Control method and device of subretinal injection robot and electronic equipment

Abstract

The invention provides a control method and device for a subretinal injection robot and electronic equipment, and the method comprises the steps: obtaining a focus injection point, and determining a needle insertion point, a crystalline lens center point and a crystalline lens diameter; an injection robot is controlled to move to the needle inserting point to start needle inserting, and a target bending point is determined according to the positions of the focus injection point, the needle inserting point and the crystalline lens center point; generating a target needle insertion path between the needle insertion point and the target bending point and between the target bending point and the focus injection point; and controlling an injection robot to reach the focus injection point along the target needle insertion path for injection. The subretinal injection robot can automatically carry out needle inserting injection, and the working efficiency is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of medical robots, and in particular to a control method, device and electronic equipment for a subretinal injection robot. Background Art

[0002] When developing new drugs, people first test them on animals to evaluate the side effects or toxicity of the drugs. For subretinal injection surgeries, new injectable drugs also need to be evaluated through animal experiments, but there are certain differences in the eye structure between humans and animals, especially the lens of animals is larger than that of humans, which causes the surgical robot to insert the needle in a different way.

[0003] For delicate medical operations such as fundus injections, path planning is particularly critical to ensure safety and avoid damage to sensitive tissues such as the retina. The surgical robot inserts the needle from the insertion point to the entry point, and then from the entry point to the injection point. It is necessary to consider the influence of the lens, because the presence of the lens affects the insertion angle and depth of the needle. In order to avoid the lens, animal subretinal injections require manual path adjustment, resulting in inefficiency and time-consuming problems during the operation. Summary of the invention

[0004] The embodiments of the present disclosure at least provide a control method, device and electronic device for a subretinal injection robot, which can enable the subretinal injection robot to automatically perform needle insertion and injection, thereby improving work efficiency.

[0005] The present disclosure provides a control method for a subretinal injection robot, comprising:

[0006] Obtain the injection point of the lesion and determine the needle insertion point, lens center point, and lens diameter;

[0007] Controlling the injection robot to move to the needle insertion point to start needle insertion, and determining the target bending point according to the positions of the lesion injection point, the needle insertion point and the center point of the lens;

[0008] Generate a target needle insertion path between the needle insertion point and the target bending point, and between the target bending point and the lesion injection point;

[0009] The injection robot is controlled to reach the lesion injection point along the target needle insertion path for injection.

[0010] In an optional implementation, determining the target bending point according to the positions of the lesion injection point, the needle insertion point and the center point of the lens specifically includes:

[0011] According to the positions of the lesion injection point and the needle insertion point, a bending point description equation is constructed for searching for the position of the bending point between the lesion injection point and the needle insertion point;

[0012] Determine a target bending point in the bending point description equation, where the distance between the inflection point position and the center point of the lens is greater than half the diameter of the lens.

[0013] In an optional implementation manner, the inflection point description equation is:

[0014] B(t)=P start +t·(P target -P start )

[0015] Wherein, B(t) represents the position of the inflection point; P start represents the needle insertion point; P target Represents the lesion injection point; t represents the influencing parameter of the bending point position, wherein, when t=0, the bending point is located at the needle entry point; when t=1, the bending point is located at the lesion injection point; when t∈(0,1), the bending point is located between the lesion injection point and the needle entry point.

[0016] In an optional embodiment, the needle insertion path between the needle insertion point and the target bending point is expressed as:

[0017] P1(t)=P start +t·(BP start ),t∈[0,1]

[0018] Wherein, P1(t) represents the needle insertion path between the needle insertion point and the target bending point; B represents the target bending point; P start represents the needle entry point; t represents the influencing parameter of the bending point position, wherein, when t=0, the bending point position is at the needle entry point; when t=1, the bending point position is at the target bending point.

[0019] In an optional embodiment, the needle insertion path between the target bending point and the lesion injection point is expressed as:

[0020] P2(t)=B+t·(P target -B),t∈[0,1]

[0021] Wherein, P2(t) represents the needle insertion path between the target bending point and the lesion injection point; B represents the target bending point; P target represents the lesion injection point; t represents the influencing parameter of the bending point position, wherein, when t=0, the position of the inflection point is on the target bending point; when t=1, the position of the inflection point is on the lesion injection point.

[0022] In an optional implementation, the lens diameter is determined based on the following steps:

[0023] Determine the species and age of the eye to be injected;

[0024] Carrying the species category and the species age, accessing a preset animal lens diameter database, and screening a lens diameter that matches the species category and the species age;

[0025] The animal lens diameter database is pre-set with lens diameter reference values ​​corresponding to the age of each species in various species categories.

[0026] The disclosed embodiment also provides a control device for a subretinal injection robot, comprising:

[0027] A data acquisition module is used to obtain the lesion injection point and determine the needle insertion point, the lens center point and the lens diameter;

[0028] A bending point determination module, used to control the injection robot to move to the needle insertion point to start needle insertion, and determine the target bending point according to the positions of the lesion injection point, the needle insertion point and the center point of the lens;

[0029] A path planning module, used to generate a target needle insertion path between the needle insertion point and the target bending point, and between the target bending point and the lesion injection point;

[0030] The motion control module is used to control the injection robot to reach the lesion injection point along the target needle insertion path for injection.

[0031] In an optional implementation manner, the bending point determination module is specifically used to:

[0032] According to the positions of the lesion injection point and the needle insertion point, a bending point description equation is constructed for searching for the position of the bending point between the lesion injection point and the needle insertion point;

[0033] Determine a target bending point in the bending point description equation, where the distance between the inflection point position and the center point of the lens is greater than half the diameter of the lens.

[0034] An embodiment of the present disclosure also provides an electronic device, including: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, the control method of the subretinal injection robot mentioned above is executed, or the steps in any possible implementation of the control method of the subretinal injection robot mentioned above are performed.

[0035] The embodiments of the present disclosure also provide a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the control method of the subretinal injection robot described above or the steps in any possible implementation of the control method of the subretinal injection robot described above are executed.

[0036] The disclosed embodiments also provide a computer program product, including a computer program / instructions, which, when executed by a processor, implement the control method of the subretinal injection robot described above, or the steps in any possible implementation of the control method of the subretinal injection robot described above.

[0037] The disclosed embodiments provide a control method, device and electronic device for a subretinal injection robot, which obtains the lesion injection point, determines the needle insertion point, the center point of the lens and the diameter of the lens; controls the injection robot to move to the needle insertion point to start needle insertion, determines the target bending point according to the positions of the lesion injection point, the needle insertion point and the center point of the lens; generates a target needle insertion path between the needle insertion point and the target bending point, and between the target bending point and the lesion injection point; controls the injection robot to reach the lesion injection point along the target needle insertion path for injection. The subretinal injection robot can automatically perform needle insertion and injection, thereby improving work efficiency.

[0038] In order to make the above-mentioned objectives, features and advantages of the present disclosure more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following is a brief introduction to the drawings required for use in the embodiments. The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present disclosure and are used together with the specification to illustrate the technical solutions of the present disclosure. It should be understood that the following drawings only illustrate certain embodiments of the present disclosure and should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can also be obtained based on these drawings without creative work.

[0040] Figure 1 A flow chart showing a control method of a subretinal injection robot provided by an embodiment of the present disclosure;

[0041] Figure 2 A flow chart of a method for determining an inflection point provided by an embodiment of the present disclosure is shown;

[0042] Figure 3A schematic diagram showing a control device of a subretinal injection robot provided by an embodiment of the present disclosure is shown;

[0043] Figure 4 A schematic diagram of an electronic device provided by an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical scheme and advantages of the embodiments of the present disclosure clearer, the technical scheme in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. The components of the embodiments of the present disclosure generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present disclosure provided in the drawings is not intended to limit the scope of the present disclosure for protection, but merely represents the selected embodiments of the present disclosure. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present disclosure.

[0045] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0046] The term "and / or" herein only describes an association relationship, indicating that three relationships may exist. For example, A and / or B may represent the following three situations: A exists alone, A and B exist at the same time, and B exists alone. In addition, the term "at least one" herein represents any combination of at least two of any one or more of a plurality of. For example, including at least one of A, B, and C may represent including any one or more elements selected from the set consisting of A, B, and C.

[0047] Research has found that path planning is particularly critical for delicate medical operations such as fundus injections to ensure safety and avoid damage to sensitive tissues such as the retina. The surgical robot inserts the needle from the insertion point to the entry point, and then from the entry point to the injection point. It is necessary to consider the influence of the lens, because the presence of the lens affects the insertion angle and depth of the needle. In order to avoid the lens, animal subretinal injections require manual path adjustment, resulting in inefficiency and time-consuming problems during the operation.

[0048] Based on the above research, the present disclosure provides a control method, device and electronic device for a subretinal injection robot, which obtains the lesion injection point, determines the needle insertion point, the center point of the lens and the diameter of the lens; controls the injection robot to move to the needle insertion point to start needle insertion, determines the target bending point according to the positions of the lesion injection point, the needle insertion point and the center point of the lens; generates a target needle insertion path between the needle insertion point and the target bending point, and between the target bending point and the lesion injection point; controls the injection robot to reach the lesion injection point along the target needle insertion path for injection. The subretinal injection robot can automatically perform needle insertion and injection, thereby improving work efficiency.

[0049] To facilitate understanding of this embodiment, a control method for a subretinal injection robot disclosed in the embodiment of the present disclosure is first introduced in detail. The execution subject of the control method for the subretinal injection robot provided in the embodiment of the present disclosure is generally a computer device with certain computing capabilities, and the computer device includes, for example: a terminal device or a server or other processing device, and the terminal device can be a user equipment (User Equipment, UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (Personal Digital Assistant, PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, etc. In some possible implementations, the control method for the subretinal injection robot can be implemented by a processor calling a computer-readable instruction stored in a memory.

[0050] See also Figure 1 FIG. 1 is a flow chart of a control method of a subretinal injection robot provided by an embodiment of the present disclosure, wherein the method comprises steps S101 to S104, wherein:

[0051] S101, obtaining the lesion injection point, and determining the needle insertion point, the lens center point, and the lens diameter.

[0052] In specific implementation, before the subretinal injection robot starts to perform the injection, it is necessary to obtain key position parameters during the operation. The lesion injection point is the target location for injecting the drug, which is usually located in a specific lesion area of ​​the retina. The needle entry point is the starting position where the needle passes through the outer layer of the eyeball. The lens center point is a position that approximates the center of the lens, which is used to ensure that the needle can avoid the lens when moving.

[0053] Here, the precise coordinates of the lesion injection point can be determined through medical imaging (such as OCT or fundus photography); the needle insertion point needs to avoid the lens to prevent damage to the lens, and the needle insertion path should be as short as possible, and the line connecting the injection point should avoid sensitive areas, that is, by analyzing the three-dimensional model of the eyeball and combining the location of the injection point, a needle insertion point can be selected that can avoid damage to important tissues and facilitate path planning. The center point of the lens can be obtained through image analysis of the lens.

[0054] As a possible implementation, the lens diameter can be determined based on the following steps: determine the species category and species age of the eyeball to be injected; carry the species category and species age, access a preset animal lens diameter database, and screen for lens diameters that match the species category and species age; wherein the animal lens diameter database is pre-set with lens diameter reference values ​​for each species age corresponding to multiple species categories.

[0055] Here, you can use the lens diameter screening module to input the species category and age of the eye to be injected into the preset animal lens diameter database. The animal lens diameter database relies on the statistical data of the changes in animal lens diameter with age provided by scientific research institutions, thereby establishing a query list, which contains the animal category, age and lens diameter reference values.

[0056] Among them, for each species category and each corresponding age, the corresponding lens diameter is stored in the animal lens diameter database in the form of a reference range value, that is, the range between the minimum reference lens diameter and the maximum reference lens diameter.

[0057] It should be noted that, in order to ensure the safety of the surgical process, some redundancy is reserved, and each query will return the maximum value of the reference lens diameter within the reference range.

[0058] In this way, by obtaining the lesion injection point, needle entry point, lens center point and lens diameter, accurate input data is provided for subsequent path planning, ensuring that the needle can smoothly avoid the lens to reach the lesion injection point, and ensuring the safety and accuracy of the entire injection process.

[0059] S102, controlling the injection robot to move to the injection point and start inserting the needle, and determining the target bending point according to the positions of the lesion injection point, the injection point and the center point of the lens.

[0060] In a specific implementation, after the needle insertion point is confirmed, the injection robot is controlled to move toward the needle insertion point according to a pre-set path. The robot control system can be used to take the needle insertion point coordinates as the target and execute motion instructions to ensure that the robot reaches the needle insertion point accurately.

[0061] Here, the robot can use linear or curved motion modes to select the best path according to the surrounding environment and surgical conditions to ensure smooth movement and avoid damage to surrounding tissues. Once the robot reaches the needle insertion point, it should immediately stop the needle insertion action and prepare to enter the next step of path planning.

[0062] For details, see Figure 2 FIG. 1 is a flowchart of a method for determining an inflection point provided by an embodiment of the present disclosure, the method comprising steps S1021 to S102, wherein:

[0063] S1021. According to the positions of the lesion injection point and the needle insertion point, a bending point description equation for searching for the position of the bending point between the lesion injection point and the needle insertion point is constructed.

[0064] S1022, determining a target bending point in the bending point description equation, in which the distance between the position of the inflection point and the center point of the lens is greater than half the diameter of the lens.

[0065] In specific implementations, the target bending point is a key position on the needle insertion path, which is usually used to change the movement direction of the needle to safely reach the lesion injection point. The bending point description equation is:

[0066] B(t)=P start +t·(P target -P start )

[0067] Wherein, B(t) represents the position of the inflection point; P start represents the needle insertion point; P target Represents the lesion injection point; t represents the influencing parameter of the bending point position, wherein, when t=0, the bending point is located at the needle entry point; when t=1, the bending point is located at the lesion injection point; when t∈(0,1), the bending point is located between the lesion injection point and the needle entry point.

[0068] Here, after calculating the bending point, it is necessary to ensure that the distance from the bending point to the center of the lens is greater than half of the lens diameter, that is, |B(t)-C|>D / 2, where C represents the center of the lens. If this condition is not met, it is necessary to adjust the calculation of the bending point and reselect the appropriate bending point position affecting parameter values ​​to ensure that the needle path does not damage the lens.

[0069] In this way, it is ensured that the injection robot reaches the injection point accurately and prepares for the next injection by calculating the bending point, ensuring the safety and accuracy of the needle path to avoid damage to the lens, while ensuring that it can effectively reach the lesion injection point.

[0070] S103, generating a target needle insertion path between the needle insertion point and the target bending point, and between the target bending point and the lesion injection point.

[0071] In the specific implementation, an accurate needle insertion path is generated according to the needle insertion point, the target bending point and the lesion injection point, ensuring that the injection robot can effectively avoid the lens and smoothly reach the target position during the injection.

[0072] Among them, the input parameters of path planning include the starting position of the injection needle entering the eyeball, the target bending point in the path for changing direction, and the final injection position to be reached. The overall needle insertion path is divided into two sections. The first section is from the needle insertion point to the target bending point, and the second section is from the target bending to the lesion injection point.

[0073] Here, the first needle insertion path from the needle insertion point to the target bending point is expressed as:

[0074] P1(t)=P start +t·(BP start ),t∈[0,1]

[0075] Wherein, P1(t) represents the needle insertion path between the needle insertion point and the target bending point; B represents the target bending point; P start represents the needle entry point; t represents the influencing parameter of the bending point position, wherein, when t=0, the position of the bending point is at the needle entry point; when t=1, the position of the bending point is at the target bending point.

[0076] Here, the second needle path from the target bend to the lesion injection point is expressed as:

[0077] P2(t)=B+t·(P target -B),t∈[0,1]

[0078] Wherein, P2(t) represents the needle insertion path between the target bending point and the lesion injection point; B represents the target bending point; P target represents the lesion injection point; t represents the influencing parameter of the bending point position, wherein, when t=0, the position of the inflection point is on the target bending point; when t=1, the position of the inflection point is on the lesion injection point.

[0079] S104, controlling the injection robot to reach the lesion injection point along the target needle insertion path to perform injection.

[0080] In the specific implementation, the generated needle insertion path is converted into motion instructions that can be understood by the robot control system to realize motion control, that is, it is responsible for moving the surgical robot from the current position to each path point and finally reaching the injection position.

[0081] The disclosed embodiment provides a control method for a subretinal injection robot, which obtains the lesion injection point, determines the needle insertion point, the lens center point, and the lens diameter; controls the injection robot to move to the needle insertion point to start needle insertion, determines the target bending point according to the positions of the lesion injection point, the needle insertion point, and the lens center point; generates a target needle insertion path between the needle insertion point and the target bending point, and between the target bending point and the lesion injection point; controls the injection robot to reach the lesion injection point along the target needle insertion path to perform injection. The subretinal injection robot can automatically perform needle insertion and injection, thereby improving work efficiency.

[0082] Those skilled in the art will appreciate that, in the above method of specific implementation, the order in which the steps are written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of the steps should be determined by their functions and possible internal logic.

[0083] Based on the same inventive concept, the presently disclosed embodiment also provides a control device for a subretinal injection robot corresponding to the control method for the subretinal injection robot. Since the principle of solving the problem by the device in the presently disclosed embodiment is similar to the control method for the subretinal injection robot mentioned above in the presently disclosed embodiment, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0084] See also Figure 3 , Figure 3 Schematic diagram of a control device for a subretinal injection robot provided in an embodiment of the present disclosure. Figure 3 As shown in FIG. , the control device 300 of the subretinal injection robot provided in the embodiment of the present disclosure includes:

[0085] The data acquisition module 310 is used to acquire the lesion injection point and determine the needle insertion point, the lens center point and the lens diameter.

[0086] The bending point determination module 320 is used to control the injection robot to move to the injection point to start the injection, and determine the target bending point according to the positions of the lesion injection point, the injection point and the center point of the lens.

[0087] The path planning module 330 is used to generate a target needle insertion path between the needle insertion point and the target bending point, and between the target bending point and the lesion injection point.

[0088] The motion control module 340 is used to control the injection robot to reach the lesion injection point along the target needle insertion path for injection.

[0089] For descriptions of the processing flow of each module in the device and the interaction flow between each module, reference may be made to the relevant descriptions in the above method embodiment, which will not be described in detail here.

[0090] The control device of a subretinal injection robot provided by the disclosed embodiment obtains the lesion injection point, determines the needle insertion point, the center point of the lens, and the diameter of the lens; controls the injection robot to move to the needle insertion point to start needle insertion, determines the target bending point according to the positions of the lesion injection point, the needle insertion point, and the center point of the lens; generates a target needle insertion path between the needle insertion point and the target bending point, and between the target bending point and the lesion injection point; controls the injection robot to reach the lesion injection point along the target needle insertion path for injection. The subretinal injection robot can automatically perform needle insertion and injection, thereby improving work efficiency.

[0091] Corresponds to Figure 1 The control method of the subretinal injection robot in the present disclosure also provides an electronic device 400, such as Figure 4 FIG. 4 is a schematic diagram of the structure of an electronic device 400 provided in an embodiment of the present disclosure, including:

[0092] Processor 41, memory 42, and bus 43; memory 42 is used to store execution instructions, including memory 421 and external memory 422; memory 421 here is also called internal memory, which is used to temporarily store operation data in processor 41 and data exchanged with external memory 422 such as hard disk. Processor 41 exchanges data with external memory 422 through memory 421. When the electronic device 400 is running, the processor 41 communicates with the memory 42 through bus 43, so that the processor 41 executes Figure 1 Steps in the control method of the subretinal injection robot.

[0093] The present disclosure also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the control method of the subretinal injection robot described in the above method embodiment are executed. The storage medium can be a volatile or non-volatile computer-readable storage medium.

[0094] The disclosed embodiments also provide a computer program product, which includes computer instructions. When the computer instructions are executed by a processor, the steps of the control method of the subretinal injection robot described in the above method embodiment can be executed. For details, please refer to the above method embodiment, which will not be repeated here.

[0095] The computer program product may be implemented in hardware, software or a combination thereof. In one optional embodiment, the computer program product is implemented as a computer storage medium. In another optional embodiment, the computer program product is implemented as a software product, such as a software development kit (SDK).

[0096] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. In the several embodiments provided in the present disclosure, it should be understood that the disclosed device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of the device or unit can be electrical, mechanical or other forms.

[0097] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0098] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0099] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present disclosure, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0100] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present disclosure, which are used to illustrate the technical solutions of the present disclosure, rather than to limit them. The protection scope of the present disclosure is not limited thereto. Although the present disclosure is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed in the present disclosure, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure, and should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A control method for a subretinal injection robot, characterized in that: include: Obtain the injection point of the lesion and determine the needle insertion point, lens center point, and lens diameter; Controlling the injection robot to move to the needle insertion point to start needle insertion, and determining the target bending point according to the positions of the lesion injection point, the needle insertion point and the center point of the lens; Generate a target needle insertion path between the needle insertion point and the target bending point, and between the target bending point and the lesion injection point; The injection robot is controlled to reach the lesion injection point along the target needle insertion path for injection.

2. The method according to claim 1, characterized in that Determining a target bending point according to the positions of the lesion injection point, the needle insertion point and the center point of the lens specifically includes: According to the positions of the lesion injection point and the needle insertion point, a bending point description equation is constructed for searching for the position of the bending point between the lesion injection point and the needle insertion point; Determine a target bending point in the bending point description equation, where the distance between the inflection point position and the center point of the lens is greater than half the diameter of the lens.

3. The method according to claim 2, characterized in that The bending point description equation is: B(t)=P start +t·(P target -P start ) Wherein, B(t) represents the position of the inflection point; P start represents the needle insertion point; P target Represents the lesion injection point; t represents the influencing parameter of the bending point position, wherein, when t=0, the bending point is located at the needle entry point; when t=1, the bending point is located at the lesion injection point; when t∈(0,1), the bending point is located between the lesion injection point and the needle entry point.

4. The method according to claim 1, characterized in that: The needle insertion path between the needle insertion point and the target bending point is expressed as: P1(t)=P start +t·(B-P start ),t∈[0,1] Wherein, P1(t) represents the needle insertion path between the needle insertion point and the target bending point; B represents the target bending point; P start represents the needle entry point; t represents the influencing parameter of the bending point position, wherein, when t=0, the bending point position is at the needle entry point; when t=1, the bending point position is at the target bending point.

5. The method according to claim 1, characterized in that The needle insertion path between the target bending point and the lesion injection point is expressed as: P2(t)=B+t·(P target -B),t∈[0,1] Wherein, P2(t) represents the needle insertion path between the target bending point and the lesion injection point; B represents the target bending point; P target represents the lesion injection point; t represents the influencing parameter of the bending point position, wherein, when t=0, the position of the inflection point is on the target bending point; when t=1, the position of the inflection point is on the lesion injection point.

6. The method according to claim 1, characterized in that The lens diameter is determined based on the following steps: Determine the species and age of the eye to be injected; Carrying the species category and the species age, accessing a preset animal lens diameter database, and screening a lens diameter that matches the species category and the species age; The animal lens diameter database is pre-set with lens diameter reference values ​​corresponding to the age of each species in various species categories.

7. A control device for a subretinal injection robot, characterized in that: include: A data acquisition module is used to obtain the lesion injection point and determine the needle insertion point, the lens center point and the lens diameter; A bending point determination module, used to control the injection robot to move to the needle insertion point to start needle insertion, and determine the target bending point according to the positions of the lesion injection point, the needle insertion point and the center point of the lens; A path planning module, used to generate a target needle insertion path between the needle insertion point and the target bending point, and between the target bending point and the lesion injection point; The motion control module is used to control the injection robot to reach the lesion injection point along the target needle insertion path for injection.

8. The device according to claim 7, characterized in that The bending point determination module is specifically used for: According to the positions of the lesion injection point and the needle insertion point, a bending point description equation is constructed for searching for the position of the bending point between the lesion injection point and the needle insertion point; Determine a target bending point in the bending point description equation, where the distance between the inflection point position and the center point of the lens is greater than half the diameter of the lens.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and when the machine-readable instructions are executed by the processor, the steps of the control method of the subretinal injection robot as described in any one of claims 1 to 6 are performed.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, executes the steps of the control method of the subretinal injection robot as described in any one of claims 1 to 6.

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