Force-position hybrid sensing and control system and method applicable to cataract surgery

Abstract

The present invention relates to a force-position hybrid sensing and control system and method that can be used in cataract ophthalmic surgery. The method comprises calculating a first adjustment parameter based on eyeball posture change data at a first moment collected by a posture acquisition module; obtaining the measured contact force at the first moment collected by a force sensor; obtaining 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; adjusting the operating parameters of an admittance controller based on the force error between the measured contact force and the predicted contact force; outputting a second adjustment parameter based on the measured contact force based on the admittance controller; and inputting 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. The method can adapt to diverse surgical scenarios with high precision and low interference, while also ensuring the accuracy and smoothness of ophthalmic surgical robot operation and the safety of ophthalmic surgery.

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 in cataract ophthalmology surgery. Background Art

[0002] Cataracts are one of the most common causes of blindness worldwide, and with the aging population, the demand for ophthalmic surgery is increasing. Ophthalmic surgeries, such as cataract surgery, are highly delicate microsurgeries, requiring doctors to perform extremely precise operations under a microscope to ensure surgical success and patient safety. However, traditional manual operations have many limitations, such as imprecise force control and low repeatability. Therefore, ophthalmic surgical robots are becoming an important auxiliary tool for complex surgical procedures.

[0003] At present, the common problems existing in the measurement and control technology of ophthalmic surgical robots are mainly 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 surgery. 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] Therefore, existing ophthalmic surgical robots seem unable to cope with complex and changeable surgical operations, and 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 in cataract eye surgery. In order to solve the above-mentioned technical problems, the present invention specifically adopts the following technical solutions:

[0006] A first aspect of the present invention is to provide a force-position hybrid sensing and control method that can be used in cataract ophthalmic surgery. The cataract ophthalmic surgical robot is provided with a posture acquisition module and a force sensor. The force sensor is used to acquire the contact force exerted on the surgical instruments of the cataract ophthalmic surgical 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: obtaining the measured contact force at the first moment collected by the force sensor;

[0009] S103: acquiring puncture depth data of the surgical instrument at a 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 operating parameters of an admittance controller according to a 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 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 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 the predicted contact force at the second moment, the force error value includes the mutation force error value, and S103 also 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 and the predicted contact force at the second moment to obtain the mutation force error value between the first moment and the second moment; when the mutation force error value is greater than the second threshold or when the mutation force error value is less than the third threshold, adjusting the operating parameters of the admittance controller according to the mutation 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 the 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. The S103 includes: acquiring the surgical image acquired by the visual module in real time, and determining the first puncture depth data based on the surgical image; reading the position data acquired by the grating sensor in real time, and determining the second puncture depth data based on the position data; reading the movement data acquired by the encoder in real time, and determining the third puncture depth data based on 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 restriction parameter threshold, and comparing the second adjustment parameter with a second abnormal value of a restriction 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, adjusting the force weight coefficient to zero.

[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 to a posture weight coefficient 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] A second aspect of the present invention is to provide a force-position hybrid sensing and control system that can be used in cataract surgery, characterized in that the system comprises:

[0021] A main operator is configured 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 further provided at the end of the slave operator, 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 the force-position mixed perception and control method that can be used for cataract eye 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 ophthalmic surgical robots. It 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 operation and the safety of ophthalmic surgery.

[0026] The eyeball's posture determines a first position-based adjustment parameter, which is used to adaptively adjust the initial surgical instructions based on the eyeball's dynamic changes. The measured contact force and admittance controller determine a second force-based adjustment parameter, which is used to adjust the initial surgical instructions based on the force feedback from the eye tissue on the surgical instrument. This adaptively adjusts the initial surgical instructions from both the force and position perspectives, resulting in target surgical instructions that are highly adapted to the current actual surgical scenario. This enables force-position hybrid perception and force-position fusion control, dynamically adapting to diverse surgical scenarios and improving the accuracy and safety of ophthalmic surgical robot operations.

[0027] During this process, the puncture depth is determined by the positional changes of the ocular tissue or surgical instrument at the surgical site. Based on the puncture depth, the predicted contact force output by the puncture force model is then derived. The force error between the measured contact force based on force sensing and the predicted contact force based on position sensing is then compared. Based on the force error, the admittance controller is adaptively adjusted to improve the accuracy of the output second adjustment parameter, thereby optimizing the response speed of the operator in real time to maintain good response characteristics. It should be understood that optimizing the parameters of the admittance controller through hybrid force-position sensing can ensure that the needle tip maintains stable force contact while avoiding damage to the delicate ocular tissue during tissue entry.

[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 surgery caused by sudden torque changes, thereby improving the safety and accuracy of the surgery.

[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, and more accurate target surgical instructions are obtained.

[0031] Furthermore, an adaptive weight adjustment strategy is provided for abnormal adjustment parameters. When any adjustment parameter is abnormal, the initial surgical instructions are adjusted entirely based on the other normal adjustment parameter to eliminate interference from the abnormal adjustment parameter. If both the first and second adjustment parameters are abnormal, and the difference between the two parameters is small, the abnormal adjustment parameter is more reliable, and the adjustment of the initial surgical instructions based on the more reliable second adjustment parameter takes the lead. This dynamically adapts to diverse surgical scenarios, improving the continuity and smoothness of the surgical process while ensuring surgical safety and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the embodiments or the description of the prior art. In all drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the various elements or parts are 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 inventive work.

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

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

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

[0036] Figure 4 This is a schematic block diagram of a master-slave control system that can be used in cataract eye 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 in cataract eye 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 in cataract eye surgery, provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0041] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0042] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, combined, or partially merged, so the actual execution order may vary depending on the actual situation.

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

[0044] As used herein, terms such as "upper," "lower," "inner," "outer," "front," "back," "one end," and "the other end" indicate positions or locations based on those shown in the accompanying drawings. These terms are intended solely to facilitate and simplify the description of the present invention and are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0045] As used herein, unless otherwise expressly specified or limited, the terms "installed," "provided with," and "connected" should be understood broadly. For example, "connected" may refer to a fixed connection, a detachable connection, or an integral connection; it may refer to a mechanical connection, a direct connection, an indirect connection via an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention on a case-by-case basis.

[0046] As used 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 document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0049] With 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 increasingly 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 seen a sharp increase in incidence in an aging society, further driving the growth in demand for eye surgery services. On this basis, due to the uneven distribution of medical resources, especially in remote areas, many patients find it difficult to obtain high-quality eye medical services, which further stimulates the demand for remote eye surgery 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 according to the surgical site: anterior segment (front segment) surgery and posterior segment (posterior segment) surgery. Anterior segment surgery usually refers to operations on the front structures 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 body, etc.).

[0051] During ophthalmic surgery, doctors need to frequently and precisely position surgical instruments to ensure the safety and effectiveness of the operation. However, traditional manual operation methods have certain limitations: on the one hand, the doctor's level of experience, 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 surgical outcome. In addition, considering the objective surgical environment of the complex structure of the eye, the small space, and the fragility of the eyeball tissue, the operating environment of ophthalmic surgery is extremely sensitive. Any slight operational error may lead to serious consequences, thus requiring extremely high precision and accuracy.

[0052] It is precisely based on the above-mentioned user needs and strict requirements for surgical precision 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 master operator's equipment to remotely or closely control the ophthalmic surgical robot as the 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 could theoretically improve surgical success rates, reduce risks associated with human intervention, and provide remote control to address the shortage of medical resources in some regions, thereby providing high-quality ophthalmic treatment services to more patients. However, existing master-slave control systems and ophthalmic surgical robots remain inadequate for complex surgical environments and remote surgery.

[0054] On the one hand, in practical applications, random errors are difficult to completely eliminate due to factors such as the complexity of robotic systems and environmental interference. This often makes it difficult to achieve ideal operational accuracy and stability, failing to meet the dual requirements of safety and precision. For example, during robot motion, factors such as manufacturing, assembly clearances, joint wear, and connecting rod deformation can affect the accuracy of various data measurements. Alternatively, inaccurate force feedback from doctors or master-slave control systems can lead to excessive force application, damaging delicate 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 there are delays in the transmission of surgical signals, it will directly affect the positioning accuracy of the slave operator, and then affect the real-time and stability of the master-slave control, reduce the collaborative work efficiency and accuracy between the master and slave operators, reduce the overall effect of the operation, and further increase the difficulty and risk of the operation.

[0056] Thus, the present invention provides a surgical instruction optimization strategy for force-position hybrid perception and force-position fusion control applied to ophthalmic surgical robots. This strategy is highly adaptable to complex and diverse surgical scenarios, while also ensuring the accuracy and smoothness of the robot's operation and the safety of ophthalmic surgery. Furthermore, a highly real-time and secure surgical instruction transmission and response mechanism for a master-slave ophthalmic surgical robot system is also provided, improving the speed and accuracy of the slave operator's execution of surgical instructions and reducing information delays between the master and slave devices.

[0057] An embodiment of the present invention provides a force-position hybrid perception and control method that can be used for cataract ophthalmic surgery. The cataract ophthalmic surgical 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 surgical 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 deformation amount of eye tissue.

[0059] The force sensor is used to monitor the force exerted by the ocular tissue on the surgical instrument. It can be located at the end of the surgical instrument or, depending on the structure of the surgical instrument being used, flexibly positioned to accurately capture the force feedback from the ocular tissue on the surgical instrument. The force sensor can be a strain gauge force sensor, a piezoelectric force sensor, or other types, without limitation.

[0060] The surgical instruments of the cataract surgery robot can be any instrument used in ophthalmic surgery, such as a puncture needle, a microscalpel, a microhook, or microtweezers, without limitation. The following examples will use a puncture needle as an example to illustrate the surgical instruction optimization strategy for force-position hybrid sensing and force-position fusion control.

[0061] The following describes some embodiments of the present invention in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features of the embodiments can be combined with each other. Figures 1 to 2 , Figure 1 is a schematic flow chart of a force-position hybrid sensing and control method that can be used for cataract surgery, provided by an embodiment of the present invention. Figure 2 This is a schematic flow chart of another force-position hybrid sensing and control method 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] For example, taking the visual module as a binocular camera, the eye image captured by the binocular camera is analyzed, and the biometric information of the human iris and pupil is processed and analyzed to obtain the eye posture, thereby identifying the displacement or rotation changes that may occur in the eye during the operation. However, 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). These tremors 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, thereby improving the accuracy of the terminal position positioning and reducing the interference of the patient's eye micro-movement on the operation during the operation.

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

[0066] Specifically, force sensors, mounted at the end of surgical instruments, accurately sense the minute forces between the instruments and ocular tissue, known as contact forces. During critical steps like capsulotomy and incision creation, the force sensors capture contact forces, allowing the surgeon or ophthalmic surgical robot to dynamically adjust operating force to avoid excessive force that could damage ocular 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's penetration into the eyeball, which can be determined through ultrasonic imaging and the mechanical limit structure associated with the surgical instrument. Exemplarily, the puncture depth data can be the insertion amount of the surgical instrument and / or the deformation of the eye tissue. The insertion amount of the surgical instrument refers to the displacement or depth of the surgical instrument's insertion into the eye tissue, and the deformation 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 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 based on the type of surgery being performed, for example, in cataract surgery, a puncture force model for the capsulotomy process can be selected.

[0070] Admittance control is a robot control strategy that uses force sensors to detect the interaction forces between the robot's end and the environment and adjusts the robot's position and motion based on these forces. This involves using force feedback to regulate the robot's motion, enabling it to exhibit response characteristics similar to a spring-damper system. For more information, see Related Technologies. The parameters of the admittance controller can include damping, stiffness, and mass parameters. By adjusting these parameters, the robot's dynamic characteristics can be modified to suit 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 (i.e., the insertion distance of the surgical instrument) and / or the deformation displacement of the ocular tissue (i.e., the deformation amount of the ocular tissue). The actual needle displacement and / or the deformation displacement of the ocular tissue are then used as inputs to the puncture force model to generate a predicted value of the contact force, i.e., the predicted contact force. It should be understood that this predicted contact force is determined based on 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 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, and realizing 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. The S103 includes: acquiring the surgical image acquired by the visual module in real time, and determining the first puncture depth data based on the surgical image; reading the position data acquired by the grating sensor in real time, and determining the second puncture depth data based on the position data; reading the movement data acquired by the encoder in real time, and determining the third puncture depth data based on 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 visual module installed on the ophthalmic surgical robot acquires high-definition images of the surgical area in real time. Advanced image processing technology is used to extract key information from these images to calculate first puncture depth data, such as the first insertion amount of the surgical instrument and / or the deformation of the ocular tissue. At the same time, the ophthalmic surgical robot is also equipped with a high-precision grating sensor to monitor the actual position changes of the surgical instrument. By analyzing the position signal output by the grating sensor, second puncture depth data, such as the second insertion amount of the surgical instrument, can be obtained. Furthermore, an encoder is used to track the specific movement distance of the surgical instrument's tip relative to the starting position. Based on the movement data provided by the encoder, third puncture depth data, such as the third insertion amount of the surgical instrument, is accurately determined.

[0075] Finally, the penetration depth data obtained from the three aforementioned sources (vision module, grating sensor, and encoder) is fed into a pre-set filtering and fusion processing algorithm. This algorithm is pre-trained and takes into account the characteristics and weights of different data sources, effectively removing noise interference and improving the reliability and accuracy of the final result. This outputs more accurate and stable penetration depth data, enhancing the accuracy of depth measurement. Furthermore, the fusion positioning of the vision module, grating sensor, and encoder improves the accuracy of end-point position measurement and the precision of end-point positioning.

[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 ocular tissue exhibits nonlinear viscoelastic properties (i.e., it possesses both viscous and elastic properties), resulting in complex mechanical behavior when subjected to external forces during ophthalmic surgery. It is necessary to adaptively adjust the execution of surgical instructions based on the measured contact force at a first moment. Thus, at a second moment after the first moment, the surgical robot's surgical operation is compliantly controlled based on a second adjustment parameter, ensuring that the needle tip maintains stable force contact during tissue entry while avoiding damage to the fragile ocular 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 instructions include parameters such as the position, velocity, acceleration, force, and pitch angle of the surgical instrument, which are not limited here. The initial surgical instructions can be autonomously generated by the ophthalmic surgical robot based on a preset surgical algorithm, or they can be the first surgical instructions collected by the main operator from the doctor.

[0081] It should be understood that the first surgical instructions are for master-slave scenarios corresponding to master-slave control systems. Autonomous surgical instructions are for fully automated surgical scenarios. The ophthalmic surgical robot can independently plan the surgical path and steps based on one or more pre-programmed surgical algorithms. These algorithms include standard treatment procedures for different eye diseases, safety parameter settings, and other information. 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 instruction may include: target position p target 、Target speed v target Target acceleration a target . This can be achieved through the formula: p 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 the eye tissue and the changes in the 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. 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 changes in the eyeball posture and reduce surgical risks. When there are two adjustment amounts for speed, acceleration, and position, they can be superimposed or offset. This can be achieved specifically through a trained preset instruction adjustment model, which is not limited here.

[0086] like Figure 2 As shown, the eyeball posture acquired by the posture acquisition module calculates posture change data, and then determines a first position-based adjustment parameter, which is used to adaptively adjust the initial surgical instructions based on the dynamic changes of the eyeball. The measured contact force acquired by the force sensor and the admittance controller determine a second force-based adjustment parameter, which is used to adjust the initial surgical instructions based on the force feedback of the eye tissue on the surgical instrument. This adaptively adjusts the initial surgical instructions from both the force and position perspectives, resulting in target surgical instructions that are highly adapted to the current actual surgical scenario. This enables force-position hybrid perception and force-position fusion control, dynamically adapting to diverse surgical scenarios and improving the accuracy and safety of ophthalmic surgical robot operations.

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

[0088] It should be understood that the second force-based adjustment parameter is actually output by an admittance controller that comprehensively considers both position and force information. Therefore, there is 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 within the preset instruction adjustment model, avoiding conflicts or incompatibilities, thereby ensuring the continuity and precision of surgical operations.

[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, this invention addresses the potential risks posed by inaccurate contact force perception by the physician or master-slave control system, as well as the nonlinear viscoelastic properties of ocular tissue. This invention uses predicted contact force as a baseline value and implements low-interference, highly accurate monitoring of the actual measured contact force. If the physician or master-slave control system issues an instruction for 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 admittance controller parameters, thereby optimizing the surgical instructions in a gentle and low-interference manner.

[0092] To improve the accuracy of position and posture measurements, and given the potential limitations of a single sensor, this invention incorporates a posture acquisition module comprised of a multi-sensor module, a multi-vision module, and an encoder. By fusing data from various sources, the accuracy of key parameters such as eye position, surgical tool insertion depth, and ocular tissue deformation is significantly improved. Furthermore, the potential risks associated with unconscious eye movement or minor tremors are addressed.

[0093] Even in extreme cases where eye posture measurement deviates, this can be compensated for using the force-based second adjustment parameter. More importantly, the measurement of the surgical instrument's insertion length and the resulting ocular tissue deformation remains highly stable and accurate, even when affected by the insertion depth data. The second adjustment parameter maintains high reliability.

[0094] In some embodiments, 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 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, so as 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 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 the predicted contact force at the second moment, the force error value includes the mutation force error value, and S103 also 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 and the predicted contact force at the second moment to obtain the mutation force error value between the first moment and the second moment; when the mutation force error value is greater than the second threshold or when the mutation force error value is less than the third threshold, adjusting the operating parameters of the admittance controller according to the mutation 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 caused by sudden torque changes, thereby improving the safety and accuracy of the operation.

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

[0099] Therefore, a three-level threshold value for the force error value is set, with the first threshold value being less than the third threshold value, which in turn is less than the second threshold value. The specific values ​​can be flexibly set based on actual conditions and are not limited here. The first threshold value is used to determine the force deviation value at the current moment. When the deviation is too large, the parameters of the admittance controller need to be adjusted 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 occurrence of sudden force values. When a sudden force value occurs, the parameters of the admittance controller need to be adaptively adjusted; the corresponding third threshold value is used to identify the disappearance of a sudden force value. When a sudden force value disappears, the parameters of the admittance controller need to be restored.

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

[0101] In some embodiments, when the initial surgical instruction is the doctor's first surgical instruction, the three-level threshold for the force error value is set higher than when the initial surgical instruction is an autonomous surgical instruction, thereby placing stricter restrictions 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, a reminder threshold can also be set in the master-slave scenario. For example, the reminder threshold can be set to 2mN as the first threshold. When the force error value exceeds the reminder threshold, an abnormal reminder is triggered to alert the doctor without making any substantive 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. Only when the error is large will the adjustment parameters be triggered, and adjustments will be made 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 correspondingly set.

[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 instruction; and when the error decreases, the damping coefficient will be reduced to improve the flexibility and precision of the surgical instrument.

[0107] Because the first threshold is less than the third threshold, which in turn 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, which 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, a slight increase in the damping parameter is sufficient to effectively suppress the response speed of surgical instructions and ensure the stability of the operation. If the force error value reaches the third threshold, the force error is relatively large, and the damping parameter needs to be significantly increased to further slow the response speed and prevent interference from excessive force and sudden torque. After the sudden force value generated when penetrating the membrane disappears and 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 precision of the needle tip, making the surgical operation more precise and controllable. Through this hierarchical adjustment strategy, the damping parameter is dynamically and finely optimized according to the real-time force error, thereby achieving safer and more precise surgical control.

[0108] Exemplarily, the preset impedance parameter model is a neural network model that has been pre-trained based on experimental data, simulation results, and clinical experience. It is used to ensure that the robot can perform surgical operations 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. The neural network updates the weight vector using the gradient descent method to minimize the force error. Neural networks have optimal approximation and global optimality, a simple structure, and fast computational speed. Using neural networks to adaptively adjust the parameters of the admittance controller can improve response speed and enhance 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 admission controller parameter settings, 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, avoiding vibration or other unstable behaviors, making the surgical process more refined, and thus 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, and more accurate target surgical instructions are obtained.

[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. 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 position-based adjustment parameter dominates the instruction adjustment. When the measured contact force gradually increases to a specific force value, the second force-based adjustment parameter 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, such as the sudden force value generated when penetrating the membrane layer in cataract ophthalmic surgery, and 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, and it 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. At this time, 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 = -0.05mm, Δa1 = -0.08mm / s 2 The second adjustment parameters include Δp2 of -0.1mm, Δv2 of 0.4mm / s, and Δa2 of -0.24mm / s 2 , the target surgical instructions output by the preset instruction adjustment model may include: target position p target is 4.92 mm, 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 surgeon or the preset surgical algorithm, but also incorporates the real-time feedback from force-position hybrid perception to make necessary fine-tuning, achieving force-position hybrid control, thereby improving the safety, precision, and overall effectiveness of the surgery. This dynamic adjustment method enables the surgical robot to flexibly respond to complex and changing surgical environments, ensuring that each step is optimized.

[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 restriction parameter threshold, and comparing the second adjustment parameter with a second abnormal value of a restriction 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, adjusting the force weight coefficient to zero.

[0120] The limiting parameter thresholds include a first limiting parameter threshold for the first adjustment parameter and a second limiting parameter threshold for the second adjustment parameter, and the preset abnormality thresholds include a first preset abnormality threshold for the first adjustment parameter and a second preset abnormality threshold for the second adjustment parameter. These thresholds can be flexibly set based on actual needs. Furthermore, the limiting parameter thresholds and preset abnormality thresholds set for the master-slave scenario or the fully automated surgery scenario can be different.

[0121] Specifically, in order to ensure 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. 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 to a posture weight coefficient 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 position-based first adjustment parameter and the force-based second adjustment parameter, and the extremely low likelihood of both the force sensor and the posture acquisition module being abnormal at the same time, under normal circumstances, the difference between the first and second adjustment parameters is within a reasonable range, i.e., a preset difference value. Therefore, when both the first and second adjustment parameters are abnormal, the difference between them can be compared. When the difference is small, the reliability of the abnormal adjustment parameter is higher. Simultaneously, the measurement of the surgical instrument insertion amount and the resulting ocular tissue deformation can maintain high stability and accuracy. In particular, the insertion amount of the surgical instrument can be precisely located using a variety of sensors and encoders. Even when affected by puncture depth data, the force-based second adjustment parameter remains highly reliable. Therefore, the adjustment of the initial surgical instructions is guided by the more reliable second adjustment parameter. This allows for dynamic adaptation to diverse surgical scenarios, ensuring surgical safety and accuracy while improving the continuity and smoothness of the surgical process. Furthermore, when the parameter difference is large, and a surgical situation becomes difficult for the surgical robot to handle autonomously, an immediate surgical instruction abnormality alert is generated, notifying medical staff to take intervention measures.

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

[0125] The main operator 10 is used to collect a first surgical instruction, which is used to generate an initial surgical instruction. The first surgical instruction can be input by a doctor or can be captured by a high-precision sensor to obtain the doctor's hand displacement and posture information;

[0126] A slave manipulator 30 is used to perform a surgical operation according to a target surgical instruction. The slave manipulator 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 manipulator 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 perception and control method that can be used for cataract ophthalmology surgery, and / or a master-slave control method that can be used for cataract ophthalmology 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 eye surgery. Figure 4 , Figure 4 FIG. 1 is a schematic block diagram of a master-slave control system that can be used for cataract eye surgery, provided by an embodiment of the present invention. Figure 4 As shown, the system includes:

[0130] A main operator 10 is used to collect a first surgical instruction;

[0131] A slave operator 30 is used to perform a surgical operation according to the second surgical instruction. The slave operator 30 includes a plurality of equipment slave stations, each of which includes a force sensor and a vision 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 the master-slave control method that can be used for cataract ophthalmic surgery, and / or the steps of the force-position hybrid perception 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. The processor 20 also includes at least one control master station, and the control master station and the multiple device slave stations of the slave operator are connected through a real-time communication network corresponding to the field bus.

[0133] The real-time communication network corresponding to the fieldbus is established based on the real-time Ethernet communication protocol. For example, Ethernet for Control Automation Technology (EtherCAT) can be used to establish the real-time communication network corresponding to the fieldbus. EtherCAT allows high-speed, low-latency data transmission and is suitable for applications requiring 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. For example, the industrial computer 202 serves as the control center of the master-slave control system, responsible for managing data communication, device configuration, and task scheduling across 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 slaves 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 generating the second surgical instruction from the operating hand 30 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 master 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 to collect the first surgical instruction through other input devices (such as a joystick, touch screen, etc.); the output device is used to feedback 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 for collecting the contact force exerted by the eye tissue on 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 X, Y, and Z directions, and is mainly used to quickly position surgical tools from the non-surgical area to near the surgical area. The RCM mechanism focuses on small-scale fine movement around a fixed virtual point, ensuring that surgical tools can perform high-precision operations 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 fine positioning surgical operations and stable control, jointly achieving efficient, safe, and precise ophthalmic surgery.

[0141] An embodiment of the present invention also provides a master-slave control method that can be used in cataract ophthalmic surgery. The method is applied to a master-slave control system, wherein the system includes a master operator, a slave operator, and a processor. The control master station of the processor and the 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 for a master-slave ophthalmic surgical robot. Figure 5 , Figure 5 FIG. 1 is a schematic flow chart of a master-slave control method for cataract eye surgery provided by an embodiment of the present invention. 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, responding slaves are those among the multiple device slaves that need to respond immediately and participate in the current surgical phase. Standby slaves are those among the multiple device slaves that do not need to respond immediately during the current phase but may be needed in subsequent phases. For example, if the current phase requires making a tiny incision in the cornea or other area to gain access to the interior of the eye, then the device slaves associated with the RCM mechanism, such as the servo motor and position sensor, would be classified as responding slaves, while the device slaves associated with the three-axis mechanism would be classified as standby slaves.

[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. 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, to zero. When the contact force collected by the force sensor is a non-zero value, it is determined that the surgical instrument has contacted the eye tissue, and the surgical stage enters the second surgical stage from the first surgical stage. Correspondingly, due to sensitivity requirements, the preset contact value can also be set higher, for example, 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. Furthermore, according to the different mechanisms called by the first surgical instruction, the surgical stages can be divided into two categories: the coarse positioning stage led by the three-axis mechanism, including the incision positioning stage and the incision removal stage; and the fine positioning surgical stage led by the RCM mechanism, including the intraocular surgery stage and the intraocular needle pushing stage. For example, 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 called upon during the surgical stage. Therefore, the equipment slave stations used in different surgical stages are also specific, thereby optimizing the transmission order in subsequent data transmission and improving 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 for different surgical stages can be pre-set. For example, the target transmission order for the first surgical stage is the first transmission order. In the first surgical stage, the transmission priority of the responding slave station is higher than the transmission priority of the standby slave station. This means that the responding slave station receives data frames transmitted by the control master station before the standby slave station, thereby obtaining the corresponding instructions more quickly. Correspondingly, the target transmission order for the second surgical stage is the second transmission order. Furthermore, when switching surgical stages, the transmission order can be quickly adjusted based on the corresponding transmission order, directly matching the surgical stage.

[0150] See also Figure 7 , Figure 7 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 drive No. 1 301, servo drive 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 the first loop servo drive No. 1 301, servo drive No. 2 302, axis module 303, and IO module 304. The second transmission order can be the second loop IO module 304, axis module 303, servo drive No. 2 302, and servo drive 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, it does not affect the transmission of the data frame, 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, the needs of different equipment slaves at each stage are analyzed based on the acquired surgical stage, and multiple equipment slaves are dynamically divided into responding slaves and standby slaves. As the surgical stage changes, the classification of responding 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 efficiently, ensuring that each surgical stage receives optimal support, while reducing unnecessary energy consumption and system burden, not only improving the safety and accuracy of the surgery, but also extending 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 station is not a device slave station that needs to respond immediately in the current surgical stage, the standby slave station should not receive sub-instructions in the current surgical stage. However, at this time, the standby slave station receives the first sub-instruction, and enables the visual module to collect 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 accordingly or initiates an abnormal response to the instruction.

[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 to the target transmission sequence to adapt to the doctor's need to call each equipment slave station for repeated positioning in the secondary stage, and balance the smoothness, real-timeness and safety of the equipment slave station's execution of instructions during the operation.

[0156] Correspondingly, if the operation 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 insertion stage led by the RCM mechanism, the three-axis mechanism executes a movement 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 movement instruction, causing the surgical instrument to move a constant distance relative to the eye 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 the surgical stage transition period is in progress based on the surgical images captured by the visual module includes: comparing the actual relative position of the surgical instrument and the eyeball in the captured surgical images 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 the surgical stage transition period has been entered. 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 the surgical stage transition period has been entered; 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 the surgical stage transition period has not been entered.

[0158] It should be understood that through the real-time monitoring and intelligent judgment of the visual module, smooth transitions between different surgical stages are achieved, improving the consistency and safety of the entire operation. 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 obtain 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 obtain 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 for surgical safety reasons, and is not allowed to be used in the first surgical stage. For example, the motor of the slave operator may be used in all stages 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 phase has a dedicated core slave responsible for key operations, and the surgical phase is dynamically adjusted by real-time monitoring of the command acquisition status of these core slaves. Specifically, the command acquisition status of the first and second core slaves is continuously monitored. The first core slave is generally responsible for key operations in the first surgical phase, such as extraocular positioning, incision creation, or preliminary positioning; while the second core slave is responsible for operations in the second surgical phase, such as intraocular surgery. When the first core slave detects that it has not received any sub-commands within a preset time period (e.g., a few seconds or minutes), it means that the surgical phase transition from the first surgical phase to the second surgical phase has been completed. At this time, the surgical phase is updated to the second surgical phase to ensure a smooth transition, and the target transmission order is updated to the second transmission order. Correspondingly, if the second core slave detects that it has not received any sub-commands within a preset time period, it means that the surgical phase transition from the second surgical phase to the first surgical phase has been completed. At this time, the surgical phase is updated to the first surgical phase, and the target transmission order is updated to the first transmission order. This avoids delays or errors caused by untimely phase transitions and further improves the real-time performance of surgical command transmission and response.

[0162] The surgical stage is preliminarily determined based on the contact force collected by the slave operator's force sensor. Accurate switching between surgical stages is achieved by monitoring the command acquisition status of standby slave stations that are not required during the surgical stage and core slave stations that are required for use, allowing for rapid updates to the transmission sequence that adapts to the current surgical stage. 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, enhancing the flexibility and responsiveness of the master-slave control system and further improving the real-time nature of surgical command transmission and response. At the same time, it is used in conjunction with the functional modules of the slave operator, such as the real-time image analysis and force feedback control of the vision 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 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.

[0164] In a master-slave control system, the master operator collects first surgical instructions, including those for position movement, force control, and tool selection. The processor then converts these instructions into second surgical instructions, which the slave operator can understand and execute based on a preset mapping model. These second surgical instructions include a series of sub-instructions, such as position movement, posture changes, and operating parameters for different mechanical structures. This allows the slave operator to complete the surgical operation corresponding to the first surgical instruction when executing the second surgical instruction. 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 second surgical instruction, the control main station generates a data frame including a plurality of sub-instructions, and transmits the data frame 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 This is a schematic flow chart of another master-slave control method that can be used for cataract eye surgery provided by an embodiment of the present invention. Figure 7As shown, after step S204, each slave device reads and writes only the sub-commands associated with it as the data frame passes through it, then passes the data frame onward and immediately processes the sub-commands to complete the specific surgical operation, until the last slave device n retrieves and processes the sub-commands. For example, if a slave device needs to perform a position movement operation, it will extract the corresponding sub-command and then pass the data frame to the next slave device.

[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] To ensure the high precision and safety requirements of ophthalmic surgery and that each device slave can flexibly and safely execute sub-commands based on specific circumstances, each device slave can be configured with a first and second command threshold to identify abnormal commands. When the parameter value is below the first command threshold, the device slave adopts a conservative execution strategy; when it is between the two thresholds, it adopts a standard execution strategy; and when it is above the second command threshold, it adopts a strict execution strategy, which may include stopping the operation or issuing an alarm.

[0173] Since ophthalmic surgical robots require highly precise control during surgical operations, efficient instruction processing and execution can be achieved by connecting the master control station and the multiple device slave stations of the slave operator via a real-time communication network corresponding to the field bus. The device slave stations used in different surgical stages 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 master control 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] Based on high-real-time communication, different data transmission sequences are used according to the different device slaves called at different surgical stages, giving priority to receiving and executing instructions on the device slave used in the current surgical stage, further improving the efficiency of instruction transmission and execution. At the same time, two-level instruction thresholds are set for each device slave to quickly identify abnormal instructions. These instructions are then executed differently based on the two-level instruction thresholds to adapt to complex surgical environments, flexibly respond to various risks of varying degrees, and balance the smoothness, real-time nature, and safety of instruction execution by device slaves 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 the preset safety threshold, stop the execution of the second sub-instruction, and generate a surgical abnormality reminder.

[0176] The command monitoring module can include position sensors, force sensors, speed sensors, and other sensors to collect real-time execution data. This data can be any type of feedback during command execution. Abnormal alerts can be visual cues, audible alarms, or other notifications to ensure operators can take timely action.

[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 consistency and real-time nature of instruction execution, the second sub-instruction is allowed to be executed directly and monitored in real time during the execution process. The instruction monitoring module continuously monitors key parameters such as actual position, applied force, movement 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, if the core slave station corresponding to the RCM mechanism receives a second sub-command greater than the first command threshold and less than the second command threshold, the vision module and encoder module are activated as command monitoring modules to check whether the RCM mechanism's motion angle in the surgical image captured by the vision 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 activated as the command monitoring module to check whether the stability of the driver module's closed-loop control 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 obtains 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 status 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] Vision modules and force sensors can be used simultaneously for monitoring, providing more comprehensive anomaly detection capabilities. The vision module detects wound status, while the force sensor detects applied force. When any monitoring module detects an anomaly, it immediately halts the execution of all related instructions and generates a corresponding anomaly alert, ensuring the security of instruction execution without affecting the real-time and consistent 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 exceeds the second instruction threshold, the instruction within this range is highly abnormal and may pose a significant risk. To ensure the safety and stability of ophthalmic surgery, feasibility is verified before execution, effectively avoiding the potential harm caused by high-risk instructions. Specifically, to increase verification speed and ensure real-time instruction execution, a sub-instruction of the instruction verification module with a strong correlation with the responding slave is obtained. This correlation is used to verify whether the second sub-instruction 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, 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 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 that is 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 these 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 safe 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 embodiments of the present invention provide multiple execution strategies based on the risk level of abnormal instructions. For example, when a standby slave receives the first sub-instruction, it distinguishes whether it is an abnormal situation or a normal situation during the transition period of the surgical phase and handles it accordingly. For another example, when a responding slave receives the second instruction, it differentially executes the abnormal instruction based on 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 in accordance with 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 canceled 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 a 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 in the preset target transmission order. In this way, abnormal situations can be quickly responded to and handled. In addition, when the main control station fails or anomalies 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, when the backup control master station regenerates a second data frame containing multiple sub-commands based on the second surgical instruction, the slave station will also differentiate between abnormal instructions based on the two-level instruction thresholds provided by this embodiment of the present invention. If the surgical abnormality alert still exceeds the first preset value, a serious fault or incorrect instruction is considered to have occurred, and a high-level abnormality alert 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 eye posture acquired by the posture acquisition module is obtained, and a first adjustment parameter is calculated based on the posture change data of the eye posture at the first moment; the measured contact force acquired 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 a preset puncture force model to obtain a predicted contact force; the operating parameters of the admittance controller are adjusted based on the force error value between the measured contact force and the predicted contact force; the admittance controller outputs a second adjustment parameter based on 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 a preset instruction adjustment model to generate a 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. This further improves accuracy while ensuring real-time performance.

[0193] An embodiment of the present invention further provides a master-slave control device that can be used in cataract eye surgery, which 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 is used to execute the aforementioned master-slave control method that can be used in cataract eye surgery. Exemplarily, the master-slave control device can be configured in the processor, and the device includes:

[0194] An operation stage module is used to obtain the operation stage and divide 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 operation stage;

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

[0196] an instruction generation module, configured to obtain a first surgical instruction of the master operator, and generate 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, configured to control 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, configured to acquire the contact force collected by the force sensor;

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

[0203] The second operation stage submodule is configured to determine that the operation stage is the second operation 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, when the standby slave station receives the first sub-instruction, enable the visual module and determine whether the operation is in a transition period based on the surgical 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 the first surgical stage and at least one second core slave station for the second surgical stage. 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, configured to monitor 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 configured 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-command execution submodule, configured to, when the response slave station receives a second sub-command, execute the second sub-command if the second sub-command is greater than the first command threshold and less than the second command 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 sub-module, configured to, when the responding slave station receives a second sub-instruction, obtain a sub-instruction of at least one instruction verification module if the second sub-instruction is greater than the second instruction threshold, 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, configured to verify whether the second sub-instruction is abnormal according to the sub-instruction of the instruction verification module, and execute the second sub-instruction if the second sub-instruction is not abnormal;

[0220] The second sub-instruction exception sub-module is used to not execute the second sub-instruction if the second sub-instruction is abnormal, and generate the operation abnormality reminder.

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

[0222] a cancel instruction module, configured to cancel the execution of the sub-instruction, stop the transmission of the data frame, and activate the backup 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 second surgical instruction based on the backup control master station, and transmit the second data frame in the target transmission order through the real-time communication network.

[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 methods and apparatus of the present invention can be used in a wide variety of general-purpose or specialized 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 devices, network PCs, minicomputers, mainframe computers, and distributed computing environments that include any of the above.

[0226] like Figures 3 and 4 As shown, an embodiment of the present invention further 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 arithmetic unit and a controller.

[0227] In one embodiment, 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, 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: obtaining the measured contact force at the first moment collected by the force sensor;

[0230] S103: acquiring puncture depth data of the surgical instrument at a 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 operating parameters of an admittance controller according to a 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 including a master operator, a slave operator, and a processor, wherein a 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 configured to implement the following steps:

[0234] S201 obtains the surgical stage, and divides the plurality of device slaves into a plurality of response slaves and a plurality of standby slaves according to the slave 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 priorities to obtain a target transmission order for the surgical stage;

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

[0237] S204: generating, based on the main control station, a data frame including a plurality of sub-instructions according to the second surgical instruction, and transmitting 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 description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A force-position hybrid sensing and control system that can be used for cataract surgery, characterized in that: The system includes: a master operator, configured to acquire a first surgical control instruction, wherein the first surgical control instruction is used to generate an initial surgical instruction; a slave operator, configured to perform a surgical operation according to a target surgical control instruction, wherein the slave operator is provided with a posture acquisition module and a force sensor, and a surgical instrument is further provided at the end of the slave operator, wherein the force sensor is used to acquire the contact force exerted on the surgical instrument; and a processor, configured to execute a computer program and, when executing the computer program, to achieve: 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: obtaining the measured contact force at the first moment collected by the force sensor; S103: acquiring puncture depth data of the surgical instrument at a 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 operating parameters of an admittance controller according to a 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: Obtaining an initial surgical instruction at a second moment, inputting 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; The predicted contact force includes a predicted contact force at a first moment, and the force error value includes a current force error value. S103 includes: predicting the predicted contact force at the first 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 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, adjusting a damping coefficient according to the current force error value based on a preset impedance parameter model, wherein the damping coefficient is greater than a first damping threshold; 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.

2. The system according to claim 1, wherein: The predicted contact force includes the predicted contact force at the second moment, the force error value includes a sudden force error value, and S103 further includes: Based on the preset puncture force model, predicting the predicted contact force at a 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 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.

3. The system according to claim 2, 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 the 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 the third damping threshold; The second damping threshold is greater than the third damping threshold.

4. The system according to claim 1, wherein: The penetration depth data includes the insertion amount of the surgical instrument and / or the deformation amount of the eye tissue.

5. The system according to claim 4, 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. S103 includes: Acquiring the surgical image captured by the visual module in real time, and determining first puncture depth data according to the surgical image; Reading position data collected by the grating sensor in real time, and determining second puncture depth data based on the position data; reading the movement data collected by the encoder in real time, and determining 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.

6. The system according to claim 1, wherein: 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 limit parameter threshold, and comparing the second adjustment parameter with a second abnormal value of the limit 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.

7. The system according to claim 6, 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 to a posture weight coefficient less than a force weight coefficient; When the parameter difference value is greater than the preset difference value, a surgical instruction abnormality reminder is generated.

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