Injection surgical robot and use method thereof

Abstract

The invention relates to the technical field of surgical instruments, in particular to an injection surgical robot which comprises an anti-shake needle head, an automatic liquid medicine pushing device and a shell, the anti-shake needle head is composed of a stabilizer, a liquid medicine conveying cavity and a needle head, and the automatic liquid medicine pushing device is composed of a liquid medicine storage cavity and a lead screw transmission propeller. The stabilizer is installed between the shell and the liquid medicine conveying cavity, the needle head is connected with one end of the liquid medicine conveying cavity, the other end of the liquid medicine conveying cavity is connected with the liquid medicine storage cavity through a hose, the movable end of the lead screw transmission propeller is connected with a liquid medicine injection propelling piston in the liquid medicine storage cavity, the stabilizer is SMA motors, and the multiple SMA motors are arranged. The multiple SMA motors are arranged and connected between the shell and the liquid medicine conveying cavity in an antagonism mode, mutual traction is designed based on the antagonism arrangement of the multiple SMA motors, the stability of the injection needle is precisely controlled, the shock absorption, vibration reduction and automatic alignment functions of the syringe are achieved, and therefore the operation precision and safety are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical instruments, and specifically to an injection surgical robot and a method for using the same. Background Art

[0002] At present, fundus injection surgery requires extremely high operating precision, especially subretinal injection and retinal blood vessel puncture injection. However, due to the complex and fragile structure of the eyeball, the physiological tremor of the doctor's hand will significantly affect the accuracy of the operation and may even cause harm to the patient. In addition, the traditional syringe operation method requires manual delivery of the drug solution. Once the doctor becomes fatigued, the accuracy of the operation will decrease and the risk of the operation will increase accordingly.

[0003] In recent years, robot-assisted surgery has been gradually applied to the field of ophthalmology, significantly improving surgical results by filtering hand tremors, improving positioning accuracy and reducing surgical trauma. However, existing robot systems still have problems such as large size, heavy weight and complex operation, which limits their application in surgical applications such as fundus injection in a small space. Summary of the invention

[0004] In view of the shortcomings of the prior art, the purpose of the present invention is to provide an injection surgical robot for performing subretinal injections and retinal vascular puncture injections in ophthalmic surgery, aiming to solve the problem of insufficient precision caused by physiological tremors in the doctors' hands in traditional surgeries, while reducing the difficulty and risks of surgical operations.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an injection surgical robot, comprising an anti-shake needle, an automatic liquid medicine pushing device, and a shell for installing the anti-shake needle and the automatic liquid medicine pushing device, the anti-shake needle is composed of a stabilizer, a liquid medicine delivery chamber and a needle, the automatic liquid medicine pushing device is composed of a liquid medicine storage chamber and a screw drive propeller, the stabilizer is installed between the shell and the liquid medicine delivery chamber, the needle is connected to one end of the liquid medicine delivery chamber, the other end of the liquid medicine delivery chamber is connected to the liquid medicine storage chamber through a hose, the movable end of the screw drive propeller is connected to a liquid medicine injection propulsion piston in the liquid medicine storage chamber, the stabilizer is an SMA motor, and a plurality of SMA motors are provided, and the plurality of SMA motors are arranged and connected in an antagonistic manner between the shell and the liquid medicine delivery chamber.

[0006] In some of the embodiments, eight SMA motors are provided, and the eight SMA motors are combined to form an SMA eight-wire motor, and the eight SMA wires of the SMA eight-wire motor are arranged and connected in an antagonistic manner between the housing and the drug delivery chamber.

[0007] In some of the embodiments, a plurality of stabilizers are disposed in the housing, and the plurality of stabilizers are arranged in a length direction in the housing.

[0008] In some of the embodiments, a wire locking mechanism is provided on the inner wall of the shell and the drug delivery cavity, and both ends of the SMA wire of the SMA motor are clamped and fixed by corresponding wire locking mechanisms.

[0009] In some embodiments, the thread locking mechanism includes a first thread locking mechanism disposed on the housing and a second thread locking mechanism disposed on the drug delivery chamber, and the first thread locking mechanism and the second thread locking mechanism are distributed in a cross shape in the end surface direction.

[0010] In some embodiments, four first thread locking mechanisms are provided, and each two first thread locking mechanisms form a group and are provided on the same side of the housing in the front-to-back direction, and the two groups of first thread locking mechanisms are symmetrically provided on the housing;

[0011] There are two second thread locking mechanisms, and the two second thread locking mechanisms are symmetrically arranged on the drug liquid delivery cavity;

[0012] The first locking wire mechanism located at the front end of the housing is connected to the rear end of the second locking wire mechanism through the SMA wire of the SMA motor;

[0013] The first locking wire mechanism located at the rear end of the housing is connected to the front end of the second locking wire mechanism through the SMA wire of the SMA motor.

[0014] In some embodiments, the automatic liquid medicine pushing device includes a piston push rod, a transmission screw, a screw fixing structure, a screw driver and a stepper motor. The screw fixing structure is installed inside the shell, the transmission screw is rotatably installed on the screw fixing structure, the screw driver is coordinated with the transmission screw, the piston push rod is connected to the screw driver, and the end of the piston push rod close to the needle is connected to the liquid medicine injection propulsion piston in the liquid medicine storage chamber, the stepper motor is installed in the shell, and the rotating shaft of the stepper motor is connected to one end of the transmission screw.

[0015] In some of the embodiments, an observation window is provided on the housing corresponding to the liquid medicine storage cavity.

[0016] In some embodiments, a medicine scale is provided on the outer wall of the medicine storage chamber.

[0017] To achieve the above object, the present invention also provides the following technical solution: a method for using an injection surgery robot, according to the injection surgery robot, the steps are:

[0018] (1) Initial state: The eight SMA wires are all in a stretched state, and the drug delivery cavity is suspended relative to the shell under the joint pulling of the eight SMA wires;

[0019] (2) When the injection surgical robot is used, the controller applies different on-off conditions to the eight SMA wires to achieve motion control of the drug delivery cavity;

[0020] (3) If the four SMA wires on the left side of the drug delivery cavity contract simultaneously, the drug delivery cavity will translate to the left;

[0021] If the four SMA wires located on the right side of the drug delivery cavity contract simultaneously, the drug delivery cavity will translate to the right;

[0022] If the four SMA wires located on the upper side of the drug delivery cavity contract simultaneously, the drug delivery cavity will move upward in translation;

[0023] If the four SMA wires located at the lower side of the drug delivery cavity are contracted at the same time, the drug delivery cavity will move translationally downward;

[0024] If the four SMA wires connected to the rear end of the drug delivery cavity are contracted at the same time, the drug delivery cavity will move forward in translation;

[0025] If the four SMA wires connected to the front end of the drug delivery cavity are contracted at the same time, the drug delivery cavity will move backward in translation;

[0026] If the six SMA wires located on the upper and left sides of the drug delivery cavity contract simultaneously, the drug delivery cavity will move translationally to the upper left;

[0027] If the six SMA wires located on the upper and right sides of the drug delivery cavity contract at the same time, the drug delivery cavity will move translationally to the upper right;

[0028] If the six SMA wires located at the lower side and the left side of the drug delivery cavity are contracted at the same time, the drug delivery cavity will move horizontally to the lower left;

[0029] If the six SMA wires located at the lower side and the right side of the drug delivery cavity are contracted at the same time, the drug delivery cavity will move translationally to the lower right;

[0030] (4) When the SMA wire is powered on, it tends to contract from its original stretched state until it reaches a state of force balance, thus achieving stable operation control of the drug delivery cavity;

[0031] (5) According to the control method of the SMA wire in step (3), the needle is driven to move within a preset range through the drug delivery cavity;

[0032] (6) During the operation, due to the vibration of the user's hand, the sensor in the injection surgery robot detects the vibration signal and feeds it back to the controller. The controller controls the SMA eight-wire motor to run in the opposite direction of the vibration to achieve vibration reduction and anti-shake of the needle;

[0033] (7) At the same time, the operation button controls the stepper motor to run, and the transmission screw rotates accordingly, thereby driving the screw driver to move on the transmission screw, and finally driving the piston push rod to advance inside the liquid medicine storage chamber;

[0034] (8) The drug solution in the drug solution storage chamber passes through the drug solution storage chamber, the hose, and the drug solution delivery chamber in sequence, and is then injected from the needle into the treatment site.

[0035] Compared with the prior art, the invention has the following beneficial effects: the invention can not only utilize the SMA eight-wire motor to automatically identify the robot's own shaking and make anti-shake movements, realize the functions of anti-shake and automatic alignment, but also realize the automatic pushing of the liquid medicine into the eyeball through the button on the shell. This not only improves the tolerance and accuracy of the needle position, but also eliminates the operation of manually pushing the liquid medicine with a traditional syringe, greatly reduces the difficulty and risk of fundus injection surgery, and provides an efficient and safe auxiliary tool for ophthalmic surgery.

[0036] Details of one or more embodiments of the present application are presented in the following drawings and descriptions to make other features, purposes and advantages of the present application more concise and easy to understand. The present application is fully described and understood through the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a schematic diagram of the operation mode of the surgical robot of the present invention;

[0038] Figure 2 Schematic diagram of the layout of the stabilizer inside the surgical robot of the present invention Figure 1 ;

[0039] Figure 3 Schematic diagram of the layout of the stabilizer inside the surgical robot of the present invention Figure 2 ;

[0040] Figure 4 This is an overall display diagram of the surgical robot of the present invention;

[0041] Figure 5 This is a schematic diagram of the internal structure of the surgical robot of the present invention;

[0042] Figure 6 It is a front view of the SMA eight-wire motor and the liquid medicine delivery chamber of the present invention;

[0043] Figure 7 It is a schematic diagram of the arrangement and functional relationship of the SMA wires of the present invention;

[0044] Figure 8 It is a side end view of the SMA eight-wire motor and the liquid medicine delivery chamber of the present invention;

[0045] Fig. 9The connection relationship between the SMA eight-wire motor and its drive control circuit of the present invention;

[0046] Fig.10 It is a schematic diagram of the liquid medicine storage chamber and the screw drive propeller of the present invention;

[0047] Fig.11 It is a detailed display diagram of the screw drive propeller of the present invention.

[0048] In the figure: 1. Anti-shake needle; 2. Automatic medicine delivery device; 3. Shell; 4. SMA eight-wire motor; 5. Medicine delivery chamber; 6. Needle; 7. SMA wire; 8. Locking wire mechanism; 9. Hose; 10. Medicine storage chamber; 11. Screw drive propeller; 12. Piston push rod; 13. Drive screw; 14. Screw fixing structure; 15. Screw drive; 16. Stepper motor; 17. Button; 18. External power supply line; 19. Shell window; 20. Circuit layout area. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 creative work are within the scope of protection of the present invention.

[0050] Example 1

[0051] See also Figure 1-Figure 3 The present invention provides a technical solution: an injection surgical robot, comprising an anti-shake needle 1, an automatic liquid medicine pushing device 2, and a housing 3 for installing the anti-shake needle 1 and the automatic liquid medicine pushing device 2, wherein the anti-shake needle 1 is composed of a stabilizer, a liquid medicine delivery chamber 5, and a needle 6, and the automatic liquid medicine pushing device 2 is composed of a liquid medicine storage chamber 10 and a screw drive propeller 11, wherein the stabilizer is installed between the housing 3 and the liquid medicine delivery chamber 5, the needle 6 is connected to one end of the liquid medicine delivery chamber 5, and the other end of the liquid medicine delivery chamber 5 is connected to the liquid medicine storage chamber 10 through a hose 9, and the active end of the screw drive propeller 11 is connected to the liquid medicine injection propulsion piston in the liquid medicine storage chamber 10, and the built-in stabilizer is a structure connected between the handheld housing 3 and the automatic syringe, and is used to stabilize the syringe and reduce the influence of hand shaking on the injection accuracy. The stabilizer can automatically identify shaking through the driving control circuit and guide the syringe to move in the direction against shaking; the automatic liquid medicine pushing device 2 can automatically push the liquid medicine, getting rid of the traditional hand-push injection method.

[0052] At the same time, in order to improve the control accuracy, multiple stabilizers can be deployed, and the multiple stabilizers are arranged in the length direction in the shell 3 to achieve the effect of redundant drive, further improving the stability and fault tolerance of the robot, thereby improving the surgical accuracy and safety.

[0053] Example 2

[0054] On the basis of Example 1, Figure 4-Figure 5 As shown, the stabilizer is an SMA motor and its driving control circuit. The stabilizer can reduce and correct the possible shaking of the needle 6 during the operation. The liquid medicine delivery cavity 5 and the needle 6 can have multiple degrees of freedom in a certain space due to the mutual traction of the SMA wire 7 of the SMA motor, and the position of the injection needle 6 can be automatically adjusted under the signal control and feedback of the driving control circuit; when performing fundus injection surgery, the doctor controls the operation of the screw drive propeller 11 through the operation button 17 to realize the automatic pushing of the liquid medicine; the control circuit of the screw drive propeller 11 accurately controls the screw drive propeller 11 to slowly push the liquid medicine to the liquid medicine delivery cavity 5 under the condition of external power supply. The anti-shake needle 1 design with shock absorption and automatic alignment function and the one-button liquid medicine automatic pushing device 2 can greatly improve the accuracy and fault tolerance of fundus injection surgery, while reducing the difficulty and risk of surgery.

[0055] Example 3

[0056] On the basis of Example 2, Figure 6-Figure 9 As shown, the following will be explained by a single stabilizer, that is, a set of SMA eight-wire motors 4:

[0057] The inner wall of the housing 3 and the liquid medicine delivery chamber 5 are both provided with a locking wire mechanism 8. The two ends of the SMA wire 7 of the SMA motor are clamped and fixed by the corresponding locking wire mechanism 8. The SMA motor is provided with 8, and the 8 SMA motors are combined to form an SMA eight-wire motor 4. The SMA eight-wire motor 4 is actually eight SMA wires 7 that cooperate with each other to pull the object to move freely under the control of the electrical signal of the driving control circuit. The SMA wire 7 is used as the driving wire of the eight-wire motor, and the eight SMA wires 7 are arranged in an antagonistic manner. For example, when one group of SMA wires 7 is energized and contracted, the other group is relaxed, thereby achieving precise control of multi-directional degrees of freedom. Each SMA wire 7 can be independently controlled, and different contraction degrees can be achieved through precise current control, thereby achieving precise position adjustment. The eight-wire configuration can achieve motion control in multiple directions, such as X, Y, Z directions and rotation directions. This multi-directional control capability enables doctors to control the position of the injection needle 6 more accurately.

[0058] SMA wire 7 generally refers to shape memory alloy wire, the main material of which is nickel-titanium alloy. The SMA wire 7 can shrink or deform after being electrically heated, thereby driving the object connected to it to move; the SMA wire 7 has superelasticity and can recover to its original shape after being electrically heated within a large deformation range, so that the SMA eight-wire motor 4 can maintain stable performance in a complex mechanical environment; the SMA wire 7 has high strength and high fatigue life, so that the eight-wire motor can withstand repeated stress without breaking easily;

[0059] Further, such as Fig. 9 As shown, the drive control circuit of the SMA eight-wire motor 4 is connected to each SMA wire 7. One end of the SMA wire 7 is connected to the current input terminal, and the other end is connected to GND. The drive control circuit of the SMA eight-wire motor 4 includes a power management unit, a current source, an automatic control unit for powering on the SMA wire 7, an amplifier, an acceleration sensor feedback control loop, a filter circuit, a temperature sensor, and a protection circuit.

[0060] The power management unit includes a voltage stabilizer, a power converter, etc., which needs to convert the external power supply and provide a stable voltage and current to the drive control circuit of the entire SMA eight-wire motor 4;

[0061] The current source provides the SMA wire 7 with the required current to generate the heat required for deformation, and needs to be able to accurately control the magnitude and duration of the current;

[0062] The automatic control unit to which the SMA wire 7 is powered is used to process the data from the temperature sensor and the acceleration sensor and control the current source according to a preset algorithm;

[0063] The amplifier amplifies the signal of the control unit to drive the SMA wire 7;

[0064] The acceleration sensor feedback control loop adjusts the control signal according to the actual motion output of the doctor operating the surgical robot to achieve closed-loop control;

[0065] The filter circuit is used to reduce electromagnetic interference in the operating room and improve the stability and reliability of the circuit;

[0066] The temperature sensor and protection circuit are used to monitor the temperature of the SMA wire 7 to ensure that the heating process is within a safe and effective range, and can be a thermocouple, thermistor or other types of temperature sensors.

[0067] The automatic control unit of the SMA wire 7 is powered to process the data fed back from the temperature sensor and the acceleration sensor, amplify the signal of the control unit through the amplifier, and control the magnitude and duration of the current output to each SMA wire by the current source according to the preset algorithm. The filter circuit can reduce the electromagnetic interference in the operating room and improve the stability and reliability of the circuit. The temperature sensor and the protection circuit are used to monitor the temperature of the SMA wire 7 to ensure that the heating process is within a safe and effective range. The up, down, left, right, front, back and combined translation of the liquid medicine delivery cavity 5 is determined by the current provided by the current source to each SMA wire 7 separately.

[0068] Example 4

[0069] On the basis of Example 3, Figure 6-Figure 9 As shown, the thread locking mechanism 8 includes a first thread locking mechanism arranged on the housing 3 and a second thread locking mechanism arranged on the drug delivery chamber 5, and the first thread locking mechanism and the second thread locking mechanism are arranged in a cross shape in the end surface direction.

[0070] There are four first locking wire mechanisms, and every two first locking wire mechanisms form a group and are arranged on the same side of the outer shell 3 in the front-to-back direction, and the two groups of first locking wire mechanisms are symmetrically arranged on the outer shell 3; there are two second locking wire mechanisms, and the two second locking wire mechanisms are symmetrically arranged on the drug delivery chamber 5; the first locking wire mechanism located at the front end of the outer shell 3 is connected to the rear end of the second locking wire mechanism through the SMA wire 7 of the SMA motor; the first locking wire mechanism located at the rear end of the outer shell 3 is connected to the front end of the second locking wire mechanism through the SMA wire 7 of the SMA motor.

[0071] In terms of spatial structure, eight locking wire mechanisms 8 connected to the SMA wires 7 are arranged at eight vertices of the cube, of which four locking wire mechanisms 8 are fixedly connected to the drug liquid delivery cavity 5, and the other four locking wire mechanisms 8 are fixedly connected to the inside of the housing 3. One end of each SMA wire 7 is fixed to the drug liquid delivery cavity 5, and the other end is fixed to the housing 3, so the drug liquid delivery cavity 5 can have multiple degrees of freedom relative to the surgical robot housing 3.

[0072] The two ends of the eight SMA wires 7 are fixed by eight locking wire mechanisms 8, of which four locking wire mechanisms 8-1, 8-2, 8-3, and 8-4 are fixedly connected to the auxiliary structure of the drug liquid delivery chamber 5, and the other four locking wire mechanisms 8-5, 8-6, 8-7, and 8-8 are fixedly connected to the inside of the outer shell 3, so that the drug liquid delivery chamber 5 is suspended relative to the outer shell 3 under the common pulling of the eight SMA wires 7.

[0073] like Figure 6-Figure 8As shown, the eight SMA wires are arranged in an antagonistic manner, and at the initial moment, the eight SMA wires are all in a stretched state. Since the locking wire mechanisms 8-5, 8-6, 8-7, and 8-8 are fixed to the housing, when different conditions are given to the SMA wires, the middle drug delivery cavity 5 will have the following different motion states:

[0074] If the SMA wires 7-1, 7-2, 7-7, and 7-8 are contracted at the same time, the drug delivery chamber will translate to the right; if the SMA wires 7-3, 7-4, 7-5, and 7-6 are contracted at the same time, the drug delivery chamber will translate to the left; if the SMA wires 7-1, 7-2, 7-3, and 7-4 are contracted at the same time, the drug delivery chamber will translate upward; if the SMA wires 7-5, 7-6, 7-7, and 7-8 are contracted at the same time, the drug delivery chamber will translate downward; if the SMA wires 7-2, 7-4, 7-5, and 7-7 are contracted at the same time, the drug delivery chamber will translate forward; if the SMA wires 7-1, 7-3, 7-6, and 7-7 are contracted at the same time, the drug delivery chamber will translate forward; -8 contract at the same time, the medicine delivery chamber will translate backward; if the SMA lines 7-1, 7-2, 7-3, 7-4, 7-7, and 7-8 contract at the same time, the medicine delivery chamber will translate to the upper right; if the SMA lines 7-1, 7-2, 7-3, 7-4, 7-5, and 7-6 contract at the same time, the medicine delivery chamber will translate to the upper left; if the SMA lines 7-1, 7-2, 7-5, 7-6, 7-7, and 7-8 contract at the same time, the medicine delivery chamber will translate to the lower right; if the SMA lines 7-3, 7-4, 7-5, 7-6, 7-7, and 7-8 contract at the same time, the medicine delivery chamber will translate to the lower left.

[0075] The above-mentioned SMA "contraction" is due to the characteristics of the SMA wire shape memory alloy wire, which can produce a contraction tendency from the original stretched state when electricity is applied until it moves to a state of force balance.

[0076] Example 5

[0077] On the basis of any one of Examples 1-4, Figure 10-11 As shown, the automatic liquid medicine pushing device 2 includes a piston push rod 12, a transmission screw 13, a screw fixing structure 14, a screw driver 15 and a stepper motor 16. The screw fixing structure 14 is installed in the housing 3, the transmission screw 13 is rotatably installed on the screw fixing structure 14, the screw driver 15 is arranged in cooperation with the transmission screw 13, the piston push rod 12 is connected to the screw driver 15, and the end of the piston push rod 12 close to the needle 6 is connected to the liquid medicine injection propulsion piston in the liquid medicine storage chamber 10, the stepper motor 16 is installed in the housing 3, and the rotating shaft of the stepper motor 16 is connected to one end of the transmission screw 13.

[0078] The piston push rod 12 can also be combined with the liquid injection piston in the liquid storage chamber 10, and is composed of a rubber piston and a push rod; Figure 10-11 As shown, the piston push rod 12 is composed of a rubber piston and four push rods. The four push rods pass through the four round holes on the screw fixing structure 14 and can slide back and forth in the round holes. At the same time, the four push rods also pass through the round holes on the screw driver 15 and fit tightly and cannot slide. In this way, the piston push rod 12 has only one axial degree of freedom after being restricted. When the stepper motor 16 receives a driving signal and starts to rotate, the transmission screw 13 rotates accordingly, thereby driving the screw driver 15 to move on the transmission screw 13, and finally the piston push rod 12 will be pushed inside the liquid medicine storage chamber 10.

[0079] The liquid medicine storage chamber 10 is cylindrical and used to store the liquid medicine to be injected, and is connected to the liquid medicine delivery chamber 5 through the hose 9; the stepping motor 16 drives the transmission screw 13 to rotate, so that the screw driver 15 moves back and forth along the screw, thereby pushing the piston push rod 12 to move;

[0080] The drive control circuit of the live screw transmission propeller 11 includes a power management unit, a button input circuit, a control unit and a stepper motor 16 driver.

[0081] The power management unit provides stable voltage and current to the drive control circuit of the screw drive thruster 11;

[0082] The button input circuit is used for the doctor to operate the button 17 to automatically push the medicine liquid;

[0083] The control unit is used to process the input signal of the button 17 and generate a pulse signal for controlling the stepper motor 16;

[0084] The driver of the stepper motor 16 is used to receive a pulse signal from the control unit and control the rotation of the stepper motor 16 to push the liquid medicine.

[0085] Example 6

[0086] like Figure 1 and Figure 4 As shown, an observation window is provided on the housing 3 corresponding to the liquid medicine storage cavity 10 , and a liquid medicine scale is provided on the outer wall of the liquid medicine storage cavity 10 .

[0087] The housing 3 is designed to be held by human hands. When using the device, the index finger is placed at the button 17, and the other fingers naturally pinch the housing 3. Operate the surgical robot to make the injection needle 6 reach the lesion, and control the push of the liquid medicine through the button 17. At the same time, the push of the liquid medicine can be observed at the observation window. The external power supply line 18 is connected to the external power supply to provide stable power supply for the entire surgical robot. A certain range of movement is reserved for the injection needle 6 at the tip of the housing 3 to ensure that the anti-shake function of the needle 6 is not limited by the housing 3.

[0088] Through the technical solution of the present invention, the SMA eight-wire motor 4 composed of eight SMA wires 7 arranged in an antagonistic manner can accurately control the contraction and relaxation of the eight SMA wires 7 by controlling the input electrical signal. The drive control circuit of the SMA eight-wire motor 4 can control the power-on size and power-on time of each SMA wire 7. The acceleration sensor inside the robot can output the actual movement as an adjustment control signal to feed back to the drive control circuit, thereby realizing self-control and self-regulation of the eight-wire motor.

[0089] The doctor operates the surgical robot through the button 17 on the housing 3, and uses the internal automatic liquid medicine pushing device 2 to push the liquid medicine out along with the injection needle 6. The automatic liquid medicine pushing device 2 is designed based on the screw drive propeller 11. The drive control circuit of the screw drive propeller 11 drives the stepper motor 16 to rotate, and the transmission screw 13 rotates accordingly, thereby driving the screw driver 15 to move on the transmission screw 13, which is finally reflected in the piston push rod 12 being pushed inside the liquid medicine storage chamber 10.

[0090] Through the above implementation cases, the present invention can not only utilize the SMA eight-wire motor 4 to automatically identify the robot's own shaking and make anti-shake movements to achieve anti-shake and automatic alignment functions, but also automatically push the liquid medicine into the eyeball through the button 17 on the shell 3. This not only improves the tolerance and accuracy of the needle 6 position, but also eliminates the operation of manually pushing the liquid medicine with a traditional syringe, greatly reducing the difficulty and risk of fundus injection surgery, and providing an efficient and safe auxiliary tool for ophthalmic surgery.

[0091] The advantages and positive effects of the present invention are:

[0092] 1. Lightweight: The eight-wire motor has a compact structure and the overall weight of the robot is light, making it easy for doctors to operate flexibly.

[0093] 2. Shock and tremor reduction: Through the shock absorption function of the eight-wire motor, hand tremors can be automatically and effectively filtered to improve surgical stability.

[0094] 3. High precision: Relying on the characteristics of SMA wire, the robot has high repeatability and positioning accuracy, which is significantly better than using traditional fundus syringes.

[0095] 4. Easy to operate: Robot-assisted surgery reduces the doctor’s operating burden and reduces surgical risks.

[0096] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

[0097] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An injection surgery robot, characterized in that: The invention comprises an anti-shake needle (1), an automatic liquid medicine pushing device (2), and a housing (3) for installing the anti-shake needle (1) and the automatic liquid medicine pushing device (2); the anti-shake needle (1) is composed of a stabilizer, a liquid medicine delivery chamber (5), and a needle (6); the automatic liquid medicine pushing device (2) is composed of a liquid medicine storage chamber (10) and a screw drive propeller (11); the stabilizer is installed between the housing (3) and the liquid medicine delivery chamber (5); the needle (6) is connected to one end of the liquid medicine delivery chamber (5); the other end of the liquid medicine delivery chamber (5) is connected to the liquid medicine storage chamber (10) through a hose (9); the movable end of the screw drive propeller (11) is connected to a liquid medicine injection propulsion piston in the liquid medicine storage chamber (10); the stabilizer is an SMA motor; a plurality of SMA motors are provided; and the plurality of SMA motors are arranged and connected in an antagonistic manner between the housing (3) and the liquid medicine delivery chamber (5).

2. The injection surgery robot according to claim 1, characterized in that: The SMA motors are provided in eight numbers, and the eight SMA motors are combined to form an SMA eight-wire motor, and the eight SMA wires of the SMA eight-wire motor are arranged and connected in an antagonistic manner between the housing (3) and the drug delivery chamber (5).

3. An injection surgery robot according to claim 1 or 2, characterized in that: A plurality of stabilizers are arranged in the housing (3), and the plurality of stabilizers are arranged in a longitudinal direction in the housing (3).

4. The injection surgery robot according to claim 2, characterized in that: The inner wall of the housing (3) and the liquid medicine delivery chamber (5) are both provided with a wire locking mechanism (8), and the two ends of the SMA wire (7) of the SMA motor are clamped and fixed by corresponding wire locking mechanisms (8).

5. The injection surgery robot according to claim 4, characterized in that: The thread locking mechanism (8) comprises a first thread locking mechanism arranged on the housing (3) and a second thread locking mechanism arranged on the drug liquid delivery chamber (5), wherein the first thread locking mechanism and the second thread locking mechanism are arranged in a cross-shaped distribution in the end surface direction.

6. The injection surgery robot according to claim 5, characterized in that: There are four first thread locking mechanisms, and each group of two first thread locking mechanisms is arranged in the front-rear direction on the same side of the outer shell (3), and the two groups of first thread locking mechanisms are symmetrically arranged on the outer shell (3); Two second thread locking mechanisms are provided, and the two second thread locking mechanisms are symmetrically arranged on the drug liquid delivery cavity (5); The first wire locking mechanism located at the front end of the housing (3) is connected to the rear end of the second wire locking mechanism via an SMA wire (7) of the SMA motor; The first wire locking mechanism located at the rear end of the housing (3) is connected to the front end of the second wire locking mechanism via an SMA wire (7) of the SMA motor.

7. The injection surgery robot according to claim 1, characterized in that: The automatic liquid medicine pushing device (2) comprises a piston push rod (12), a transmission screw (13), a screw fixing structure (14), a screw driver (15) and a stepping motor (16), wherein the screw fixing structure (14) is mounted inside the housing (3), the transmission screw (13) is rotatably mounted on the screw fixing structure (14), the screw driver (15) is arranged in cooperation with the transmission screw (13), the piston push rod (12) is connected to the screw driver (15), and one end of the piston push rod (12) close to the needle (6) is connected to a liquid medicine injection pushing piston in the liquid medicine storage chamber (10), the stepping motor (16) is mounted inside the housing (3), and the rotating shaft of the stepping motor (16) is connected to one end of the transmission screw (13).

8. The injection surgery robot according to claim 1, characterized in that: An observation window is provided on the housing (3) at a position corresponding to the liquid medicine storage chamber (10).

9. The injection surgery robot according to claim 8, characterized in that: A medicine liquid scale is arranged on the outer wall of the medicine liquid storage chamber (10).

10. A method for using an injection surgery robot, characterized in that: According to the injection surgery robot according to claims 2-9, the steps are: (1) Initial state: The eight SMA wires are all in a stretched state, and the drug delivery cavity is suspended relative to the shell under the joint pulling of the eight SMA wires; (2) When the injection surgical robot is used, the controller applies different on-off conditions to the eight SMA wires to achieve motion control of the drug delivery cavity; (3) If the four SMA wires on the left side of the drug delivery cavity contract simultaneously, the drug delivery cavity will translate to the left; If the four SMA wires located on the right side of the drug delivery cavity contract simultaneously, the drug delivery cavity will translate to the right; If the four SMA wires located on the upper side of the drug delivery cavity contract simultaneously, the drug delivery cavity will move upward in translation; If the four SMA wires located at the lower side of the drug delivery cavity are contracted at the same time, the drug delivery cavity will move translationally downward; If the four SMA wires connected to the rear end of the drug delivery cavity are contracted at the same time, the drug delivery cavity will move forward in translation; If the four SMA wires connected to the front end of the drug delivery cavity are contracted at the same time, the drug delivery cavity will move backward in translation; If the six SMA wires located on the upper and left sides of the drug delivery cavity contract simultaneously, the drug delivery cavity will move translationally to the upper left; If the six SMA wires located on the upper and right sides of the drug delivery cavity contract at the same time, the drug delivery cavity will move translationally to the upper right; If the six SMA wires located at the lower side and the left side of the drug delivery cavity are contracted at the same time, the drug delivery cavity will move horizontally to the lower left; If the six SMA wires located at the lower side and the right side of the drug delivery cavity are contracted at the same time, the drug delivery cavity will move translationally to the lower right; (4) When the SMA wire is powered on, it tends to contract from its original stretched state until it reaches a state of force balance, thus achieving stable operation control of the drug delivery cavity; (5) According to the control method of the SMA wire in step (3), the needle is driven to move within a preset range through the drug delivery cavity; (6) During the operation, due to the vibration of the user's hand, the sensor in the injection surgery robot detects the vibration signal and feeds it back to the controller. The controller controls the SMA eight-wire motor to run in the opposite direction of the vibration to achieve vibration reduction and anti-shake of the needle; (7) At the same time, the operation button controls the stepper motor to run, and the transmission screw rotates accordingly, thereby driving the screw driver to move on the transmission screw, and finally driving the piston push rod to advance inside the liquid medicine storage chamber; (8) The drug solution in the drug solution storage chamber passes through the drug solution storage chamber, the hose, and the drug solution delivery chamber in sequence, and is then injected from the needle into the treatment site.

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