into account the accuracy and fluency of ophthalmic surgical robot operations and the safety of ophthalmic surgery. On this basis, a highly real-time and highly secure surgical instruction transmission and response mechanism applied to a master-slave ophthalmic surgical robot system is also provided to improve the speed and accuracy of the slave operator's execution of surgical instructions and reduce the information delay between the master and slave devices.

[0057] An embodiment of the present invention provides a force-position hybrid sensing and control method that can be used for cataract ophthalmic surgery. The cataract ophthalmic surgery robot is provided with a posture acquisition module and a force sensor, and the force sensor is used to collect the contact force exerted on the surgical instruments of the cataract ophthalmic surgery robot.

[0058] Among them, the posture acquisition module may include at least one visual module device, various sensors, encoders of ophthalmic surgical robots, etc., such as binocular cameras, infrared sensors, grating sensors, encoders of the end positions of surgical instruments, etc., and can fuse and process multiple data collected by the posture acquisition module to determine high-precision eyeball posture, insertion amount of surgical instruments, and deformation amount of eye tissue, and then determine high-precision puncture depth data based on the insertion amount of surgical instruments and / or the deformation amount of eye tissue.

[0059] The force sensor is used to monitor the force applied by the eye tissue on the surgical instrument. It can be set at the end of the surgical instrument, or flexibly set at a position that can accurately collect the force feedback of the eye tissue on the surgical instrument according to the structure of the surgical instrument used. The force sensor can be a strain gauge force sensor, a piezoelectric force sensor, etc., which is not limited here.

[0060] The surgical instruments of the cataract ophthalmic surgical robot can be instruments used in ophthalmic surgery, such as puncture needles, microsurgical knives, microhook, microtweezers, etc., which are not limited here. In the following embodiments, the puncture needle is taken as an example to illustrate the surgical instruction optimization strategy of force-position hybrid perception and force-position fusion control.

[0061] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. The following embodiments and features of the embodiments can be combined with each other without conflict. Figure 1 to Figure 2 , Figure 1 is a schematic flow chart of a force-position hybrid sensing and control method that can be used for cataract ophthalmic surgery provided by an embodiment of the present invention. Figure 2 FIG. 1 is a schematic flow chart of another method for mixed force and position sensing and control that can be used for cataract surgery provided by an embodiment of the present invention. Figure 1 As shown, the method includes steps S101 to S105.

[0062] S101 obtains the eyeball posture collected by the posture collection module, and calculates a first adjustment parameter according to the posture change data of the eyeball posture at a first moment.

[0063] Exemplarily, taking the visual module as a binocular camera, the eye image captured by the binocular camera is used to analyze the biometric information of the human iris and pupil, and the eye posture is obtained through processing and analysis, thereby identifying the displacement or rotation changes that may occur in the eye during the operation, but when the rotation of the eye is detected, the pitch and deflection angle that the surgical instrument needs to adjust is calculated as the first adjustment parameter based on the rotational displacement.

[0064] It should be understood that during ophthalmic surgery, the patient may experience slight body tremors due to tension, fatigue or physiological reactions (such as small vibrations caused by heartbeats), which may be transmitted to the head and eyes. In addition, even under local anesthesia, the patient's eyeballs may move slightly unconsciously due to natural reflexes, muscle tension or other factors. The unconscious movement of the patient's eyeballs or the patient's slight tremors will cause the positioning accuracy of the surgical instruments to decrease, which may cause the surgical operation to deviate from the target area and increase the risk of the operation. In order to ensure the accuracy of the surgical operation, when the eyeball undergoes dynamic changes, the position of the surgical instrument needs to be adjusted accordingly. Therefore, when it is detected that the eyeball posture changes at the first moment, the corresponding posture change data is obtained and the corresponding first adjustment parameter is calculated. At the second moment after the first moment, the small deviation caused by the eyeball movement is quickly corrected according to the first adjustment parameter, so as to improve the accuracy of the terminal position positioning and reduce the interference of the patient's eye micro-movement during the operation on the operation.

[0065] S102 obtains the actual contact force collected by the force sensor at the first moment.

[0066] Specifically, the force sensor is installed at the end of the surgical instrument, which can accurately sense the tiny force between the surgical instrument and the eye tissue, that is, the measured contact force. In key steps such as tearing the capsulotomy and making incisions, the contact force collected by the force sensor allows doctors or ophthalmic surgical robots to dynamically adjust the operating force to avoid excessive force that may cause damage to the eye tissue.

[0067] S103 obtains the puncture depth data of the surgical instrument at the first moment based on the posture acquisition module; inputs the puncture depth data into a preset puncture force model to obtain a predicted contact force; and adjusts the operating parameters of the admittance controller according to the force error value between the measured contact force and the predicted contact force.

[0068] The puncture depth data is used to reflect the depth of the surgical instrument puncturing into the eyeball, which can be determined by ultrasonic imaging and mechanical limit structures related to the surgical instrument. Exemplarily, the puncture depth data can be the insertion amount of the surgical instrument and / or the deformation amount of the eye tissue. The insertion amount of the surgical instrument refers to the displacement or depth of the surgical instrument inserted into the eye tissue, and the deformation amount of the eye tissue refers to the deformation of the eye tissue caused by the insertion of the surgical instrument into the eye tissue.

[0069] The preset puncture force model is established based on experimental and theoretical models, and can output the contact force at the puncture depth based on the puncture depth data. Specifically, the puncture force model can be selected according to the type of surgery performed, for example, in cataract surgery, a puncture force model for the cataract surgery capsule removal process can be selected.

[0070] Among them, admittance control is a strategy for robot control. It detects the interaction force between the end of the robot and the environment through force sensors, and adjusts the position and movement of the robot according to these forces. That is, it uses force feedback to adjust the movement of the robot so that it can show response characteristics similar to those of a spring-damper system. For details, please refer to the relevant technology. The parameters of the admittance controller can include damping parameters, stiffness parameters, and mass parameters. By adjusting the parameters of the admittance controller, the dynamic characteristics of the robot can be changed to adapt to different surgical scenarios.

[0071] For example, in cataract surgery, the surgical instrument is a puncture needle, and the puncture depth data is the actual needle displacement of the puncture needle (i.e., the insertion amount of the surgical instrument) and / or the deformation displacement of the eye tissue (i.e., the deformation amount of the eye tissue). The actual needle displacement and / or the deformation displacement of the eye tissue are then used as inputs of the puncture force model to generate a predicted value of the contact force, i.e., the predicted contact force. It should be understood that the predicted contact force is determined based on the position movement, achieving highly effective force-position hybrid perception.

[0072] Furthermore, the force error value between the measured contact force based on force perception and the predicted contact force based on position perception is compared, and the parameters of the admittance controller are adaptively adjusted according to the force error. The response speed of the slave operator is optimized in real time to maintain good response characteristics, further improving the accuracy of the second adjustment parameter output by the admittance controller, thereby achieving highly effective force-position hybrid control.

[0073] In some embodiments, the posture acquisition module includes a visual module, a position encoder at the end of the surgical instrument, and a grating sensor, and S103 includes: acquiring the surgical image acquired by the visual module in real time, and determining the first puncture depth data according to the surgical image; reading the position data acquired by the grating sensor in real time, and determining the second puncture depth data according to the position data; reading the movement data acquired by the encoder in real time, and determining the third puncture depth data according to the movement data; processing the first puncture depth data, the second puncture depth data, and the third puncture depth data based on a preset filtering fusion processing algorithm to obtain the puncture depth data.

[0074] Specifically, first, a high-definition image of the surgical area is acquired in real time through a visual module installed on the ophthalmic surgical robot. Using advanced image processing technology, key information is extracted from these images to calculate the first puncture depth data, such as the first insertion amount of the surgical instrument and / or the deformation amount of the eye tissue. At the same time, the ophthalmic surgical robot is also equipped with a high-precision grating sensor for monitoring the actual position change of the surgical instrument. By parsing the position signal output by the grating sensor, the second puncture depth data, such as the second insertion amount of the surgical instrument, can be obtained. In addition, the encoder is used to track the specific movement distance of the end of the surgical instrument relative to the starting position, and based on the movement data provided by the encoder, the third puncture depth data, such as the third insertion amount of the surgical instrument, is accurately determined.

[0075] Finally, the puncture depth data obtained from the above three sources (vision module, grating sensor, encoder) are input into the preset filtering fusion processing algorithm. This algorithm is pre-trained and generated, taking into account the characteristics and weights of different data sources, effectively removing noise interference, and improving the reliability and accuracy of the final result, thereby outputting a more accurate and stable puncture depth data, and enhancing the accuracy of depth measurement. Furthermore, the accuracy of end position measurement is improved through the fusion positioning of the vision module, grating sensor, and encoder, and the accuracy of end position positioning is improved.

[0076] S104 outputs a second adjustment parameter based on the measured contact force based on the admittance controller.

[0077] Specifically, when the contact force is detected during the operation, the admittance controller is started, and the measured contact force is input into the admittance controller to generate the expected position of the current force feedback, that is, the second adjustment parameter, and the initial surgical instructions are adjusted according to the force feedback of the eye tissue to the surgical instrument.

[0078] It should be understood that the eye tissue has nonlinear viscoelastic properties (i.e., it has both viscous and elastic properties), which makes the eye tissue exhibit complex mechanical behavior when subjected to external forces during ophthalmic surgery. It is necessary to adaptively adjust the execution of the surgical instructions according to the measured contact force at the first moment, so that at the second moment after the first moment, the surgical operation of the surgical robot is flexibly controlled according to the second adjustment parameter, ensuring that the needle tip can maintain stable force contact during the process of entering the tissue and avoid damaging the fragile eyeball tissue.

[0079] S105 obtains the initial surgical instruction at the second moment, and inputs the initial surgical instruction, the first adjustment parameter, and the second adjustment parameter into a preset instruction adjustment model to generate a target surgical instruction at the second moment, wherein the first moment is earlier than the second moment.

[0080] The initial surgical instruction includes parameters such as the position, speed, acceleration, force, pitch angle, etc. of the surgical instrument, which are not limited here. The initial surgical instruction can be an autonomous surgical instruction generated by the ophthalmic surgical robot based on a preset surgical algorithm, or it can be the first surgical instruction collected by the main operator from the doctor.

[0081] It should be understood that the first surgical instruction is for the master-slave scenario corresponding to the master-slave control system. The autonomous surgical instruction is for the fully automated surgical scenario. The ophthalmic surgical robot can autonomously plan the surgical path and steps based on one or more pre-programmed surgical algorithms. These algorithms contain information such as standard processing procedures for different eye diseases and safety parameter settings. The ophthalmic surgical robot can autonomously generate autonomous surgical instructions that match the current surgical process for specific situations.

[0082] Among them, the preset instruction adjustment model is a mathematical model or algorithm that is pre-trained based on various surgical scenarios, surgical experimental data and clinical experience. It is used to comprehensively consider the first adjustment parameter and the second adjustment parameter to adjust the initial surgical instruction and generate a new target surgical instruction.

[0083] For example, the initial surgical instructions may include: initial position p0, initial speed v0, initial acceleration a0; the first adjustment parameters may include: first position adjustment amount Δp1, first speed adjustment amount Δv1, first acceleration adjustment amount Δa1; the second adjustment parameters may include: second position adjustment amount Δp2, second speed adjustment amount Δv2, second acceleration adjustment amount Δa2.

[0084] The target surgical instructions may include: target position p target 、Target speed v target 、Target acceleration a target . This can be achieved through the formula: target =p0+Δp1+Δp2; v target =v0+Δv1+Δv2; a target =a0+Δa1+Δa2, and then the preset instruction adjustment model can dynamically adjust the surgical instructions to adapt to the viscoelastic properties of eye tissue and changes in eyeball posture, thereby improving the safety and accuracy of the operation.

[0085] It should be understood that the first adjustment parameter is generated based on the eyeball posture, and may only include the first position adjustment amount Δp1, and the second adjustment parameter is generated based on the admittance controller, and may only include the second speed adjustment amount Δv2 and the second acceleration adjustment amount Δa2. On this basis, the calculation formula can be adjusted accordingly. Correspondingly, the first adjustment parameter may also include the first speed adjustment amount and the first acceleration adjustment amount to adapt to the changes in the eyeball posture and reduce the surgical risk. When there are two adjustment amounts for speed, acceleration, and position, they can be superimposed or offset. This can be achieved specifically through a preset instruction adjustment model that has been trained, and is not limited here.

[0086] like Figure 2 As shown, the eyeball posture acquired by the posture acquisition module calculates the posture change data, and then determines the first adjustment parameter based on position, which is used to adaptively adjust the initial surgical instructions according to the dynamic changes of the eyeball; the measured contact force acquired by the force sensor and the admittance controller determine the second adjustment parameter based on force, which is used to adjust the initial surgical instructions according to the force feedback of the eye tissue on the surgical instrument. In this way, the initial surgical instructions are adaptively adjusted from the two perspectives of force and position, and the target surgical instructions that are highly adapted to the current actual surgical scene are obtained, so as to realize force-position hybrid perception and force-position fusion control, dynamically adapt to various surgical scenes, and improve the accuracy and safety of ophthalmic surgical robot operation.

[0087] In this process, the puncture depth data is also determined by the position change of the eye tissue or surgical instrument at the surgical site, and then the predicted contact force output by the preset puncture force model is obtained according to the puncture depth data, and then the force error value between the measured contact force based on force perception and the predicted contact force based on position perception is compared, and then the parameters of the admittance controller are adaptively updated according to the force error value, and force-position hybrid perception and force-position fusion control are further realized, and the accuracy of the output second adjustment parameter is improved, and then the response speed of the slave operator is optimized in real time to maintain good response characteristics. It should be understood that optimizing the parameters of the admittance controller through force-position hybrid perception can ensure that the needle tip can maintain stable force contact while avoiding damage to the fragile eyeball tissue during the process of entering the tissue.

[0088] It should be understood that the second force-based adjustment parameter is actually output by an admittance controller that comprehensively considers position information and force information. Therefore, there is an inherent consistency and complementarity between the first position-based adjustment parameter and the second force-based adjustment parameter. This design ensures that the two can be smoothly and efficiently integrated in the preset instruction adjustment model to avoid conflicts or incompatibilities, thereby ensuring the continuity and accuracy of the surgical operation.

[0089] In other words, the present invention proposes a high-precision, low-interference surgical instruction optimization strategy, which aims to solve the problem of random errors that may be encountered during ophthalmic surgery, adapt to complex and diverse surgical scenarios, and at the same time take into account the accuracy and smoothness of ophthalmic surgical robot operations and the safety of ophthalmic surgery.

[0090] First, in terms of force feedback perception, in order to address the potential risks caused by inaccurate perception of contact force by doctors or master-slave control systems and the nonlinear viscoelastic properties of eye tissue, the present invention uses the predicted contact force as a reference value and implements low-interference and highly accurate monitoring of the actual measured contact force. When doctors or master-slave control systems issue an operation instruction of excessive or insufficient force, the surgical risk can be reduced by adjusting the parameters of the admittance controller.

[0091] It is worth noting that in order to ensure maximum retention of the surgical operation intention, the predicted contact force is not directly used to replace or correct the measured contact force. Instead, the difference between the two is used to fine-tune the parameters of the admittance controller, thereby optimizing the surgical instructions in a gentle and low-interference manner.

[0092] In terms of improving the accuracy of position and posture measurement, considering the possible limitations of a single sensor, the present invention introduces a posture acquisition module consisting of a multi-sensor module, a multi-vision module, and an encoder. By fusing data from different sources, the measurement accuracy of key parameters such as eye posture, surgical tool insertion depth, and eye tissue deformation is significantly improved. Furthermore, the potential risks caused by unconscious eye movement or slight tremor of the patient can be addressed.

[0093] Even in some extreme cases, if the eye posture detection is biased, it can be compensated by the second force-based adjustment parameter. More importantly, the insertion length of the surgical instrument and the amount of eye tissue deformation caused by it can maintain high stability and accuracy. Even when affected by the puncture depth data, the second adjustment parameter still has high reliability.

[0094] In some embodiments, the predicted contact force includes a predicted contact force at a first moment, the force error value includes a current force error value, and S103 includes: based on the preset puncture force model, predicting the predicted contact force at the first moment according to the puncture depth data; comparing the measured contact force at the first moment with the predicted contact force at the first moment to obtain the current force error value at the first moment; when the current force error value is greater than a first threshold, adjusting the damping coefficient according to the current force error value based on a preset impedance parameter model, and the damping coefficient is greater than the first damping threshold.

[0095] Specifically, the operating parameters of the admittance controller are adjusted according to the current force error between the measured contact force and the predicted contact force at the same moment, and the output second adjustment parameter is optimized by adjusting the operating parameters, and then the movement speed, acceleration, position and other parameters of the surgical instruction at the next moment are adjusted to eliminate the current force error as much as possible in the execution of the surgical instruction at the next moment, effectively suppress unexpected force fluctuations, make the measured contact force tend to the normal contact force range, reduce the accumulation of force errors during the puncture process, and then avoid excessive or insufficient force due to external interference or changes in tissue hardness, thereby improving the safety and accuracy of the operation.

[0096] In some embodiments, the predicted contact force includes a predicted contact force at a second moment, the force error value includes a sudden force error value, and S103 further includes: predicting the predicted contact force at the second moment according to the puncture depth data based on the preset puncture force model; comparing the measured contact force at the first moment with the predicted contact force at the second moment to obtain the sudden force error value between the first moment and the second moment; when the sudden force error value is greater than a second threshold or when the sudden force error value is less than a third threshold, adjusting the operating parameters of the admittance controller according to the sudden force error value.

[0097] Specifically, the operating parameters of the admittance controller are adjusted according to the sudden force error between the measured contact force and the predicted contact force at different times to identify and respond to the impending force mutation. The second adjustment parameter of the output is optimized by adjusting the operating parameters, and then the movement speed, acceleration, position and other parameters of the surgical instructions at the next moment are adjusted in advance to avoid interference with the operation due to sudden torque changes, thereby improving the safety and accuracy of the operation.

[0098] It should be understood that the establishment of the preset puncture force model is first fitted through a series of experimental data, and then modified and optimized in combination with relevant mechanical theories. Taking the puncture needle as an example, the puncture force characteristics of the eyeball tissue show nonlinear changes. As the needle insertion depth increases, the puncture force gradually increases and produces a sudden force value when penetrating the membrane layer. The preset puncture force model can predict the upcoming force changes, thereby adjusting the execution of the surgical instructions in advance by adjusting the parameters of the admittance controller to avoid interference with the surgery caused by sudden torque changes.

[0099] Therefore, a three-level threshold value of the force error value is set, the first threshold value is less than the third threshold value, and the third threshold value is less than the second threshold value. The specific values ​​can be flexibly set according to the actual situation and are not limited here. The first threshold value is used to judge the force deviation value at the current moment. When the deviation is too large, it is necessary to adjust the parameters of the admittance controller to reduce the accumulation of force errors during the puncture process so that the measured contact force tends to the normal contact force range; the second threshold value is used to identify the generation of sudden force values. When sudden force values ​​are generated, the parameters of the admittance controller need to be adaptively adjusted; the corresponding third threshold value is used to identify the disappearance of sudden force values. When the sudden force values ​​disappear, the parameters of the admittance controller need to be restored.

[0100] For example, by conducting biological tissue relaxation experiments on ex vivo pig eye capsule membrane, the tearing contact force of the transient response ranges from 45.5 to 55.5 mN, i.e., the sudden change force value, and the contact force of the steady-state response is 30 mN. Therefore, the first threshold value can be set to 2 mN, the second threshold value to 10 mN, and the third threshold value to 5 mN.

[0101] In some embodiments, when the initial surgical instruction is the doctor's first surgical instruction, the three-level threshold of the force error value is set higher than when the initial surgical instruction is an autonomous surgical instruction, that is, a more stringent restriction is set on the adjustment of the instruction. For example, when the initial surgical instruction is the doctor's first surgical instruction, the first threshold is set to 3.5mN; when the initial surgical instruction is an autonomous surgical instruction, the first threshold is set to 2mN. Correspondingly, the reminder threshold can also be set in the master-slave scenario, for example, the reminder threshold is set to the first threshold as 2mN. When the force error value is greater than the reminder threshold, an abnormal reminder is triggered to alert the doctor without making substantial changes to the instruction.

[0102] It should be understood that in a fully automated scenario, surgical robots will have higher sensitivity and conservatism, so the threshold setting will be smaller and it will be easier to trigger fine-tuning; in a master-slave scenario, doctors will be given higher authority and sufficient operating space. When the error is large, the adjustment parameters will be triggered and adjusted with larger parameters to comply with the doctor's clinical experience as much as possible and ensure the doctor's dominant control position.

[0103] Furthermore, based on the three-level thresholds of the force error value, three-level thresholds of the damping parameter are set accordingly.

[0104] Exemplarily, when the current force error value is greater than a first threshold, the damping coefficient is adjusted according to the current force error value based on a preset impedance parameter model, and the damping coefficient is greater than the first damping threshold.

[0105] Exemplarily, the operating parameters of the admittance controller include a damping coefficient, and when the sudden force error value is greater than a second threshold or when the sudden force error value is less than a third threshold, the operating parameters of the admittance controller are adjusted according to the sudden force error value, including: when the sudden force error value is greater than the second threshold, adjusting the damping coefficient according to the sudden force error value based on a preset impedance parameter model, and the damping coefficient is greater than the second damping threshold; when the sudden force error value is less than the third threshold, adjusting the damping coefficient according to the sudden force error value based on the preset impedance parameter model, and the damping coefficient is less than the third damping threshold; wherein the second damping threshold is greater than the third damping threshold.

[0106] It should be understood that when the force error value increases, the damping coefficient needs to be increased to suppress the response speed of the surgical command; and when the error decreases, the damping coefficient will be reduced to improve the flexibility and accuracy of the surgical instrument.

[0107] Since the first threshold is less than the third threshold, and the third threshold is less than the second threshold, the corresponding damping thresholds also increase in sequence: the first damping threshold is less than the third damping threshold, and the third damping threshold is less than the second damping threshold. Specifically, when the force error value is at the first threshold, the error is relatively small. At this time, only a slight increase in the damping parameter is required to effectively suppress the response speed of the surgical command and ensure the stability of the operation. If the force error value reaches the third threshold, the force error is relatively large, and it is necessary to increase the damping parameter significantly to further slow down the response speed and prevent excessive force and sudden torque interference. After the sudden force value generated when penetrating the membrane layer disappears, when the force error value drops to the second threshold, it means that the error is decreasing. At this time, appropriately reducing the damping coefficient can improve the flexibility and accuracy of the needle tip, making the surgical operation more precise and controllable. Through this hierarchical adjustment strategy, the damping parameters are optimized according to the real-time force error dynamic refinement, thereby achieving safer and more precise surgical control.

[0108] Exemplarily, the preset impedance parameter model is a neural network model that is pre-trained based on experimental data, simulation results, and clinical experience, and is used to ensure that the robot can perform surgery on the patient's eye tissue in a safe and controllable manner, and it can be fine-tuned according to different surgical types and patient conditions.

[0109] Specifically, the input layer of the preset impedance parameter model receives the force error value, the hidden layer uses the Gaussian basis function as the activation function, and the output layer uses a linear function to output the stiffness parameter, mass parameter, and damping parameter of the admittance controller. Among them, the neural network updates the weight vector by the gradient descent method to minimize the force error. The neural network has the best approximation and global optimal characteristics, and its structure is simple and the calculation speed is fast. Using a neural network to adaptively adjust the parameters of the admittance controller can improve the response speed and improve the safety of ophthalmic surgery.

[0110] In some embodiments, based on the adjustment of the damping parameters, the preset impedance parameter model will adaptively adjust the stiffness parameters and mass parameters to ensure the steady-state performance of the surgical operation and further reduce the contact force to a reasonable range as quickly as possible.

[0111] It should be understood that through appropriate settings of the admittance controller parameters, the risk of excessive force due to improper operation or unexpected situations can be reduced, and the accuracy of position and force control can be improved, ensuring that the robot can remain stable under various operating conditions and avoid vibration or other unstable behaviors, making the surgical process more refined, thereby ensuring that the force control during the operation is smoother and safer.

[0112] The present invention also provides a hybrid control mechanism for dynamically updating force-position weights. The force value of the measured contact force can distinguish different surgical stages. The weight coefficient between the first adjustment parameter and the second adjustment parameter is dynamically adjusted according to the force value of the measured contact force, so that the current weight coefficient is highly adapted to different surgical stages, thereby obtaining more accurate target surgical instructions.

[0113] In some embodiments, S105 includes: determining the weight coefficient between the first adjustment parameter and the second adjustment parameter according to a preset weight rule and the measured contact force; updating the weight parameter of the preset instruction adjustment model according to the weight coefficient; and inputting the initial surgical instruction, the first adjustment parameter and the second adjustment parameter into the updated preset instruction adjustment model to generate a target surgical instruction.

[0114] Exemplarily, the weight coefficients include a posture weight coefficient of the first adjustment parameter and a force weight coefficient of the second adjustment parameter, and these weight coefficients reflect the degree of influence of different adjustment parameters on the final surgical effect under the current operating conditions. When the measured contact force is less than the preset force value, the posture weight coefficient is greater than the force weight coefficient; when the measured contact force is greater than the preset force value, the posture weight coefficient is less than the force weight coefficient. When the measured contact force is small, the first adjustment parameter based on position dominates the instruction adjustment, and when the measured contact force gradually increases to a specific force value, the second adjustment parameter based on force gradually becomes dominant.

[0115] Among them, the preset force value can be close to zero, or it can be a force value selected according to actual needs. For example, the force value corresponding to the stage where force feedback needs to be focused on in a certain type of ophthalmic surgery is selected. For example, cataract ophthalmic surgery focuses on the sudden force value generated when penetrating the membrane layer. The corresponding preset force value can be set based on this sudden force value.

[0116] For example, when there is no contact with the eye tissue, that is, when the measured contact force is zero, the posture weight coefficient is 1, which is completely dominated by position-based control. After contacting the eye tissue, the measured contact force is non-zero, the force weight coefficient is 0.6, and the posture weight coefficient is 0.4. Force feedback control is mainly used to establish accurate contact force. Correspondingly, the weight coefficient can also gradually change with the increase of contact force. For example, when the measured contact force reaches 30mN, it is updated to a force weight coefficient of 0.7 and a posture weight coefficient of 0.3 to ensure that the model can more accurately reflect the current actual operating environment.

[0117] For example, when the puncture depth data is 0.3mm, the predicted contact force is 50mN, and the measured contact force is 60mN. The initial surgical instruction is to move 0.5mm to the right, and the acceleration is 0.4mm / s. 2 The first adjustment parameters are Δp1 = -0.05 mm, Δa1 = -0.08 mm / s 2 The second adjustment parameters include Δp2 of -0.1mm, Δv2 of 0.4mm / s, and Δa2 of -0.24mm / s 2 The preset instructions adjust the target surgical instructions output by the model, which may include: the target position p target is 4.92mm, target speed v target is 0.4 mm / s, target acceleration a target 0.20mm / s 2 .

[0118] It should be understood that the target surgical instruction not only inherits the original intention of the doctor or the preset surgical algorithm, but also combines the real-time feedback information of the force-position hybrid perception to make necessary fine-tuning, realize force-position hybrid control, and thus improve the safety, accuracy and overall effect of the surgery. This dynamic adjustment method enables the surgical robot to respond flexibly in complex and changing surgical environments, ensuring that each step is in the best state.

[0119] In some embodiments, the weight coefficient includes a posture weight coefficient of the first adjustment parameter and a force weight coefficient of the second adjustment parameter; S105 also includes: comparing the first adjustment parameter with a first abnormal value of a limiting parameter threshold, and comparing the second adjustment parameter with a second abnormal value of a limiting parameter threshold; when the first abnormal value is greater than a preset abnormal threshold, adjusting the posture weight coefficient to a zero value; when the second abnormal value is greater than the preset abnormal threshold, adjusting the force weight coefficient to a zero value.

[0120] The limiting parameter threshold includes a first limiting parameter threshold of the first adjustment parameter and a second limiting parameter threshold of the second adjustment parameter, and the preset abnormal threshold includes a first preset abnormal threshold of the first adjustment parameter and a second preset abnormal threshold of the second adjustment parameter, which are flexibly set based on actual needs. Furthermore, the limiting parameter threshold and preset abnormal threshold set in the master-slave scenario or the fully automatic surgery scenario may be different.

[0121] Specifically, in order to ensure the safety and stability during the operation, the first adjustment parameter is compared with the preset limit parameter threshold to determine the first abnormal value, and the second adjustment parameter is compared with the limit parameter threshold to determine the second abnormal value. If the first abnormal value exceeds the preset abnormal threshold, it indicates that the first adjustment parameter based on the position information may have problems or exceed the safety range. At this time, the posture weight coefficient is adjusted to zero. Correspondingly, if the second abnormal value exceeds the preset abnormal threshold, it indicates that the second adjustment parameter based on force feedback is abnormal, and the force weight coefficient will be adjusted to zero, thereby eliminating potential risks. Through this mechanism, when any adjustment parameter is abnormal, it is switched to another adjustment parameter to dominate the initial adjustment instruction. When an abnormal situation is detected, timely measures are taken to eliminate the interference of the abnormal adjustment parameter and ensure the safety of the surgical operation.

[0122] In some embodiments, S105 also includes: when the first abnormal value is greater than the preset abnormal threshold and the second abnormal value is greater than the preset abnormal threshold, comparing the parameter difference value between the first adjustment parameter and the second adjustment parameter; when the parameter difference value is less than the preset difference value, setting the weight coefficient so that the posture weight coefficient is less than the force weight coefficient; when the parameter difference value is greater than the preset difference value, generating a surgical instruction abnormality reminder.

[0123] It should be understood that, due to the inherent consistency and complementarity between the first adjustment parameter based on position and the second adjustment parameter based on force, and the possibility of the force sensor and the posture acquisition module being abnormal at the same time is extremely low, under normal circumstances, the difference between the first adjustment parameter and the second adjustment parameter is within a reasonable range, that is, the preset difference value. Therefore, when both the first adjustment parameter and the second adjustment parameter are abnormal, the parameter difference between the two can be compared. When the parameter difference is small, the credibility of the abnormal adjustment parameter is high. At the same time, the measurement of the insertion amount of the surgical instrument and the deformation amount of the eye tissue caused by it can maintain high stability and accuracy, especially the insertion amount of the surgical instrument, which can be positioned with high precision through a variety of sensors and encoders. Even under the influence of the puncture depth data, the second adjustment parameter based on force still has a high reliability. Therefore, the adjustment of the initial surgical instruction is dominated by the second adjustment parameter with higher reliability. As a result, it dynamically adapts to various surgical scenarios, and improves the continuity and fluency of the surgical process on the basis of ensuring the safety and accuracy of the operation. In addition, when the parameter difference is large, a surgical situation that is difficult for the surgical robot to handle autonomously occurs, and an abnormal surgical instruction reminder is generated immediately in response to notify medical staff to take measures to intervene.

[0124] The embodiment of the present invention is a force-position hybrid sensing and control system that can be used for cataract ophthalmic surgery. Figure 3 , Figure 3 is a schematic block diagram of a force-position hybrid sensing and control system that can be used for cataract ophthalmic surgery provided by an embodiment of the present invention, such as Figure 3 As shown, the system comprises:

[0125] The main operator 10 is used to collect a first surgical instruction, where the first surgical instruction is used to generate an initial surgical instruction, wherein the first surgical instruction may be input by a doctor, or may be obtained by capturing the doctor's hand displacement and posture information through a high-precision sensor;

[0126] A slave operator 30 is used to perform a surgical operation according to a target surgical instruction. The slave operator 30 is provided with a posture acquisition module 305 and a force sensor 306. A surgical instrument is also provided at the end of the slave operator 30. The force sensor is used to collect the contact force exerted on the surgical instrument.

[0127] The processor 20 is used to execute a computer program and implement the steps of a force-position hybrid sensing and control method that can be used for cataract ophthalmic surgery, and / or a master-slave control method that can be used for cataract ophthalmic surgery, as provided in any embodiment of the present invention when executing the computer program.

[0128] Specifically, the master operator obtains the first surgical instruction based on the doctor, and converts the first surgical instruction into a target surgical instruction through the processor 20 based on the force-position hybrid perception and control method that can be used for cataract ophthalmology surgery provided by any embodiment of the present invention. The processor 20 sends the target surgical instruction to the slave operator 30. The slave operator 30 performs the surgical operation on the surgical site according to the target surgical instruction. At the same time, the slave operator 30 collects data through the posture acquisition module 305 and the force sensor 306 and feeds it back to the processor 20. The processor 20 transmits the corresponding data to the master operator to feed back to the doctor.

[0129] The present invention also provides a master-slave control system that can be used for cataract surgery. Figure 4 , Figure 4 is a schematic block diagram of a master-slave control system that can be used for cataract ophthalmic surgery provided by an embodiment of the present invention, such as Figure 4 As shown, the system comprises:

[0130] A main operator 10, used for collecting a first surgical instruction;

[0131] A slave operator 30 is used to perform a surgical operation according to a second surgical instruction. The slave operator 30 includes a plurality of equipment slave stations. The equipment slave stations include a force sensor and a visual module. A surgical instrument is also provided at the end of the slave operator 30. The force sensor is used to collect the contact force exerted on the surgical instrument.

[0132] The processor 20 is used to execute a computer program and implement the steps of a master-slave control method that can be used for cataract ophthalmic surgery as provided in any embodiment of the present invention when executing the computer program, and / or the steps of a force-position hybrid sensing and control method that can be used for cataract ophthalmic surgery. The processor 20 also includes at least one control master station, and the control master station and multiple device slave stations of the slave operator are connected through a real-time communication network corresponding to the field bus.

[0133] Among them, the real-time communication network corresponding to the field bus is established based on the real-time Ethernet communication protocol. Exemplarily, the real-time communication network corresponding to the field bus can be established using Ethernet for Control Automation Technology (EtherCAT). EtherCAT allows high-speed, low-latency data transmission and is suitable for application scenarios that require precise synchronization and control. In an EtherCAT network, devices are generally divided into two categories: a master station (i.e., a control master station) and a slave station (i.e., a device slave station).

[0134] The control master station includes a motion control card 201 and an industrial computer 202. Exemplarily, the industrial computer 202, as the control center of the master-slave control system, is responsible for managing data communication, device configuration and task scheduling in the entire real-time communication network. The motion control card 201 is connected to the industrial computer 202 via PCIe or other interfaces. The master station software on the industrial computer 202 controls the device slave stations in the real-time communication network through the motion control card 201. The motion control card 201 is responsible for processing specific motion control algorithms and instructions, while the industrial computer 202 is responsible for overall coordination and management.

[0135] Among them, the equipment slave station of the slave operator 30 can also include one or more: optical positioning devices, binocular cameras, axis modules, IO devices, motors and motor drivers, servo motors, encoders, pulses, analog drivers, force sensors, relays, various mechanical switches, etc. The specific mechanical structure can be determined according to the needs of the slave operator during the operation, and is not limited here.

[0136] Among them, after the second surgical instruction from the operator 30 is generated according to the first surgical instruction based on the preset mapping model, the force-position hybrid perception and control method that can be used for cataract ophthalmology surgery provided by any embodiment of the present invention can be used to use the second surgical instruction as the initial surgical instruction, generate the target surgical instruction through the preset instruction adjustment model, update the second surgical instruction with the target surgical instruction, and perform the surgical operation according to the updated second surgical instruction.

[0137] Specifically, the master operator captures the doctor's hand displacement and posture information as the first surgical instruction, and transmits it to the industrial computer 202. The industrial computer 202 and the motion control card 201 process the first surgical instruction and send it to multiple device slave stations of the slave operator 30. The multiple device slave stations respectively obtain and execute the instructions to enable the slave operator 30 to perform the surgical operation.

[0138] The main operator 10 includes an input device and an output device. The input device is used to capture the doctor's hand displacement and posture information as the first surgical instruction through a high-precision sensor, or collect the first surgical instruction through other input devices (such as a joystick, a touch screen, etc.); the output device is used to feed back the interaction force between the operator 30 and the surgical environment (i.e., the contact force between the surgical instrument and the eye tissue) to the doctor.

[0139] In some embodiments, the slave manipulator 30 includes a three-axis mechanism and an RCM mechanism. The three-axis mechanism is used to provide basic spatial positioning in ophthalmic surgery, and can provide three orthogonal linear or rotational degrees of freedom, which can be linear movement of the X, Y, and Z axes, or rotational movement of pitch, yaw, and roll, so that the slave manipulator can accurately move and position surgical tools in three-dimensional space. The RCM mechanism is used to provide support for the surgical instrument to perform multiple degrees of freedom such as pitch, yaw, and feed direction while maintaining a constant distance from the eye tissue. The RCM mechanism can maintain a fixed virtual point during the operation, that is, the remote motion center, which can specifically be the entry point for the surgical instrument to enter the patient's eye, thereby reducing the risk of damage to surrounding tissues and improving the safety and accuracy of the operation. A surgical instrument is provided at the end of the RCM mechanism, and a corresponding force sensor is provided at the end of the surgical instrument to collect the contact force applied by the eye tissue to the end of the surgical instrument.

[0140] In ophthalmic surgical robots, the three-axis mechanism and the RCM mechanism each have different tasks. The three-axis mechanism provides a large range of movement capabilities in the three directions of X, Y, and Z, and is mainly used to quickly position surgical tools from non-surgical areas to near the surgical area. The RCM mechanism focuses on fine movement in a small range around a fixed virtual point, ensuring that surgical tools can be operated with high precision after entering the patient's body, while reducing interference and damage to surrounding tissues. In other words, the three-axis mechanism is responsible for large-scale adjustments for coarse positioning, and the RCM mechanism is responsible for precise positioning of surgical operations and stable control, together achieving efficient, safe and precise ophthalmic surgery.

[0141] The embodiment of the present invention also provides a master-slave control method that can be used for cataract ophthalmic surgery, which is applied to a master-slave control system, wherein the system includes a master operator, a slave operator, and a processor, wherein the control master station of the processor and multiple device slave stations of the slave operator are connected via a real-time communication network corresponding to a field bus. The present invention specifically provides a highly real-time and highly secure surgical instruction transmission and response mechanism applied to a master-slave ophthalmic surgical robot. Figure 5 , Figure 5 is a schematic flow chart of a master-slave control method for cataract ophthalmic surgery provided by an embodiment of the present invention, such as Figure 5 As shown, the method includes steps S201 to S206.

[0142] S201 obtains the surgical stage, and divides the plurality of device slave stations into a plurality of response slave stations and a plurality of standby slave stations according to the slave station usage requirements corresponding to the surgical stage.

[0143] Among them, the surgical stage can be obtained in real time through sensors, visual modules and other equipment. Each surgical stage has specific requirements for the equipment call of the slave operator, that is, the usage requirements of the slave station corresponding to the surgical stage. The specific correspondence between the surgical stage and the slave station can be set in advance.

[0144] Among them, the response slave is the one among multiple device slaves that needs to respond immediately and participate in the operation in the current surgical stage. The standby slave is the one among multiple device slaves that does not need to respond immediately in the current stage, but may be needed in the subsequent stage. For example, if a tiny incision needs to be made in the cornea or other parts in the current stage to enter the inside of the eyeball, then the device slaves such as the servo motor and position sensor related to the RCM mechanism will be classified as the response slave, and the device slaves related to the three-axis mechanism will be classified as the standby slave.

[0145] In some embodiments, the device slave station includes a force sensor, and S201 includes: obtaining the contact force collected by the force sensor; when the contact force is less than a preset contact force value, determining that the surgical stage is the first surgical stage; when the contact force is greater than the preset contact force value, determining that the surgical stage is the second surgical stage. Among them, the force sensor is used to collect the contact force received by the end of the surgical instrument, which can reflect the contact between the surgical instrument and the eye tissue. The preset contact force value can be flexibly set according to demand, for example, set to zero. When the contact force collected by the force sensor is a non-zero value, it is determined that the surgical instrument contacts the eye tissue and enters the second surgical stage from the first surgical stage. Correspondingly, for sensitivity requirements, the preset contact value can also be set higher, such as 5mN.

[0146] See also Figure 6 , Figure 6 is a schematic diagram of a surgical stage provided by an embodiment of the present invention, such as Figure 6 As shown, according to the different effects of the first surgical instruction of the master operator 10, the surgical stages of ophthalmic surgery can be roughly divided into four, namely Figure 6 The incision positioning stage shown in the upper left, the intraocular surgery stage shown in the upper right, the intraocular needle pushing stage shown in the lower left, and the intraocular needle pushing stage shown in the upper right. Further, according to the different mechanisms called by the first surgical instruction, the surgical stages can be divided into two categories, namely the coarse positioning stage dominated by the three-axis mechanism, including the incision positioning stage and the incision removal stage; the fine positioning surgical stage dominated by the RCM mechanism, including the intraocular surgery stage and the intraocular needle pushing stage. Exemplarily, the coarse positioning stage can be used as the first surgical stage, and the fine positioning surgical stage can be used as the second surgical stage.

[0147] It should be understood that due to the high precision and high safety requirements of ophthalmic surgery, there are strict restrictions on the mechanisms used during the operation. Therefore, the equipment slave stations used in different surgical stages are also specific, which optimizes the transmission order in subsequent data transmission and improves the response speed of the slave operator.

[0148] S202 sets the transmission priority of the responding slave station to be higher than the transmission priority of the standby slave station, and adjusts the transmission order of the multiple device slave stations according to the transmission priority to obtain a target transmission order.

[0149] Specifically, the transmission order of different surgical stages can be pre-set. For example, the target transmission order corresponding to the first surgical stage is the first transmission order, wherein the transmission priority of the responding slave station in the first surgical stage is higher than the transmission priority of the standby slave station, that is, the responding slave station receives the data frame transmitted by the control master station before the standby slave station, and thus obtains the corresponding instruction faster. Correspondingly, the target transmission order corresponding to the second surgical stage is the second transmission order. Furthermore, when the surgical stage is switched, the transmission order can be quickly adjusted according to the surgical stage, which can directly match the corresponding transmission order.

[0150] See also Figure 7 , Figure 7 is a schematic diagram of a communication network between a control master station and a device slave station provided by an embodiment of the present invention, such as Figure 7 As shown, the device slave station includes: servo driver No. 1 301, servo driver No. 2 302, axis module 303, and IO module 304. The control master station 201 and multiple device slave stations can be a ring topology network. The motion control card 201 transmits data frames to each device slave station. The first transmission order can be transmitted in sequence according to the first loop servo driver No. 1 301, servo driver No. 2 302, axis module 303, and IO module 304. The second transmission order can be transmitted in sequence according to the second loop IO module 304, axis module 303, servo driver No. 2 302, and servo driver No. 1 301.

[0151] It should be noted that the control master station and multiple device slave stations can also be a star topology network, or other topology networks determined according to the required transmission order. In addition, when setting the topology network, it should be noted that the failure of a single module will not affect the data transmission of the entire real-time communication network, such as Figure 7 As shown, when the axis module 303 fails, the transmission of the data frame will not be affected, and other device slave stations can continue to obtain and execute sub-instructions.

[0152] It should be understood that in order to optimize resource utilization and improve response efficiency, according to the acquired surgical stage, the demand for different equipment slaves in each stage is analyzed, and multiple equipment slaves are dynamically divided into response slaves and standby slaves. As the surgical stage changes, the classification of response slaves and standby slaves is continuously updated, and the transmission order between equipment slaves is adjusted to ensure that the necessary equipment slaves receive instructions first, thereby improving the overall efficiency and response speed of the slave operator. Through this dynamic classification and management mechanism, resources can be allocated more effectively to ensure that each surgical stage can get the best support, while reducing unnecessary energy consumption and system burden, which not only improves the safety and accuracy of the operation, but also extends the service life of the equipment.

[0153] In some embodiments, the device slave station includes a visual module, the surgical stage also includes a surgical stage transition period between the first surgical stage and the second surgical stage, and S201 also includes: when the standby slave station receives the first sub-instruction, the visual module is enabled, and whether it is in the surgical stage transition period based on the surgical image captured by the visual module; if it is in the surgical stage transition period, the first sub-instruction is executed; the surgical stage is updated to the surgical stage transition period, and all the device slave stations are updated to the response slave stations.

[0154] Specifically, since the standby slave is a device slave that does not need to respond immediately in the current surgical stage, the standby slave should not receive any sub-instructions in the current surgical stage. However, at this time, the standby slave receives the first sub-instruction and enables the visual module to capture real-time surgical images to verify whether it has entered the transition period between the first surgical stage and the second surgical stage, and then adjusts the transmission sequence or initiates an abnormal response to the instruction accordingly.

[0155] Correspondingly, if it is in the transition period of the surgical stage, it is normal to use the standby slave station during the transition period of the surgical stage. The first sub-instruction is executed, and the surgical stage is updated to the surgical stage transition period. The surgical stage transition period is the period when the surgical instruments are outside the eye, which has a certain degree of safety. In order to ensure the accuracy of the surgical incision, the doctor may need to call various equipment slave stations for repeated positioning during this stage. Therefore, all equipment slave stations are updated to response slave stations, and the third transmission sequence is updated as the target transmission sequence to meet the doctor's needs to call each equipment slave station for repeated positioning in the next stage, and balance the fluency, real-time and safety of the equipment slave station's execution of instructions during the operation.

[0156] Correspondingly, if it is not in the transition period of the surgical stage, the use of the standby slave station during the transition period of the surgical stage is an abnormal situation, the first sub-instruction will not be executed, and a surgical abnormality reminder will be issued. It should be understood that due to the high precision and high safety requirements of ophthalmic surgery, there are strict restrictions on the mechanisms called during the surgical stage. For example, in the intraocular needle pushing stage led by the RCM mechanism, the three-axis mechanism executes a moving instruction, causing the surgical instrument to move over a large range, which will cause serious damage to the eye tissue. For example, in the incision distance stage led by the three-axis mechanism, the RCM mechanism executes a moving instruction, causing the surgical instrument to move a constant distance relative to the eyeball tissue, which may damage the surrounding skin tissue. Therefore, for safety reasons, such abnormal instructions will not be executed.

[0157] In some embodiments, determining whether it is in the surgical stage transition period based on the surgical image captured by the visual module includes: comparing the actual relative position of the surgical instrument and the eyeball in the captured surgical image with the theoretical relative position of the surgical instrument and the eyeball in each surgical stage, judging whether the acquired surgical stage matches the actual surgical stage, and then determining whether to enter the surgical stage transition period. For example, when switching from the incision positioning stage to the intraocular surgery stage, it is necessary to switch from the three-axis mechanism control to the RCM mechanism control, and enable the visual module to acquire the surgical image. If it is analyzed that the theoretical relative position of the surgical instrument and the eyeball is the distance that should be precisely positioned using the RCM mechanism, it can be determined that it has entered the surgical stage transition period; if it is analyzed that the theoretical relative position of the surgical instrument and the eyeball is the distance that should be roughly positioned using the three-axis mechanism, it can be determined that it has not entered the surgical stage transition period.

[0158] It should be understood that through the real-time monitoring and intelligent judgment of the visual module, smooth transitions between different surgical stages can be achieved, improving the consistency and safety of the overall surgery. This not only improves surgical efficiency, but also reduces potential risks caused by stage transitions.

[0159] In some embodiments, the device slave station includes at least one first core slave station for a first surgical stage and at least one second core slave station for a second surgical stage. The method includes: real-time monitoring of the instruction acquisition status of the first core slave station and the second core slave station; when the first core slave station fails to acquire the sub-instruction within a preset time period, updating the surgical stage to the second surgical stage; when the second core slave station fails to acquire the sub-instruction within the preset time period, updating the surgical stage to the first surgical stage.

[0160] Among them, the core slave station refers to the equipment slave station that undertakes key operating tasks in a certain surgical stage, and is usually only used in this surgical stage, or only used in this surgical stage or the transition period of the surgical stage. For example, the servo motor of a joint in the RCM structure is only allowed to be used in the second surgical stage and / or the transition period of the surgical stage, and is not allowed to be used in the first surgical stage for surgical safety considerations. For another example, the motor of the slave operator may be used in each stage and does not have the function of distinguishing the surgical stages, so it is not a core slave station. In addition, the preset duration can be flexibly set according to different surgical scenarios.

[0161] Each surgical stage has a dedicated core slave station responsible for key operations, and the surgical stage is dynamically adjusted by real-time monitoring of the command acquisition of these core slave stations. Specifically, the command acquisition of the first core slave station and the second core slave station is continuously monitored. The first core slave station is usually responsible for the key operations of the first surgical stage, such as extraocular positioning, incision making or preliminary positioning; while the second core slave station is responsible for the operations of the second surgical stage, such as intraocular surgery. When it is detected that the first core slave station has not obtained any sub-instructions for a preset time (for example, a few seconds or a few minutes), it means that the surgical stage transition period from the first surgical stage to the second surgical stage has been completed. At this time, the surgical stage is updated to the second surgical stage to ensure the smooth transition of the surgical stage, and the target transmission order is updated to the second transmission order. Correspondingly, if it is detected that the second core slave station has not obtained any sub-instructions for a preset time, it means that the surgical stage transition period from the second surgical stage to the first surgical stage has been completed. At this time, the surgical stage is updated to the first surgical stage, and the target transmission order is updated to the first transmission order. This avoids delays or errors caused by untimely stage conversion, and further improves the real-time transmission and response of surgical instructions.

[0162] The surgical stage is preliminarily judged based on the contact force collected by the slave operator's force sensor, and the accurate switching between surgical stages is achieved by monitoring the command acquisition of the standby slave stations that have no use requirements and the core slave stations that have necessary use requirements during the surgical stage, and the transmission sequence that adapts to the current surgical stage is quickly updated. Through real-time monitoring and intelligent judgment, the status of the current surgical stage can be accurately identified, and corresponding dynamic adjustments can be made in a timely manner, which enhances the flexibility and responsiveness of the master-slave control system and further improves the real-time transmission and response of surgical instructions. At the same time, it is used in combination with the functional modules of the slave operator, such as real-time image analysis and force feedback control of the visual module, to further improve the accuracy and reliability of the surgery. Through multi-faceted collaborative work, the master-slave control system can provide more efficient, safe and precise operations in complex ophthalmic surgeries.

[0163] S203 obtains a first surgical instruction of the master operator, and generates a second surgical instruction of the slave operator according to the first surgical instruction based on a preset mapping model.

[0164] In the master-slave control system, the master operator collects the first surgical instructions, which include position movement, force control, tool selection, etc., and then the processor converts the first surgical instructions into second surgical instructions that the slave operator can understand and execute based on the preset mapping model. The second surgical instructions include a series of sub-instructions such as position movement, posture change, and operating parameters of different mechanical structures, so that the slave operator can complete the surgical operation corresponding to the first surgical instruction when executing the second surgical instruction. Among them, the preset mapping model includes position mapping, force mapping, tool selection and control, and safety constraints to ensure the accuracy and safety of the instructions.

[0165] For example, since the slave manipulator and the master manipulator are heterogeneous and have a large difference in the range of their workspaces, incremental position and posture control in Cartesian space is adopted. At the same time, the instructions for calling the RCM mechanism also need further processing. For example, position control needs to add proportional mapping for motion scaling.

[0166] S204: Based on the control main station, a data frame including a plurality of sub-instructions is generated according to the second surgical instruction, and the data frame is transmitted in the target transmission order through the real-time communication network.

[0167] Specifically, the control master station parses the second surgical instruction to generate multiple sub-instructions, each sub-instruction corresponds to a specific action or parameter setting of a device slave station. For example, one sub-instruction may instruct a robotic arm to move a certain distance in a certain direction, and another sub-instruction may instruct the surgical instrument to apply a specific force. These sub-instructions constitute a data frame.

[0168] For example, a real-time communication network corresponding to the field bus established based on EtherCAT provides a mechanism for processing data distribution, that is, data frames are transmitted in sequence between slave stations, each slave station only reads and writes part of the data related to it, and then passes the data frame to the next slave station, effectively reducing the data transmission time and network load.

[0169] S205 controls the plurality of device slave stations to obtain corresponding sub-instructions from the real-time communication network.

[0170] Specifically, see Figure 7 , Figure 7 is a schematic flow chart of another master-slave control method for cataract ophthalmic surgery provided by an embodiment of the present invention, such as Figure 7As shown, after step S204, each device slave only reads and writes part of the sub-instructions related to it when the data frame passes through, and then continues to pass the data frame down, and immediately processes the sub-instructions to complete the specific surgical operation until the last device slave n obtains the sub-instructions and processes them. For example, if a device slave needs to perform a position movement operation, it will extract the corresponding sub-instructions and then pass the data frame to the next device slave.

[0171] S206 sets a first instruction threshold and a second instruction threshold for each of the device slave stations, determines an execution strategy for the sub-instruction based on the first instruction threshold and the second instruction threshold, and controls the device slave station to execute the sub-instruction according to the execution strategy, wherein the first instruction threshold is less than the second instruction threshold.

[0172] In order to ensure the high precision and high safety requirements in ophthalmic surgery and ensure that each device slave can flexibly and safely execute sub-instructions according to specific circumstances, the first instruction threshold and the second instruction threshold of each device slave can be set to identify abnormal instructions. When the parameter value is lower than the first instruction threshold, the device slave adopts a conservative execution strategy; when it is between the two thresholds, the standard execution strategy is adopted; when it is higher than the second instruction threshold, a strict execution strategy is adopted, which may include stopping the operation or issuing an alarm.

[0173] Since ophthalmic surgical robots require high-precision control during surgical operations, the control master station and multiple device slave stations of the slave operator connected by the real-time communication network corresponding to the field bus can achieve efficient instruction processing and execution. In different surgical stages, the device slave stations used are specific, which means that each stage has a specific core slave station responsible for key operations. This specific design reduces the instruction processing pressure of the control master station, enabling it to convert the surgical instructions of the slave operator into specific sub-instructions of each device slave station at a faster processing speed and generate data frames containing these sub-instructions. The sub-instructions of each device slave station of the slave operator are updated with the transmission of a data frame, reducing the execution delay of instructions between each device slave station, further improving the speed and accuracy of the slave operator's execution of surgical instructions, and reducing the information delay between the master and slave devices.

[0174] On the basis of high real-time communication, different data transmission sequences are used according to the different equipment slaves called at different surgical stages, so that the equipment slaves used in the current surgical stage receive and execute instructions first, further improving the efficiency of instruction transmission and execution. At the same time, two-level instruction thresholds are set for each equipment slave to quickly identify abnormal instructions, and then the abnormal instructions are executed differentially according to the two-level instruction thresholds to adapt to complex surgical environments, flexibly respond to various risks of different degrees, and balance the fluency, real-time and safety of equipment slave execution instructions during surgery.

[0175] In some embodiments, a low-risk instruction immediate execution strategy is specifically provided, and the S206 includes: when the response slave station receives a second sub-instruction, if the second sub-instruction is greater than the first instruction threshold and less than the second instruction threshold, execute the second sub-instruction; enable at least one instruction monitoring module, if the execution data collected by the instruction monitoring module exceeds a preset safety threshold, stop the execution of the second sub-instruction, and generate a surgical abnormality reminder.

[0176] The instruction monitoring module may include position sensors, force sensors, speed sensors, etc., which are used to collect execution data in real time. The execution data may be various types of data fed back during the execution of instructions. Abnormal reminders may be visual prompts, sound alarms, or other forms of notifications to ensure that operators can take timely measures.

[0177] Specifically, when the second sub-instruction is greater than the first instruction threshold and less than the second instruction threshold, the degree of instruction abnormality within this range is low, and the safety risk is relatively controllable. In order to ensure the continuity and real-time nature of instruction execution, the second sub-instruction is allowed to be executed directly, and real-time monitoring is performed during the execution process. The instruction monitoring module continuously monitors key parameters, such as actual position, applied force, moving speed, etc. If the monitored execution data exceeds the preset safety threshold, that is, the instruction execution is abnormal, an immediate response is taken to intervene. Among them, the preset safety threshold is set according to the type of surgery and the specific situation of the patient. Specifically, it can be set for parameters of different mechanical structures and parameters monitored by different instruction monitoring modules to ensure the safety of the surgical process.

[0178] For example, the core slave station corresponding to the RCM mechanism obtains a second sub-instruction greater than the first instruction threshold and less than the second instruction threshold, and enables the visual module and the encoder module as instruction monitoring modules to check whether the movement angle of the RCM mechanism in the surgical image collected by the visual module exceeds the preset safety threshold and whether the encoder feedback value exceeds the preset safety threshold. For another example, when the motor receives multiple consecutive control signals, the driver module is enabled as the instruction monitoring module to check whether the stability of the closed-loop control of the driver module exceeds the preset safety threshold.

[0179] In some embodiments, the instruction monitoring module includes a visual module and / or a force sensor, and the enabling of at least one instruction monitoring module, if the execution data collected by the instruction monitoring module exceeds a preset safety threshold, stops the execution of the second sub-instruction, and generates a surgical abnormality reminder. It also includes: analyzing the wound data in the surgical image collected by the visual module based on a preset wound model, if the wound data exceeds the preset safety threshold, stops the execution of the second sub-instruction, and generates the surgical abnormality reminder; and / or, obtaining the measured contact force collected by the force sensor, if the measured contact force exceeds the preset safety threshold, stops the execution of the second sub-instruction, and generates the surgical abnormality reminder.

[0180] On the one hand, the visual module collects images of the surgical area in real time and analyzes the collected surgical images based on the preset wound model. The wound model contains the expected state and parameters of the wound during normal surgery, and determines the current wound state data (such as wound size, shape, position, etc.) through image analysis. If the wound data exceeds the preset safety threshold, indicating that there may be an abnormality, the execution of the second sub-instruction will be stopped immediately, and a surgical abnormality reminder will be generated. On the other hand, the force sensor collects the actual contact force between the surgical instrument and the eye tissue in real time. If the measured contact force exceeds the preset safety threshold, the execution of the second sub-instruction will be stopped immediately, and a surgical abnormality reminder will be generated.

[0181] The visual module and force sensor can be used for monitoring at the same time, thus providing a more comprehensive abnormality detection capability, that is, the visual module detects the wound state, while the force sensor detects the applied force. When any monitoring module detects an abnormality, it will immediately stop the execution of all related instructions and generate corresponding abnormal reminders, thereby ensuring the safety of instruction execution without affecting the real-time and coherent execution of instructions.

[0182] In some embodiments, a high-risk instruction verification pre-strategy is specifically provided, and the S206 includes: when the response slave station receives a second sub-instruction, if the second sub-instruction is greater than the second instruction threshold, obtaining a sub-instruction of at least one instruction verification module, and the instruction verification module and the sub-instruction of the response slave station have an associated relationship; verifying whether the second sub-instruction is abnormal according to the sub-instruction of the instruction verification module, if the second sub-instruction is not abnormal, executing the second sub-instruction; if the second sub-instruction is abnormal, not executing the second sub-instruction, and generating the surgical abnormality reminder.

[0183] When the instruction is greater than the second instruction threshold, the instruction abnormality within this range is high, and there may be a greater potential risk. In order to ensure the safety and stability of ophthalmic surgery, the feasibility is verified before execution, effectively avoiding the potential harm caused by high-risk instructions. Specifically, in order to increase the verification speed and ensure the real-time execution of instructions, the sub-instructions of the instruction verification module that has a strong correlation with the response slave are obtained, and the second sub-instruction is verified through this correlation relationship to see if it is abnormal.

[0184] It should be understood that in order to provide the operator with precise positioning with multiple degrees of freedom and high flexibility, the structures often cooperate with each other to complete a surgical operation. Therefore, there is often a high correlation between the sub-instructions and sub-instructions of the equipment slave stations corresponding to these mutually cooperating structures. Based on this correlation, abnormal sub-instructions can be quickly identified.

[0185] For example, an RCM mechanism with three degrees of freedom includes three motors that cooperate with each other. When the first motor receives a second sub-instruction greater than the second instruction threshold, in order to verify the feasibility of the second sub-instruction, the second sub-instructions of the other two motors required for the movement of the RCM mechanism are obtained. By analyzing the correlation between the second sub-instructions of the three motors, it is determined whether these instruction combinations will cause abnormal movement of the RCM mechanism. If the analysis results show that these second sub-instructions will cause the movement of the RCM mechanism to exceed the safety range or produce other abnormal conditions, the second sub-instructions will not be executed, and a surgical abnormality reminder will be generated.

[0186] On the contrary, if the verification result is normal, the second sub-instruction will be allowed to continue execution, and at least one instruction monitoring module will be enabled during the execution process. If the execution data collected by the instruction monitoring module exceeds the preset safety threshold, the execution of the second sub-instruction will be stopped and a surgical abnormality reminder will be generated.

[0187] In some embodiments, after detecting that the second sub-instruction is not to be executed and stopping the execution of the second sub-instruction, the execution and transmission of the data frame corresponding to the abnormal sub-instruction may be canceled.

[0188] It should be understood that the embodiments of the present invention provide multiple execution strategies according to the risk level of abnormal instructions. For example, when the standby slave station receives the first sub-instruction, it distinguishes whether it is an abnormal situation or a normal situation during the transition period of the surgical stage, and processes them respectively. For another example, when the responding slave station receives the second instruction, the abnormal instruction is executed differentially according to the two-level instruction threshold.

[0189] In some embodiments, the method includes: when the surgical abnormality reminder exceeds a first preset value, canceling the execution of the sub-instruction, stopping the transmission of the data frame, and enabling the backup control master station; based on the backup control master station, generating and regenerating a second data frame including multiple sub-instructions according to the second surgical instruction, and transmitting the second data frame through the real-time communication network according to the target transmission order.

[0190] When the surgical abnormality reminder exceeds the first preset value, the surgical operation corresponding to the executed sub-instruction will be revoked and the transmission of the data frame will be stopped to prevent further risks. The backup control master station will be started to take over the real-time communication network, and the second data frame including multiple sub-instructions will be regenerated according to the second surgical instruction. The generated second data frame will be transmitted to each device slave station through the real-time communication network corresponding to the field bus according to the preset target transmission sequence. In this way, abnormal situations can be responded to and handled quickly, and when the main control station fails or abnormalities occur, it can seamlessly switch to the backup control master station, thereby ensuring the continuity and safety of the surgical process, providing highly reliable operational support in complex ophthalmic surgeries, reducing potential risks, and ensuring patient safety.

[0191] Furthermore, for the second data frame including multiple sub-instructions generated and regenerated by the backup control master station according to the second surgical instruction, the device slave station will also differentiate the execution of abnormal instructions according to the two-level instruction threshold provided by the example of the present invention when executing. If the surgical abnormality reminder still exceeds the first preset value, it is considered that a serious fault or an instruction is sent by mistake, and a highly abnormal reminder is issued to enable human intervention to verify the feasibility of the instruction.

[0192] In some embodiments, before S204, S101 to S105 are also included. Specifically, the eyeball posture collected by the posture acquisition module is obtained, and the first adjustment parameter is calculated according to the posture change data of the eyeball posture at the first moment; the measured contact force collected by the force sensor at the first moment is obtained; the puncture depth data of the surgical instrument at the first moment is obtained based on the posture acquisition module; the puncture depth data is input into the preset puncture force model to obtain the predicted contact force; the operating parameters of the admittance controller are adjusted according to the force error value of the measured contact force and the predicted contact force; the admittance controller outputs the second adjustment parameter according to the measured contact force; the second surgical instruction is used as the initial surgical instruction at the second moment, the initial surgical instruction, the first adjustment parameter and the second adjustment parameter are input into the preset instruction adjustment model to generate the target surgical instruction at the second moment, and the second surgical instruction is updated based on the target surgical instruction, wherein the first moment is earlier than the second moment. In this way, the accuracy is further improved on the basis of ensuring real-time performance.

[0193] The embodiment of the present invention further provides a master-slave control device that can be used for cataract ophthalmic surgery, which is applied to a master-slave control system, wherein the system includes a master operator, a slave operator, and a processor, wherein the control master station of the processor and multiple device slave stations of the slave operator are connected via a real-time communication network corresponding to a field bus, and are used to execute the aforementioned master-slave control method that can be used for cataract ophthalmic surgery. Exemplarily, the master-slave control device can be configured in a processor, and the device includes:

[0194] A surgery stage module, used for obtaining the surgery stage, and dividing the plurality of equipment slave stations into a plurality of response slave stations and a plurality of standby slave stations according to the slave station usage requirements in the surgery stage;

[0195] A transmission sequence module, used to set the transmission priority of the responding slave station higher than the transmission priority of the standby slave station, and adjust the transmission sequence of the plurality of the device slave stations according to the transmission priority to obtain the target transmission sequence of the surgical stage;

[0196] An instruction generation module, used for acquiring a first surgical instruction of the master operator, and generating a second surgical instruction of the slave operator according to the first surgical instruction based on a preset mapping model;

[0197] An instruction transmission module, configured to generate a data frame including a plurality of sub-instructions according to the second surgical instruction based on the control main station, and transmit the data frame in the target transmission order through the real-time communication network;

[0198] An instruction acquisition module, used for controlling the plurality of device slave stations to acquire corresponding sub-instructions from the real-time communication network;

[0199] An execution strategy module is used to set a first instruction threshold and a second instruction threshold for each of the device slave stations, determine an execution strategy for the sub-instruction based on the first instruction threshold and the second instruction threshold, and control the device slave station to execute the sub-instruction according to the execution strategy, wherein the first instruction threshold is less than the second instruction threshold.

[0200] Exemplarily, the device slave station includes a force sensor, and the instruction generation module further includes: a contact force acquisition submodule, a first surgery stage submodule, and a second surgery stage submodule.

[0201] A contact force acquisition submodule, used to acquire the contact force collected by the force sensor;

[0202] A first surgical stage submodule, configured to determine that the surgical stage is the first surgical stage when the contact force is less than a preset contact force value;

[0203] The second surgery stage submodule is used to determine that the surgery stage is the second surgery stage when the contact force is greater than the preset contact force value.

[0204] Exemplarily, the device slave station includes a visual module, the surgical stage also includes a surgical stage transition period between the first surgical stage and the second surgical stage, and the instruction generation module also includes: a transition period identification submodule and a transition period execution submodule.

[0205] A transition period identification submodule, configured to enable the visual module when the standby slave station receives the first sub-instruction, and determine whether the operation is in a transition period based on the operation image acquired by the visual module;

[0206] The transition period execution submodule is used to execute the first sub-instruction if the operation phase is in the transition period; update the operation phase to the operation phase transition period, and update all the device slave stations to the response slave stations.

[0207] Exemplarily, the equipment slave station includes at least one first core slave station for a first surgical stage and at least one second core slave station for a second surgical stage, and the apparatus further includes: an instruction acquisition monitoring module, a second stage update module, and a first stage update module.

[0208] An instruction acquisition monitoring module, used for monitoring the instruction acquisition status of the first core slave station and the second core slave station in real time;

[0209] A second stage updating module, configured to update the operation stage to the second operation stage when the first core slave station fails to obtain the sub-instruction within a preset time period;

[0210] The first stage updating module is used to update the operation stage to the first operation stage when the second core slave station fails to obtain the sub-instruction within the preset time period.

[0211] Exemplarily, the execution strategy module further includes: a second sub-instruction execution sub-module and an instruction execution monitoring sub-module.

[0212] A second sub-instruction execution submodule, configured to execute the second sub-instruction when the response slave station receives the second sub-instruction if the second sub-instruction is greater than the first instruction threshold and less than the second instruction threshold;

[0213] The instruction execution monitoring submodule is used to enable at least one instruction monitoring module. If the execution data collected by the instruction monitoring module exceeds a preset safety threshold, the execution of the second sub-instruction is stopped and a surgical abnormality reminder is generated.

[0214] Exemplarily, the instruction monitoring module includes a vision module and / or a force sensor, and the instruction execution monitoring submodule further includes: a wound status submodule, and / or a contact force submodule.

[0215] a wound status submodule, configured to analyze wound data in the surgical image acquired by the visual module based on a preset wound model, and if the wound data exceeds the preset safety threshold, stop the execution of the second sub-instruction and generate the surgical abnormality reminder; and / or,

[0216] The contact force submodule is used to obtain the measured contact force collected by the force sensor. If the measured contact force exceeds the preset safety threshold, the execution of the second sub-instruction is stopped and the surgical abnormality reminder is generated.

[0217] Exemplarily, the execution strategy module further includes: a second sub-instruction verification sub-module, a second sub-instruction normal sub-module, and a second sub-instruction abnormal sub-module.

[0218] A second sub-instruction exception submodule, used for, when the responding slave station receives a second sub-instruction, if the second sub-instruction is greater than the second instruction threshold, obtaining a sub-instruction of at least one instruction verification module, wherein the instruction verification module has an associated relationship with the sub-instruction of the responding slave station;

[0219] A second sub-instruction normal sub-module, used to verify whether the second sub-instruction is abnormal according to the sub-instruction of the instruction verification module, and if the second sub-instruction is not abnormal, execute the second sub-instruction;

[0220] The second sub-instruction exception sub-module is used for not executing the second sub-instruction if the second sub-instruction is abnormal, and generating the surgical abnormality reminder.

[0221] Exemplarily, the device further includes: a cancellation instruction module and a backup master station module.

[0222] A cancellation instruction module, used for canceling the execution of the sub-instruction, stopping the transmission of the data frame, and activating the standby control master station when the surgical abnormality reminder exceeds a first preset value;

[0223] The backup master station module is used to regenerate a second data frame including multiple sub-instructions based on the backup control master station according to the second surgical instruction, and transmit the second data frame through the real-time communication network in accordance with the target transmission order.

[0224] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and modules and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0225] The method and apparatus of the present invention can be used in many general or special computing system environments or configurations, such as personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer terminal devices, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices.

[0226] like Figure 3 to Figure 4 As shown, the embodiment of the present invention also provides a force-position hybrid sensing and control system that can be used for cataract ophthalmic surgery or a master-slave control system that can be used for cataract ophthalmic surgery or the processor 20 in the system can be a central processing unit (CPU), and the processor can also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. Among them, the processor includes an operator and a controller.

[0227] In one embodiment, the cataract ophthalmic surgical robot is provided with a posture acquisition module and a force sensor, the force sensor is used to collect the contact force exerted on the surgical instrument of the cataract ophthalmic surgical robot, and the processor is used to implement the following steps:

[0228] S101 obtains the eyeball posture collected by the posture collection module, and calculates a first adjustment parameter according to the posture change data of the eyeball posture at the first moment;

[0229] S102 obtains the actual contact force collected by the force sensor at the first moment;

[0230] S103: acquiring the puncture depth data of the surgical instrument at the first moment based on the posture acquisition module; inputting the puncture depth data into a preset puncture force model to obtain a predicted contact force; and adjusting the operating parameters of the admittance controller according to the force error value between the measured contact force and the predicted contact force;

[0231] S104 outputs a second adjustment parameter based on the measured contact force based on the admittance controller;

[0232] S105 obtains the initial surgical instruction at the second moment, and inputs the initial surgical instruction, the first adjustment parameter, and the second adjustment parameter into a preset instruction adjustment model to generate a target surgical instruction at the second moment, wherein the first moment is earlier than the second moment.

[0233] In one embodiment, the method is applied to a master-slave control system, the system includes a master operator, a slave operator, and a processor, the control master station of the processor and multiple device slave stations of the slave operator are connected via a real-time communication network corresponding to a field bus, and the processor is used to implement the following steps:

[0234] S201 obtains the surgical stage, and divides the plurality of device slave stations into a plurality of response slave stations and a plurality of standby slave stations according to the slave station usage requirements corresponding to the surgical stage;

[0235] S202 sets the transmission priority of the responding slave station to be higher than the transmission priority of the standby slave station, and adjusts the transmission order of the plurality of device slave stations according to the transmission priority to obtain the target transmission order of the surgical stage;

[0236] S203 acquires a first surgical instruction of the master operator, and generates a second surgical instruction of the slave operator according to the first surgical instruction based on a preset mapping model;

[0237] S204 generates a data frame including a plurality of sub-instructions based on the second surgical instruction by the control main station, and transmits the data frame in the target transmission order through the real-time communication network;

[0238] S205 controls the plurality of device slave stations to obtain corresponding sub-instructions from the real-time communication network;

[0239] S206 sets a first instruction threshold and a second instruction threshold for each of the device slave stations, determines an execution strategy for the sub-instruction based on the first instruction threshold and the second instruction threshold, and controls the device slave station to execute the sub-instruction according to the execution strategy, wherein the first instruction threshold is less than the second instruction threshold.

[0240] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A force-position hybrid sensing and control method that can be used for cataract ophthalmic surgery, characterized in that: The cataract ophthalmic surgical robot is provided with a posture acquisition module and a force sensor, wherein the force sensor is used to acquire the contact force exerted on the surgical instrument of the cataract ophthalmic surgical robot. The method comprises: S101 obtains the eyeball posture collected by the posture collection module, and calculates a first adjustment parameter according to the posture change data of the eyeball posture at the first moment; S102 obtains the actual contact force collected by the force sensor at the first moment; S103: acquiring the puncture depth data of the surgical instrument at the first moment based on the posture acquisition module; inputting the puncture depth data into a preset puncture force model to obtain a predicted contact force; and adjusting the operating parameters of the admittance controller according to the force error value between the measured contact force and the predicted contact force; S104 outputs a second adjustment parameter based on the measured contact force based on the admittance controller; S105 obtains the initial surgical instruction at the second moment, and inputs the initial surgical instruction, the first adjustment parameter, and the second adjustment parameter into a preset instruction adjustment model to generate a target surgical instruction at the second moment, wherein the first moment is earlier than the second moment.

2. The method according to claim 1, characterized in that The predicted contact force includes the predicted contact force at the first moment, the force error value includes the current force error value, and S103 includes: Based on the preset puncture force model, predicting the predicted contact force at the first moment according to the puncture depth data; comparing the measured contact force at the first moment with the predicted contact force at the first moment to obtain a current force error value at the first moment; When the current force error value is greater than a first threshold, the damping coefficient is adjusted according to the current force error value based on a preset impedance parameter model, and the damping coefficient is greater than the first damping threshold.

3. The method according to claim 1 or 2, characterized in that: The predicted contact force includes the predicted contact force at the second moment, the force error value includes the sudden force error value, and S103 further includes: Based on the preset puncture force model, predicting the predicted contact force at the second moment according to the puncture depth data; Comparing the measured contact force at the first moment with the predicted contact force at the second moment to obtain the sudden change force error value between the first moment and the second moment; When the sudden force error value is greater than the second threshold or when the sudden force error value is less than the third threshold, the operating parameters of the admittance controller are adjusted according to the sudden force error value.

4. The method according to claim 3, characterized in that The operating parameters of the admittance controller include a damping coefficient, and when the sudden force error value is greater than a second threshold or when the sudden force error value is less than a third threshold, adjusting the operating parameters of the admittance controller according to the sudden force error value includes: When the sudden force error value is greater than a second threshold, adjusting the damping coefficient according to the sudden force error value based on a preset impedance parameter model, and the damping coefficient is greater than a second damping threshold; When the sudden force error value is less than a third threshold, adjusting the damping coefficient according to the sudden force error value based on the preset impedance parameter model, and the damping coefficient is less than a third damping threshold; Wherein, the second damping threshold is greater than the third damping threshold.

5. The method according to claim 1, characterized in that The penetration depth data includes the insertion amount of the surgical instrument and / or the deformation amount of the eye tissue.

6. The method according to claim 5, characterized in that The posture acquisition module includes a visual module, a position encoder at the end of the surgical instrument, and a grating sensor, and S103 includes: Acquire the surgical image collected by the visual module in real time, and determine the first puncture depth data according to the surgical image; Reading the position data collected by the grating sensor in real time, and determining the second puncture depth data according to the position data; Reading the movement data collected by the encoder in real time, and determining the third puncture depth data according to the movement data; The first puncture depth data, the second puncture depth data, and the third puncture depth data are processed based on a preset filtering fusion processing algorithm to obtain the puncture depth data.

7. The method according to claim 1, characterized in that S105 includes: Determining a weight coefficient between the first adjustment parameter and the second adjustment parameter according to a preset weight rule and the measured contact force; Update the preset instructions to adjust the weight parameters of the model according to the weight coefficients; The initial surgical instruction, the first adjustment parameter, and the second adjustment parameter are input into the updated preset instruction adjustment model to generate a target surgical instruction.

8. The method according to claim 7, characterized in that The weight coefficients include a posture weight coefficient of the first adjustment parameter and a force weight coefficient of the second adjustment parameter; The S105 further includes: comparing the first adjustment parameter with a first abnormal value of a limiting parameter threshold, and comparing the second adjustment parameter with a second abnormal value of a limiting parameter threshold; When the first abnormal value is greater than a preset abnormal threshold, adjusting the posture weight coefficient to zero; When the second abnormal value is greater than the preset abnormal threshold, the force weight coefficient is adjusted to zero.

9. The method according to claim 8, characterized in that The S105 further includes: When the first abnormal value is greater than the preset abnormal threshold and the second abnormal value is greater than the preset abnormal threshold, comparing a parameter difference value between the first adjustment parameter and the second adjustment parameter; When the parameter difference value is less than a preset difference value, setting the weight coefficient so that the posture weight coefficient is less than the force weight coefficient; When the parameter difference value is greater than the preset difference value, a surgical instruction abnormality reminder is generated.

10. A force-position hybrid sensing and control system that can be used for cataract ophthalmic surgery, characterized in that: The system comprises: A main operator, used to collect a first surgical control instruction, where the first surgical instruction is used to generate an initial surgical instruction; A slave operator, used to perform surgical operations according to target surgical control instructions, the slave operator is provided with a posture acquisition module and a force sensor, and a surgical instrument is also provided at the end of the slave operator, and the force sensor is used to collect the contact force exerted on the surgical instrument; A processor, used to execute a computer program and implement the force-position mixed sensing and control method that can be used for cataract ophthalmic surgery as described in any one of claims 1 to 9 when executing the computer program.

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