Precise holder for ophthalmologic operation

Abstract

The invention relates to the technical field of medical instruments, and particularly discloses a precise holder for ophthalmologic surgery, which comprises a main operating rod and an auxiliary operating rod, and clamping plates are fixedly connected to the front ends of the main operating rod and the auxiliary operating rod; through the arrangement of the main operating rod, the clamping plate, the sealing ring, the movable rod, the fan blades and the permanent magnet array, during use, the first assembly box and the second assembly box are rotationally connected through the bottoms to form a movable joint structure, the opening and closing flexibility of the clamping device is ensured, the multiple sets of fan blades fixed to the surface of the movable rod generate shear resistance when rotating in magnetorheological fluid, and the clamping device is used for clamping the magnetorheological fluid. The clamping force is controlled by adjusting the resistance; the first assembly box and the second assembly box are filled with the magnetorheological fluid, the viscosity of the magnetorheological fluid changes along with changes of a magnetic field, so that dynamic adjustment of damping force is achieved, the permanent magnet array is connected to the surfaces of the first assembly box and the second assembly box in a sleeving mode, the viscosity of the magnetorheological fluid is adjusted by changing the magnetic field intensity, and then the opening and closing speed and stability of the clamp holder are controlled.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and particularly relates to a precise ophthalmic surgical gripper. Background Art

[0002] As an important branch in the field of modern medicine, ophthalmic surgery requires extremely high precision and safety. In ophthalmic surgery, the gripper, as a key medical device, undertakes various operation tasks such as gripping, peeling, and suturing. With the continuous progress of medical technology, ophthalmic surgical grippers have also evolved from traditional mechanical types to intelligent and precise ones.

[0003] Most traditional ophthalmic surgical grippers adopt a mechanical design and achieve the gripping function through manual operation. Such grippers have a relatively simple structure, but there are many deficiencies in the use process. Firstly, it is often difficult to precisely control the gripping force. Doctors need to judge the gripping force based on experience during the operation, which increases the uncertainty of the operation. Secondly, traditional grippers lack an intelligent damping adjustment function and cannot adjust the gripping force and opening / closing speed in real time according to the surgical needs, resulting in overshoot or unstable gripping easily occurring during delicate operations. In addition, due to the particularity of the ophthalmic surgical environment, the gripper is required to have high flexibility and stability. However, after long-term use, traditional grippers often experience performance degradation due to factors such as wear and fatigue. Therefore, it is necessary for the staff to improve them. Summary of the Invention

[0004] The purpose of the present invention is to provide a precise ophthalmic surgical gripper to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] A precise ophthalmic surgical gripper, comprising:

[0007] A main operating rod and a sub-operating rod;

[0008] Clamping plates are fixedly connected to the front ends of the main operating rod and the sub-operating rod. A first assembly box is fixedly connected to the inner wall of the main operating rod, a second assembly box is fixedly connected to the inner wall of the sub-operating rod, and the bottom of the first assembly box is rotatably connected to the top of the second assembly box. A sealing ring is lapped on the top of the second assembly box, and the top of the sealing ring is lapped on the bottom of the first assembly box;

[0009] An activity rod is rotatably connected to the inner walls of the first assembly box and the second assembly box. Multiple groups of fan blades are fixedly connected to the surface of the activity rod, and the inner walls of the first assembly box and the second assembly box are filled with magnetorheological fluid;

[0010] A connecting rod is rotatably connected to the inner wall of the auxiliary operating rod. A grip is fixedly connected to the bottom end of the connecting rod. An installation ring is fixedly connected to the top end of the connecting rod. A permanent magnet array is fixedly connected to the top of the installation ring, and the inner wall of the permanent magnet array is sleeved on the surfaces of the first assembly box and the second assembly box.

[0011] Preferably, one end of the main operating rod is fixedly connected with an assembly box, and an adjusting box is inserted into the inner wall of the assembly box.

[0012] Preferably, a hollow tube is fixedly connected to the inner wall of the adjusting box, and an electromagnetic coil is inserted through the inner wall of the hollow tube.

[0013] Preferably, a counterweight is sleeved on the surface of the hollow tube, and a magnet ring is fixedly connected to the inner wall of the counterweight, and the inner wall of the magnet ring is sleeved on the surface of the hollow tube.

[0014] Preferably, anti-slip patterns are fixedly connected to the surfaces of the main operating rod and the auxiliary operating rod.

[0015] Preferably, the main operating rod and the auxiliary operating rod are rotatably connected to each other.

[0016] Preferably, the cross-sectional shape of the sealing ring is L-shaped.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0018] (1) Through the settings of the main operating rod, the auxiliary operating rod, the clamping plate, the first assembly box, the second assembly box, the sealing ring, the movable rod, the fan blades and the permanent magnet array, during use, the clamping plate provided at the front ends of the main operating rod and the auxiliary operating rod directly contacts the surgical tissue to provide a stable clamping force. The first assembly box and the second assembly box form a movable joint structure through the bottom rotation connection to ensure the opening and closing flexibility of the clamp. The sealing ring with an L-shaped cross-section overlaps between the first assembly box and the second assembly box to effectively prevent the leakage of the magnetorheological fluid. Multiple groups of fan blades fixed on the surface of the movable rod generate shear resistance when rotating in the magnetorheological fluid, and the clamping force is controlled by adjusting the resistance size; the magnetorheological fluid is filled in the first assembly box and the second assembly box, and its viscosity changes with the magnetic field, so as to realize the dynamic adjustment of the damping force. The permanent magnet array is sleeved on the surfaces of the first assembly box and the second assembly box, and the viscosity of the magnetorheological fluid is adjusted by changing the magnetic field intensity, thereby controlling the opening and closing speed and stability of the clamp.

[0019] (2) Through the settings of the assembly box, adjustment box, hollow tube, electromagnetic coil, counterweight, magnet ring and anti-slip pattern, during use, the hollow tube fixedly connected to the inner wall of the adjustment box runs through the entire adjustment system, providing an installation space for the electromagnetic coil. The electromagnetic coil is wound around the inner wall of the hollow tube. After being energized, it generates a controllable magnetic field, which interacts with the magnet ring sleeved on the surface of the hollow tube. The magnet ring is fixed to the inner wall of the counterweight. By adjusting the current intensity of the electromagnetic coil, the magnetic field force can be changed, thereby precisely controlling the position of the counterweight. The movement of the counterweight can balance the inertial moment during the operation of the gripper, reduce the influence of hand tremors on the operation accuracy. At the same time, the anti-slip patterns set on the surfaces of the main operating rod and the auxiliary operating rod enhance the holding stability, ensuring precise control during the surgical process, enabling the gripper to maintain stable operating performance in a complex surgical environment. At the same time, through electromagnetic adjustment, the dynamic optimization of the damping force is realized to meet the requirements of different surgical scenarios. Description of the Drawings

[0020] Figure 1 One of the three-dimensional views of the present invention;

[0021] Figure 2 Another three-dimensional view of the present invention;

[0022] Figure 3 Three-dimensional view of the permanent magnet array of the present invention;

[0023] Figure 4 Three-dimensional view of the grip of the present invention;

[0024] Figure 5 Three-dimensional view of the first assembly box of the present invention;

[0025] Figure 6 Three-dimensional view of the adjustment box of the present invention;

[0026] Figure 7 Three-dimensional view of the counterweight of the present invention;

[0027] Figure 8 Three-dimensional view of the electromagnetic coil of the present invention;

[0028] In the figure: 1, main operating rod; 2, auxiliary operating rod; 3, clamping plate; 4, first assembly box; 5, second assembly box; 6, sealing ring; 7, movable rod; 8, fan blade; 9, connecting rod; 10, grip; 11, mounting ring; 12, permanent magnet array; 13, assembly box; 14, adjustment box; 15, hollow tube; 16, electromagnetic coil; 17, counterweight; 18, magnet ring; 19, anti-slip pattern. Detailed Description of the Invention

[0029] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0030] Embodiment 1:

[0031] Please refer to Figures 1 to 8 As shown, the precise ophthalmic surgical gripper includes: a main operating rod 1 and a secondary operating rod 2;

[0032] Clamping plates 3 are fixedly connected to the front ends of the main operating rod 1 and the secondary operating rod 2. A first assembly box 4 is fixedly connected to the inner wall of the main operating rod 1, and a second assembly box 5 is fixedly connected to the inner wall of the secondary operating rod 2. The bottom of the first assembly box 4 is rotatably connected to the top of the second assembly box 5. A sealing ring 6 is lapped on the top of the second assembly box 5, and the top of the sealing ring 6 is lapped on the bottom of the first assembly box 4;

[0033] A movable rod 7 is rotatably connected to the inner walls of the first assembly box 4 and the second assembly box 5. Multiple groups of fan blades 8 are fixedly connected to the surface of the movable rod 7. The inner walls of the first assembly box 4 and the second assembly box 5 are filled with magnetorheological fluid;

[0034] A connecting rod 9 is rotatably connected to the inner wall of the secondary operating rod 2. A grip 10 is fixedly connected to the bottom end of the connecting rod 9. An installation ring 11 is fixedly connected to the top end of the connecting rod 9. A permanent magnet array 12 is fixedly connected to the top of the installation ring 11. The inner wall of the permanent magnet array 12 is sleeved on the surfaces of the first assembly box 4 and the second assembly box 5. The main operating rod 1 and the secondary operating rod 2 are rotatably connected to each other. The cross-sectional shape of the sealing ring 6 is L-shaped.

[0035] During use, the clamping plate 3 provided at the front ends of the main operating rod 1 and the auxiliary operating rod 2 directly contacts the surgical tissue to provide a stable clamping force. The first assembly box 4 and the second assembly box 5 are respectively fixed to the inner walls of the main operating rod 1 and the auxiliary operating rod 2. The two are rotationally connected at the bottom to form a movable joint structure, ensuring the opening and closing flexibility of the gripper. The sealing ring 6 is lapped between the first assembly box 4 and the second assembly box 5 with an L-shaped cross-section, effectively preventing the leakage of the magnetorheological fluid. The movable rod 7 is rotationally connected to the inner walls of the first assembly box 4 and the second assembly box 5. When multiple groups of fan blades 8 fixed on its surface rotate in the magnetorheological fluid, shear resistance is generated, and the clamping force is controlled by adjusting the resistance magnitude. The magnetorheological fluid is filled in the first assembly box 4 and the second assembly box 5, and its viscosity changes with the magnetic field, thereby realizing the dynamic adjustment of the damping force. The connecting rod 9 is rotationally connected to the inner wall of the auxiliary operating rod 2. The grip 10 fixed at the bottom end facilitates the operation of the doctor, and the top end is connected to the permanent magnet array 12 through the mounting ring 11. The permanent magnet array 12 is sleeved on the surfaces of the first assembly box 4 and the second assembly box 5. By changing the magnetic field intensity, the viscosity of the magnetorheological fluid is adjusted, and then the opening and closing speed and stability of the gripper are controlled. The intelligent damping characteristic of the magnetorheological fluid enables the gripper to automatically adjust the clamping force according to the surgical requirements, avoiding tissue damage. At the same time, the magnetic field adjustment function of the permanent magnet array 12 ensures the accuracy and response speed of the operation, and the sealed design of the sealing ring 6 and the assembly box guarantees the reliability of the system and the long-term use stability.

[0036] The rheological characteristics of the magnetorheological fluid are regulated by the magnetic field generated by the permanent magnet array 12 to realize the intelligent damping control of the opening and closing movement of the gripper. Specifically, when the operator applies a force through the grip 10, the connecting rod 9 drives the mounting ring 11 and the permanent magnet array 12 to generate a displacement, causing the relative positions of the permanent magnet array 12 and the first assembly box 4 and the second assembly box 5 to change, thereby changing the effective magnetic field intensity acting on the magnetorheological fluid. Under the action of the magnetic field, the carbonyl iron powder particles (particle size 5 - 10 μm) suspended in the silicone oil base fluid will form a chain-like structure arrangement along the magnetic field direction. This change in the microscopic structure causes the macroscopic viscosity of the magnetorheological fluid to change significantly within milliseconds (typical response time 8 - 15 ms), and its shear yield stress is proportional to the square of the magnetic field intensity (τ_y ∝ B2).

[0037] When the gripper opens and closes quickly, the movable rod 7 drives the fan blade 8 to rotate in the magnetorheological fluid, and is subjected to a shear resistance proportional to the viscosity of the fluid (F = η·A·dv / dy, where η is the apparent viscosity, A is the shear area, and dv / dy is the velocity gradient). By adjusting the position of the permanent magnet array 12, the magnetic field strength can be continuously changed in the range of 0.1 - 0.5 T, corresponding to the apparent viscosity of the magnetorheological fluid rising from the base value of 0.1 Pa·s to a maximum of 5 Pa·s, so that the damping torque can be accurately regulated in the range of 0.1 - 5 N·m / rad. This real-time adjustable damping characteristic endows the gripper with three key functions: First, when operating quickly (such as emergency hemostasis), the damping force is automatically increased to prevent overshoot caused by inertia; second, when operating finely (such as retinal detachment), the damping force is reduced to ensure micron-level displacement accuracy (±0.15°); third, by presetting the critical damping ratio (ζ≈0.7), the vibration at the clamping end is eliminated, so that the clamping plate 3 can smoothly contact the tissue. The entire system achieves closed-loop control through a pure mechanical structure: operating force → permanent magnet displacement → magnetic field change → viscosity adjustment → damping force feedback → motion characteristic correction, achieving an intelligent adjustment effect without an electronic sensor. The L-shaped cross-section design of the sealing ring 6 and the PTFE / magnetic fluid double seal ensure that the leakage of the magnetorheological fluid is less than 0.1 μL in 10 5 cycles, maintaining long-term stable damping performance.

[0038] Embodiment 2:

[0039] Please refer to Figures 1 to 8 As shown, one end of the main operating rod 1 is fixedly connected with an assembly box 13. The inner wall of the assembly box 13 is inserted with an adjustment box 14. The inner wall of the adjustment box 14 is fixedly connected with a hollow tube 15. The inner wall of the hollow tube 15 is penetrated and inserted with an electromagnetic coil 16. A counterweight block 17 is sleeved on the surface of the hollow tube 15. The inner wall of the counterweight block 17 is fixedly connected with a magnet ring 18, and the inner wall of the magnet ring 18 is sleeved on the surface of the hollow tube 15. Anti-slip patterns 19 are fixedly connected to the surfaces of both the main operating rod 1 and the auxiliary operating rod 2.

[0040] During use, the assembly box 13 is fixed to one end of the main operating rod 1. An adjustment box 14 is installed inside it. The hollow tube 15 fixedly connected to the inner wall of the adjustment box 14 runs through the entire adjustment system, providing an installation space for the electromagnetic coil 16. The electromagnetic coil 16 is wound around the inner wall of the hollow tube 15 and generates a controllable magnetic field after being energized, interacting with the magnet ring 18 sleeved on the surface of the hollow tube 15. The magnet ring 18 is fixed to the inner wall of the counterweight 17. By adjusting the current intensity of the electromagnetic coil 16, the magnetic field force can be changed, thereby precisely controlling the position of the counterweight 17. The movement of the counterweight 17 can balance the inertial moment during the operation of the gripper, reducing the influence of hand tremors on the operation accuracy. At the same time, the anti-slip patterns 19 provided on the surfaces of the main operating rod 1 and the auxiliary operating rod 2 enhance the holding stability, ensuring precise control during the surgical process, enabling the gripper to maintain stable operating performance in a complex surgical environment. At the same time, the dynamic optimization of the damping force is achieved through electromagnetic adjustment to meet the requirements of different surgical scenarios.

[0041] Embodiment Three:

[0042] Please refer to Figures 1 to 8 As shown, in a complex retinal repair surgery, the doctor needs to precisely grip and peel the inner limiting membrane (ILM) of the retina with a thickness of only 10 - 20 μm, while avoiding mechanical damage to the fragile retinal tissue. Due to the lack of real-time damping adjustment function, there is a contradiction between rapid response and fine control in traditional grippers, which easily leads to sudden changes in the gripping force or operation tremors, increasing the surgical risk.

[0043] The doctor holds the handle 10 of the gripper and ensures stable operation through the anti-slip pattern 19. The clamping plates 3 at the front ends of the main operating rod 1 and the auxiliary operating rod 2 are in a closed state after disinfection. The initial position of the permanent magnet array 12 is set to a medium magnetic field intensity (0.3 T), so that the magnetorheological fluid maintains a moderate viscosity (about 2 Pa·s).

[0044] Rapid positioning stage: When it is necessary to quickly approach the surgical site, the doctor applies a large operating force. The connecting rod 9 drives the mounting ring 11 to move the permanent magnet array 12 outward, and the magnetic field intensity drops to 0.1 T. At this time, the viscosity of the magnetorheological fluid decreases to 0.1 Pa·s, and the rotational resistance of the fan blade 8 decreases. The gripper can open and close quickly (speed up to 30 mm / s) to achieve efficient positioning.

[0045] Fine peeling operation: After contacting the retina, the doctor reduces the grip force. The permanent magnet array 12 moves inward under the action of the return spring, and the magnetic field intensity rises to 0.5 T. The viscosity of the magnetorheological fluid suddenly increases to 5 Pa·s, and the fan blade 8 is subjected to high shear resistance, automatically reducing the movement speed of the clamping plate 3 to 0.5 mm / s. At this time:

[0046] The vibration of the movable rod 7 is suppressed by critical damping (ζ = 0.7), and the amplitude < 5 μm;

[0047] The clamping force is stable at 0.15N±0.02N, meeting the ILM peeling requirements;

[0048] The counterweight 17 counteracts hand tremor through the adjustment of the electromagnetic coil 16 (frequency 6-12 Hz attenuation 90%).

[0049] Emergency hemostasis scenario: If microvascular bleeding occurs during surgery, the doctor quickly presses the clamp, the electromagnetic coil 16 is instantly energized (current 1.5A), driving the counterweight 17 to move to the equilibrium position, and the permanent magnet array 12 automatically strengthens the magnetic field to 0.4 T. The dual action enables the clamping plate 3 to achieve precise compression hemostasis within 2ms, and will not damage tissues due to inertial overshoot.

[0050] Postoperative reduction: After the operation is completed, the clamp is opened and closed for 50,000 cycles and the test shows that the sealing ring 6 effectively prevents the leakage of magnetorheological fluid (the cumulative leakage volume is 0.08μL), and the L-shaped cross-section design ensures that there is no liquid leakage at the rotating joint, meeting the requirements for long-term use.

[0051] Working principle: When the doctor applies operating force through the handle, the connecting rod drives the mounting ring and the permanent magnet array to move, changing the spatial relative position of the permanent magnet array and the magnetorheological fluid filled in the first assembly box and the second assembly box (adjustment range 0.1-0.5T), so that the carbonyl iron powder particles (particle size 5-10μm) suspended in the silicone oil-based liquid form a chain structure along the direction of the magnetic field line under the action of the magnetic field, causing the apparent viscosity of the magnetorheological fluid to increase from the basic value of 0.1Pa·s to the maximum of 5Pa·s within 8-15ms; six sets of fan-shaped blades (total area 38mm) evenly distributed on the movable rod 2 ) generates a shear resistance proportional to the viscosity (F = η·A·dv / dy) when rotating in a viscous liquid, forming an adjustable damping torque of 0.1-5N·m / rad, which is transmitted to the clamping plate through the rotating joint of the assembly box to achieve intelligent adjustment of the opening and closing speed (a magnetic field of 0.1T corresponds to a movement speed of 30mm / s during rapid positioning, and 0.5T is limited to 0.5mm / s during fine operation); at the same time, the electromagnetic coil (wire diameter 0.2mm, wound on the inner wall of the hollow tube) interacts with the N52-grade neodymium iron boron magnet ring in the counterweight block after being energized, and the position of the counterweight block is accurately controlled by adjusting the 0-1.5A current, dynamically balancing The operating inertia moment is balanced to attenuate the 6-12Hz hand tremor amplitude by 90%; the L-shaped PTFE sealing ring (compression amount 0.2mm) cooperates with the magnetic fluid rotary seal with a gap of 0.1mm to ensure that the leakage of magnetorheological fluid is less than 0.1μL in 100,000 opening and closing cycles. The whole system achieves ±5μm positioning accuracy and 0.15N±0.02N constant force clamping without the need for electronic components through the pure mechanical closed-loop control of "operating force-permanent magnet displacement-magnetic field strength-liquid viscosity-damping torque". The design of critical damping ratio ζ≈0.7 effectively eliminates the vibration of the clamping end, so that the clamping plate can stably contact the tissue.

[0052] All the standard parts used in the present invention can be purchased from the market. The special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part all adopt conventional means such as bolts, rivets, welding, etc. that are mature in the prior art. The machines, parts and equipment all adopt conventional models in the prior art. In addition, the circuit connection adopts the conventional connection method in the prior art, which will not be elaborated herein. The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

[0053] In the description of the present invention, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. The meaning of "plurality" is two or more unless otherwise specifically defined.

[0054] In the present invention, unless otherwise clearly specified and defined, the terms such as "mounted", "connected", "connected to", "fixed" and the like shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0055] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature is at a higher level than the second feature in terms of horizontal height. The first feature being "under", "below" and "beneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature is at a lower level than the second feature in terms of horizontal height.

[0056] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0057] In the accompanying drawings of the disclosed embodiments of the present invention, only the structures related to the disclosed embodiments are involved, and other structures can refer to the general design. Without conflict, the same embodiment and different embodiments of the present invention can be combined with each other.

[0058] Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An ophthalmic surgical precision gripper, characterized in that, Including: A main operating lever (1) and a secondary operating lever (2); Clamping plates (3) are fixedly connected to the front ends of the main operating lever (1) and the secondary operating lever (2). A first assembly box (4) is fixedly connected to the inner wall of the main operating lever (1), and a second assembly box (5) is fixedly connected to the inner wall of the secondary operating lever (2). The bottom of the first assembly box (4) is rotatably connected to the top of the second assembly box (5). A sealing ring (6) is lapped on the top of the second assembly box (5), and the top of the sealing ring (6) is lapped on the bottom of the first assembly box (4); A movable rod (7) is rotatably connected to the inner walls of the first assembly box (4) and the second assembly box (5). Multiple groups of fan blades (8) are fixedly connected to the surface of the movable rod (7). The inner walls of the first assembly box (4) and the second assembly box (5) are filled with magnetorheological fluid; A connecting rod (9) is rotatably connected to the inner wall of the secondary operating lever (2). A grip (10) is fixedly connected to the bottom end of the connecting rod (9). An installation ring (11) is fixedly connected to the top end of the connecting rod (9). A permanent magnet array (12) is fixedly connected to the top of the installation ring (11), and the inner wall of the permanent magnet array (12) is sleeved on the surfaces of the first assembly box (4) and the second assembly box (5).

2. The precise ophthalmic surgical gripper according to claim 1, characterized in that: One end of the main operating lever (1) is fixedly connected to an assembly box (13), and an adjustment box (14) is inserted into the inner wall of the assembly box (13).

3. The ophthalmic surgery precision gripper according to claim 2, wherein: A hollow tube (15) is fixedly connected to the inner wall of the adjustment box (14), and an electromagnetic coil (16) is inserted through the inner wall of the hollow tube (15).

4. The precise ophthalmic surgical gripper according to claim 3, characterized in that: A counterweight (17) is sleeved on the surface of the hollow tube (15). A magnet ring (18) is fixedly connected to the inner wall of the counterweight (17), and the inner wall of the magnet ring (18) is sleeved on the surface of the hollow tube (15).

5. The ophthalmic surgical precision gripper according to claim 1, characterized in that: Anti-slip patterns (19) are fixedly connected to the surfaces of the main operating lever (1) and the secondary operating lever (2).

6. The precise ophthalmic surgical gripper according to claim 1, wherein: The main operating lever (1) and the secondary operating lever (2) are rotatably connected to each other.

7. The ophthalmic surgical precision gripper according to claim 1, wherein: The cross-sectional shape of the sealing ring (6) is L-shaped.

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