Control method, device and electronic equipment of subretinal injection robot

Abstract

The present disclosure provides a control method, device, and electronic device for a subretinal injection robot. The method involves obtaining a lesion injection point and determining the needle insertion point, lens center, and lens diameter; controlling the injection robot to move to the insertion point and begin needle insertion; determining a target bending point based on the positions of the lesion injection point, the needle insertion point, and the lens center; generating a target needle insertion path between the insertion point and the target bending point, and between the target bending point and the lesion injection point; and controlling the injection robot to reach the lesion injection point along the target needle insertion path for injection. This method enables the subretinal injection robot to automatically perform needle insertion and injection, improving operational efficiency.

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, they are first tested on animals to assess side effects or toxicity. For subretinal injection surgeries, new injectable drugs also require animal testing for efficacy evaluation. However, differences in eye structure between humans and animals, particularly the larger lens of animals, necessitate different needle insertion methods for surgical robots.

[0003] Path planning is crucial for delicate medical procedures like subretinal injections to ensure safety and avoid damage to sensitive tissues like the retina. As the surgical robot moves from the insertion point to the impact point and then back to the injection point, it's essential to consider the influence of the lens, which affects the angle and depth of needle insertion. To avoid the lens, subretinal injections in animals require manual path adjustment, resulting in inefficient and time-consuming procedures. 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 insert the needle and inject, thereby improving work efficiency.

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

[0006] Obtain the lesion injection point 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] 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;

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

[0010] In an optional embodiment, 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, 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 on the needle entry point; when t=1, the bending point position is on 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 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 inflection point; when t=1, the position of the inflection point is on the lesion injection point.

[0022] In an optional embodiment, 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 lens diameters that match the species category and the species age;

[0025] The animal lens diameter database is pre-set with lens diameter reference values ​​corresponding to various species and ages of each species.

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

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

[0028] a bending point determination module, configured to control the injection robot to move to the needle insertion point to start needle insertion, and determine a target bending point based on the positions of the lesion injection point, the needle insertion point, and the center point of the lens;

[0029] A path planning module, configured 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 configured 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, comprising: 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 executed.

[0035] An embodiment of the present disclosure also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the computer program executes the above-mentioned control method of the subretinal injection robot, or the steps of any possible implementation of the above-mentioned control method of the subretinal injection robot.

[0036] The embodiments of the present disclosure also provide a computer program product, including a computer program / instruction, which, when executed by a processor, implements the control method of the above-mentioned subretinal injection robot, or the steps in any possible implementation of the control method of the above-mentioned subretinal injection robot.

[0037] The disclosed embodiments provide a control method, device, and electronic device for a subretinal injection robot. These methods obtain a lesion injection point and determine the needle insertion point, lens center, and lens diameter; control the injection robot to move to the insertion point and begin injection; determine a target bending point based on the positions of the lesion injection point, the needle insertion point, and the lens center; generate a target needle insertion path between the insertion point and the target bending point, and between the target bending point and the lesion injection point; and control the injection robot to reach the lesion injection point along the target needle insertion path for injection. This allows the subretinal injection robot to automatically perform needle insertion and injection, improving operational 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 given below and described in detail with reference to the accompanying 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 briefly introduces the drawings required for use in the embodiments. The drawings herein are incorporated into and constitute a part of the specification. These drawings illustrate embodiments consistent with the present disclosure and, together with the specification, are used 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 those of ordinary skill in the art, other relevant drawings can be obtained based on these drawings without inventive effort.

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

[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 of a control device for 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 solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions 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, not all of the embodiments. The components of the embodiments of the present disclosure generally described and shown in the drawings herein 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 disclosure for which protection is sought, but merely represents 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 are within 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, it does not need to be further defined or explained in subsequent drawings.

[0046] The term "and / or" herein simply describes an association relationship, indicating that three relationships can exist. For example, A and / or B can represent the existence of A alone, the simultaneous existence of A and B, and the existence of B alone. In addition, the term "at least one" herein refers to any combination of at least two of any one or more of a plurality of items. For example, "at least one of A, B, and C" can represent any one or more elements selected from the set consisting of A, B, and C.

[0047] Research has found that path planning is crucial for delicate medical procedures like subretinal injections to ensure safety and avoid damage to sensitive tissues like the retina. As the surgical robot moves from the insertion point to the impact point and then back to the injection point, it's essential to consider the influence of the lens, which affects the angle and depth of needle insertion. To avoid the lens, subretinal injections in animals require manual path adjustment, resulting in inefficient and time-consuming procedures.

[0048] Based on the above research, the present disclosure provides a control method, device, and electronic device for a subretinal injection robot. These methods involve acquiring the lesion injection point and determining the needle insertion point, lens center, and lens diameter; controlling the injection robot to move to the insertion point and begin injection; determining a target bending point based on the positions of the lesion injection point, the needle insertion point, and the lens center; generating a target insertion path between the insertion point and the target bending point, and between the target bending point and the lesion injection point; and controlling the injection robot to follow the target insertion path to the lesion injection point for injection. This allows the subretinal injection robot to automatically perform needle insertion and injection, improving operational efficiency.

[0049] To facilitate understanding of this embodiment, a control method for a subretinal injection robot disclosed in an 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, such as a terminal device or a server or other processing device. The terminal device can be a user equipment (UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a 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 computer-readable instructions stored in a memory.

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

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

[0052] In practice, before the subretinal injection robot begins performing an injection, it needs to acquire key positional parameters during the procedure. The lesion injection point is the target location for drug injection, typically located in a specific lesion area of ​​the retina. The entry point is the starting point where the needle penetrates the outer layer of the eyeball. The lens center point is a location that approximates the center of the lens and is used to ensure that the needle avoids the lens during movement.

[0053] Here, the precise coordinates of the lesion can be determined using medical imaging (such as optical coherence tomography (OCT) or fundus photography). The injection point must avoid the lens to prevent damage. The insertion path should be as short as possible, and the line connecting the injection point should avoid sensitive areas. This means analyzing a three-dimensional model of the eyeball and considering the location of the injection point to select an insertion point that avoids damage to vital tissues and facilitates path planning. The center of the lens can be determined by analyzing lens images.

[0054] As a possible implementation method, 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 multiple species categories and lens diameter reference values ​​corresponding to each species age.

[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 provided by scientific research institutions on the changes in animal lens diameter with age, thereby establishing a query list. The list 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 needle insertion point and 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.

[0060] In a specific implementation, after the needle insertion point is determined, the injection robot is controlled to move toward the needle insertion point according to a pre-set path. The robot control system can use 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, selecting the optimal path based on the surrounding environment and surgical conditions to ensure smooth movement and avoid damage to surrounding tissue. Once the robot reaches the insertion point, it should immediately stop the needle insertion and prepare for the next step of path planning.

[0062] For details, see Figure 2 FIG. 1 is a flow chart of a method for determining an inflection point according to an embodiment of the present disclosure, wherein the method includes 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 a bending point position between the lesion injection point and the needle insertion point is constructed.

[0064] S1022. Determine a target bending point in the bending point description equation, where 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 practice, the target bending point is a key position on the needle insertion path, which is usually used to change the 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] After calculating the bend point, ensure that the distance from the bend point to the lens center is greater than half the lens diameter, i.e., |B(t)-C|>D / 2, where C represents the lens center. If this condition is not met, adjust the bend point calculation and reselect appropriate bend point location parameters to ensure that the needle path does not damage the lens.

[0069] In this way, the injection robot is ensured to reach the needle insertion 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: 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.

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

[0073] Here, the first needle 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 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 inflection point; when t=1, the position of the inflection point is on the lesion injection point.

[0079] S104: Control 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, which is responsible for moving the surgical robot from the current position to each path point and finally reaching the injection position.

[0081] The disclosed embodiments provide a control method for a subretinal injection robot. The method comprises obtaining a lesion injection point and determining the needle insertion point, the lens center point, and the lens diameter; controlling the injection robot to move to the needle insertion point and begin needle insertion; determining a target bending point based on the positions of the lesion injection point, the needle insertion point, and the 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 lesion injection point; and controlling the injection robot to reach the lesion injection point along the target needle insertion path for injection. This method enables the subretinal injection robot to automatically perform needle insertion and injection, thereby improving operational efficiency.

[0082] Those skilled in the art will understand that in the above-mentioned method of the specific implementation method, the writing order of each step does not mean a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0083] Based on the same inventive concept, the embodiment of the present disclosure also provides a control device for a subretinal injection robot corresponding to the control method of the subretinal injection robot. Since the principle of solving the problem by the device in the embodiment of the present disclosure is similar to the control method of the subretinal injection robot in the above-mentioned embodiment of the present disclosure, 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 by 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 center point of the lens and the diameter of the lens.

[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 can be made to the relevant descriptions in the above method embodiment, which will not be described in detail here.

[0090] The disclosed embodiments provide a control device for a subretinal injection robot. The device obtains a lesion injection point and determines the needle insertion point, the lens center, and the lens diameter; controls the injection robot to move to the insertion point and begin injection; determines a target bending point based on the positions of the lesion injection point, the needle insertion point, and the lens center; generates a target needle insertion path between the insertion point and the target bending point, and between the target bending point and the lesion injection point; and controls the injection robot to reach the lesion injection point along the target needle insertion path for injection. This allows the subretinal injection robot to automatically perform needle insertion and injection, improving operational efficiency.

[0091] Corresponding 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; the memory 421 here is also called internal memory, which is used to temporarily store the operation data in the processor 41 and the data exchanged with the external memory 422 such as the hard disk. The processor 41 exchanges data with the external memory 422 through the memory 421. When the electronic device 400 is running, the processor 41 and the memory 42 communicate through the 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 having a computer program stored thereon. When executed by a processor, the computer program executes the steps of the method for controlling a subretinal injection robot described in the above method embodiment. The storage medium may be a volatile or non-volatile computer-readable storage medium.

[0094] The embodiments of the present disclosure 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 embodiment, the computer program product is implemented as a computer storage medium. In another 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 brevity 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 separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[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 enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute 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 scope of protection of the present disclosure is not limited thereto. Although the present disclosure has been described in detail with reference to the above-described embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-described embodiments within the technical scope disclosed in the present disclosure, or replace some of the technical features therein with equivalents. Such modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure, and should be included in the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure shall be subject to the scope of protection of the claims.

Claims

1. A control method for a subretinal injection robot, characterized in that: include: Obtain the lesion injection point 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; 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; Controlling the injection robot to reach the lesion injection point along the target needle insertion path to perform injection; 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; Determining a target bending point in the bending point description equation, wherein the distance between the inflection point position and the center point of the lens is greater than half the diameter of the lens; The inflection point description equation is: in, Represents the position of the inflection point; represents the needle insertion point; represents the injection point of the lesion; Represents the influencing parameters of the bending point position, where When , the bending point is located on the needle insertion point; when When , the inflection point is located on the lesion injection point; when When the needle is inserted into the lesion, the bending point is located between the lesion injection point and the needle insertion point.

2. 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: in, represents the needle insertion path between the needle insertion point and the target bending point; represents the target bending point; represents the needle insertion point; Represents the influencing parameters of the bending point position, where When , the bending point is located at the needle insertion point; when When the inflection point is located at the target inflection point.

3. 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: in, represents the needle insertion path between the target bending point and the lesion injection point; represents the target bending point; represents the injection point of the lesion; Represents the influencing parameters of the bending point position, where When , the inflection point is located at the target inflection point; when When the injection point is injected into the lesion, the inflection point is located on the lesion injection point.

4. The method according to claim 1, wherein 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 various species and ages of each species.

5. A control device for a subretinal injection robot, characterized in that: include: The data acquisition module is used to obtain the lesion injection point and determine the needle insertion point, the center point of the lens and the diameter of the lens; a bending point determination module, configured to control the injection robot to move to the needle insertion point to start needle insertion, and determine a target bending point based on the positions of the lesion injection point, the needle insertion point, and the center point of the lens; A path planning module, configured 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; A motion control module is used to control the injection robot to reach the lesion injection point along the target needle insertion path for injection; 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; Determining a target bending point in the bending point description equation, wherein the distance between the inflection point position and the center point of the lens is greater than half the diameter of the lens; The inflection point description equation is: in, Represents the position of the inflection point; represents the needle insertion point; represents the injection point of the lesion; Represents the influencing parameters of the bending point position, where When , the bending point is located on the needle insertion point; when When , the inflection point is located on the lesion injection point; when When the needle is inserted into the lesion, the bending point is located between the lesion injection point and the needle insertion point.

6. 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 through 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 4 are performed.

7. 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 according to any one of claims 1 to 4.

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