Injection surgery robot and use method thereof

Abstract

The present invention relates to the field of surgical instrument technology, in particular to an injection surgical robot, comprising an anti-shake needle, an automatic liquid medicine pushing device, and a shell. 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, and 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 the 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. The plurality of SMA motors are arranged and connected in an antagonistic manner between the shell and the liquid medicine delivery chamber. The present invention is based on the antagonistic arrangement design of the plurality of SMA motors, which pull each other, precisely control the stability of the injection needle, realize the shock absorption and tremor reduction and automatic alignment functions of the syringe, thereby improving the surgical accuracy and safety.

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] Currently, fundus injection procedures require extremely high precision, especially for subretinal injections and retinal vascular punctures. However, due to the complex and fragile structure of the eyeball, physiological tremors in the surgeon's hands can significantly affect surgical precision and even cause harm to the patient. Furthermore, traditional syringe procedures require manual delivery of the drug solution, and if the surgeon becomes fatigued, surgical precision decreases, and the surgical risk increases accordingly.

[0003] In recent years, robotic-assisted surgery has been increasingly adopted in ophthalmology, significantly improving surgical outcomes by filtering hand tremors, enhancing positioning accuracy, and reducing surgical trauma. However, existing robotic systems still suffer from issues such as bulk, weight, and operational complexity, limiting their application in procedures such as fundus injections within confined spaces. Summary of the Invention

[0004] In response to the shortcomings of the existing technology, the purpose of the present invention is to provide an injection surgical robot for subretinal injection and retinal blood vessel puncture injection in ophthalmic surgery, aiming to solve the problem of insufficient precision caused by physiological tremors in the doctor's hands in traditional surgery, while reducing the difficulty and risk of surgical operations.

[0005] To achieve the above-mentioned objectives, 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 consisting of a stabilizer, a liquid medicine delivery chamber and a needle, the automatic liquid medicine pushing device consisting 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 the 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 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 embodiments, a plurality of stabilizers are disposed in the housing, and the plurality of stabilizers are arranged in a lengthwise direction in the housing.

[0008] In some embodiments, a wire locking mechanism is provided on the inner wall of the housing and the liquid medicine 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 provided on the housing and a second thread locking mechanism provided 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 face 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, which are symmetrically arranged on the liquid medicine 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 via 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 cooperated 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 embodiments, an observation window is provided on the housing corresponding to the liquid medicine storage cavity.

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

[0017] To achieve the above-mentioned purpose, the present invention further provides the following technical solution: a method for using an injection surgical robot, according to the injection surgical robot, the steps are as follows:

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

[0019] (2) When using the injection surgical robot, 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 chamber contract simultaneously, the drug delivery chamber will move horizontally to the left;

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

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

[0023] If the four SMA wires located on the lower side of the liquid medicine delivery cavity contract simultaneously, the liquid medicine delivery cavity will move horizontally downward;

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

[0025] If the four SMA wires connected to the front end of the drug delivery cavity contract 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 at the same time, the drug delivery cavity will move horizontally 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 horizontally to the upper right.

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

[0029] If the six SMA wires located on the lower and right sides of the drug delivery cavity contract at the same time, the drug delivery cavity will move horizontally to the lower right.

[0030] (4) When the SMA wire is energized, 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 liquid medicine 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, thereby achieving 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 liquid medicine in the liquid medicine storage chamber passes through the liquid medicine storage chamber, the hose, and the liquid medicine delivery chamber in sequence, and is then injected from the needle into the treatment site.

[0035] Compared with existing technologies, this invention offers the following advantages: it not only utilizes the SMA eight-wire motor to automatically detect the robot's own vibrations and implement anti-shake motion, achieving tremor reduction and automatic alignment, but also automatically delivers the medication into the eyeball via a button on the housing. This not only improves the tolerance and accuracy of needle placement but also eliminates the need for manual injection of medication using a traditional syringe, significantly reducing the difficulty and risk of fundus injection surgery, providing 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, and 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 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 This is a front view of the SMA eight-wire motor and the liquid medicine delivery chamber of the present invention;

[0043] Figure 7 Schematic diagram of the arrangement and functional relationship of the SMA wires of the present invention;

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

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

[0046] Figure 10 Schematic diagram of the liquid medicine storage chamber and the screw drive propeller of the present invention;

[0047] Figure 11 Detailed illustration of the screw drive propeller of the present invention.

[0048] In the figure: 1. Anti-shake needle; 2. Automatic liquid medicine delivery device; 3. Housing; 4. SMA eight-wire motor; 5. Liquid medicine delivery chamber; 6. Needle; 7. SMA wire; 8. Locking wire mechanism; 9. Hose; 10. Liquid 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. Housing window; 20. Circuit layout area. DETAILED DESCRIPTION

[0049] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[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 head 1, an automatic liquid medicine delivery device 2, and a housing 3 for mounting the anti-shake needle head 1 and the automatic liquid medicine delivery device 2. The anti-shake needle head 1 comprises a stabilizer, a liquid medicine delivery chamber 5, and a needle head 6. The automatic liquid medicine delivery device 2 comprises a liquid medicine storage chamber 10 and a screw drive propeller 11. The stabilizer is mounted between the housing 3 and the liquid medicine delivery chamber 5. The needle head 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 via a flexible tube 9. The movable end of the screw drive propeller 11 is connected to a liquid medicine injection piston in the liquid medicine storage chamber 10. The built-in stabilizer is a structure connected between the handheld housing 3 and the automatic syringe, used to stabilize the syringe and reduce the impact of hand shake on injection accuracy. The stabilizer, through a drive control circuit, can automatically detect shake and guide the syringe in a direction that counteracts the shake. The automatic liquid medicine delivery device 2 can automatically deliver liquid medicine, eliminating the traditional manual injection method.

[0052] At the same time, in order to improve the control accuracy, multiple stabilizers can be deployed, and multiple stabilizers can be arranged in the length direction inside 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 drive control circuit. The stabilizer reduces and corrects any vibrations that may occur with the needle 6 during the surgical procedure. The SMA wire 7 of the SMA motor pulls the drug delivery chamber 5 and the needle 6 together, allowing them to have multiple degrees of freedom within a certain space. The position of the injection needle 6 is automatically adjusted under the signal control and feedback of the drive control circuit. During the fundus injection procedure, the doctor controls the operation of the screw drive propeller 11 by operating the button 17 to automatically push the drug solution. The control circuit of the screw drive propeller 11, powered by an external power supply, precisely controls the screw drive propeller 11 to slowly push the drug solution into the drug delivery chamber 5. The anti-shake needle 1 design with shock absorption and automatic alignment functions, coupled with the one-button automatic drug delivery device 2, significantly improves the accuracy and fault tolerance of fundus injection surgery while reducing the difficulty and risk of the operation.

[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 drug delivery chamber 5 are both equipped with locking mechanisms 8. The SMA wires 7 of the SMA motors are clamped and secured at both ends by corresponding locking mechanisms 8. Eight SMA motors are provided, and these eight SMA motors form an eight-wire SMA motor 4. The eight SMA wires 7 coordinate with each other to pull the object in free motion under the control of electrical signals from a drive control circuit. The eight SMA wires 7 serve as the driving wires of the eight-wire motor, and are arranged in an antagonistic manner. For example, when one group of SMA wires 7 contracts when energized, the other group relaxes, thereby achieving precise control of multiple degrees of freedom. Each SMA wire 7 can be independently controlled, achieving different degrees of contraction through precise current control, thereby enabling precise position adjustment. The eight-wire configuration enables motion control in multiple directions, such as X, Y, and Z, as well as rotation. This multi-directional control capability allows doctors to more precisely control the position of the injection needle 6.

[0058] SMA wire 7 is typically a shape memory alloy wire, primarily made of nickel-titanium alloy. When heated by electricity, the SMA wire 7 contracts or deforms, thereby driving the movement of the object to which it is connected. The SMA wire 7 exhibits superelasticity, allowing it to return to its original shape after heating within a wide deformation range, enabling the SMA eight-wire motor 4 to maintain stable performance in complex mechanical environments. The SMA wire 7 also possesses high strength and fatigue life, enabling the eight-wire motor to withstand repeated stresses without breaking easily.

[0059] Further, such as Figure 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 energizing 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 stable voltage and current to the drive control circuit of the entire SMA eight-wire motor 4;

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

[0062] The automatic control unit to which the SMA wire 7 is energized processes the data from the temperature sensor and the acceleration sensor and controls 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. The temperature sensor and protection circuit can be a thermocouple, a thermistor or other types of temperature sensors.

[0067] The automatic control unit that powers the SMA wires 7 processes data from the temperature sensor and accelerometer, amplifies the control unit's signal through an amplifier, and controls the magnitude and duration of the current output to each SMA wire according to a preset algorithm. A filter circuit reduces electromagnetic interference within the operating room and improves the circuit's stability and reliability. A temperature sensor and protection circuit monitor the temperature of the SMA wires 7 to ensure that the heating process remains within a safe and effective range. The vertical, horizontal, forward, backward, and combined translation of the drug delivery chamber 5 is determined by the current provided by the current source to each SMA wire 7.

[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 provided on the housing 3 and a second thread locking mechanism provided on the liquid medicine delivery chamber 5 , and the first thread locking mechanism and the second thread locking mechanism are cross-shaped and distributed in the end surface direction.

[0070] There are four first locking wire mechanisms, and each two first locking wire mechanisms form a group and are arranged in the front-to-back direction of the same side of the shell 3, and the two groups of first locking wire mechanisms are symmetrically arranged on the 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 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 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 mechanisms 8 connected to the SMA wires 7 are arranged at the eight vertices of the cube. Four of these locking mechanisms 8 are fixed to the drug delivery chamber 5, and the remaining four are fixed to the interior of the housing 3. One end of each SMA wire 7 is fixed to the drug delivery chamber 5, and the other end is fixed to the housing 3. This allows the drug delivery chamber 5 to 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 fixed to the auxiliary structure of the drug delivery chamber 5, and the other four locking wire mechanisms 8-5, 8-6, 8-7, and 8-8 are fixed to the inside of the shell 3, so that the drug delivery chamber 5 is suspended relative to the shell 3 under the joint 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, all eight SMA wires are in a stretched state. Since the wire locking mechanisms 8-5, 8-6, 8-7, and 8-8 are fixed to the housing, when different conditions are applied to the SMA wires, the central 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 move horizontally 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 move horizontally 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 move horizontally 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 move horizontally 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 move horizontally 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 move horizontally 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 toward 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 toward 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 toward 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 toward the lower left.

[0075] The aforementioned SMA "contraction" is due to the characteristics of the SMA wire shape memory alloy wire, which can produce a contraction trend from the original stretched state when power 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 inside the housing 3, the transmission screw 13 is rotatably installed on the screw fixing structure 14, the screw driver 15 is arranged in conjunction 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. These push rods pass through four circular holes in the screw fixing structure 14 and can slide back and forth within the holes. Simultaneously, the four push rods also pass through the circular holes in the screw driver 15, where they fit tightly together and cannot slide. Thus, the piston push rod 12 is constrained to have only one axial degree of freedom. When the stepper motor 16 receives a drive signal and begins to rotate, the drive screw 13 rotates accordingly, driving the screw driver 15 along the drive screw 13, and finally the piston push rod 12 is propelled into the liquid medicine storage chamber 10.

[0079] The liquid medicine storage chamber 10 is cylindrical and is used to store liquid medicine to be injected. It is connected to the liquid medicine delivery chamber 5 through a flexible tube 9. The stepping motor 16 drives the transmission screw 13 to rotate, causing the screw driver 15 to move 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 propeller 11;

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

[0083] The control unit is used to process the input signal from the button 17 and generate a pulse signal to control 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] Housing 3 is designed to fit the human hand. When using the device, the index finger is placed at button 17, while the remaining fingers naturally pinch housing 3. The surgical robot is operated to direct the injection needle 6 to the lesion site. The delivery of the liquid medicine is controlled by button 17, while the progress of the delivery can be observed through the observation window. External power supply line 18 connects to an external power source, providing a stable power supply to the entire surgical robot. A certain range of motion is reserved for the injection needle 6 at the tip of housing 3 to ensure that the anti-shake function of the needle 6 is not restricted by 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 precisely control the contraction and relaxation of the eight SMA wires 7 by controlling the input electrical signals. The drive control circuit of the SMA eight-wire motor 4 can control the amount and duration of power applied to each SMA wire 7. The acceleration sensor within the robot outputs the actual motion as an adjustment control signal and feeds it back to the drive control circuit, thus achieving self-control and self-regulation of the eight-wire motor.

[0089] The doctor operates the surgical robot using a button 17 on the housing 3. The automatic liquid medicine delivery mechanism 2 inside the robot delivers the liquid medicine along with the injection needle 6. The automatic liquid medicine delivery mechanism 2 is designed based on a screw drive propeller 11. The drive control circuit of the screw drive propeller 11 drives the stepper motor 16 to rotate, which in turn rotates the drive screw 13, thereby driving the screw driver 15 on the drive screw 13, ultimately causing the piston push rod 12 to advance within the liquid medicine storage chamber 10.

[0090] Through the above-mentioned implementation examples, the present invention not only utilizes the SMA eight-wire motor 4 to automatically identify the robot's own vibration and implement anti-shake motion, achieving anti-vibration and automatic alignment functions, but also automatically pushes the drug solution into the eyeball through the button 17 on the housing 3. This not only improves the tolerance and accuracy of the needle 6 position, but also eliminates the manual injection of the drug solution by the traditional syringe, greatly reducing the difficulty and risk of fundus injection surgery, 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 robot is lightweight, 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 are automatically and effectively filtered out 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 merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

[0097] While 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 these embodiments without departing from the principles and spirit of the invention, and that the scope of the 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), 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 movable end of the screw drive propeller (11) is connected to a liquid medicine injection propulsion piston in the liquid medicine storage chamber (10), and the stabilizer is an SMA motor. The SMA motors are provided with eight, and the eight SMA motors are combined to form an SMA eight-wire motor. The eight SMA wires of the SMA eight-wire motor are arranged and connected in an antagonistic manner between the housing (3) and the liquid medicine delivery cavity (5). The inner wall of the housing (3) and the liquid medicine delivery cavity (5) are both provided with a wire locking mechanism (8). The two ends of the SMA wire (7) of the SMA motor are respectively clamped and fixed by the corresponding wire locking mechanism (8). The thread locking mechanism (8) comprises a first thread locking mechanism provided on the housing (3) and a second thread locking mechanism provided on the liquid medicine 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. Four first thread locking mechanisms are provided, and each group of two first thread locking mechanisms is provided on the same side of the housing (3) in the front-to-back direction, and the two groups of first thread locking mechanisms are symmetrically provided on the housing (3); Two second thread locking mechanisms are provided, and the two second thread locking mechanisms are symmetrically arranged on the liquid medicine delivery cavity (5); The first locking wire mechanism located at the front end of the housing (3) is connected to the rear end of the second locking wire mechanism via an SMA wire (7) of the SMA motor; The first locking wire mechanism located at the rear end of the housing (3) is connected to the front end of the second locking wire mechanism via the SMA wire (7) of the SMA motor. 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 stepper 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 conjunction 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 pushing piston in the liquid medicine storage chamber (10), the stepper motor (16) is mounted inside the housing (3), and the rotating shaft of the stepper motor (16) is connected to one end of the transmission screw (13).

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

3. The injection surgical robot according to claim 1, characterized in that: An observation window is provided on the housing (3) corresponding to the liquid medicine storage cavity (10).

4. The injection surgical robot according to claim 3, characterized in that: A medicine liquid scale is provided on the outer wall of the medicine liquid storage chamber (10).

Images