Full-automatic fundus laser treatment robot

Abstract

The invention relates to a full-automatic fundus laser treatment robot. The full-automatic fundus laser treatment robot comprises a mechanical arm, a two-dimensional moving device, an imaging treatment system and a control center. The control center receives image information collected by the imaging treatment system, adds an image coordinate system for the image information, converts selected coordinates in the image coordinate system into destination coordinates in the mechanical arm tail end coordinate system according to the established corresponding relation between the image coordinate system and the mechanical arm tail end coordinate system, and sends the destination coordinates to the imaging treatment system; the abscissa moving distance and the ordinate moving distance of the tail end of the mechanical arm are obtained according to the current coordinates of the tail end of the mechanical arm and the destination coordinates, and the two-dimensional moving device is controlled to move the mechanical arm to the destination; and after the mechanical arm adjusts the light outlet of the imaging treatment system in place, the imaging treatment system sequentially emits aiming light and treatment light which share the same light path to enter the human eyes through the light outlet, and the imaging treatment system receives reflected light of the fundus to generate a fundus image in real time.

Description

Technical Field

[0001] The present invention relates to the technical field of ophthalmic laser equipment, and in particular to a fully automatic fundus laser treatment robot. Background Art

[0002] Since the blood vessels in the fundus are the only blood vessels in the human body that can be directly observed through the body surface, medical personnel can use fundus cameras to check whether there are any lesions in the optic nerve, retina, choroid and refractive media in the fundus. Fundus cameras can also assist in the diagnosis and assessment of other systemic diseases. For example, by screening retinal photographs, they can detect cerebral infarction, cerebral hemorrhage, cerebral arteriosclerosis, brain tumors, diabetes, kidney disease, hypertension, retinopathy of prematurity, glaucoma, age-related macular degeneration, etc.

[0003] The current fundus laser treatment technology used for patients with diabetic retinopathy (DR), macular degeneration and other eye diseases mainly relies on doctors to manually operate the laser for targeted treatment, or use a two-dimensional galvanometer to perform array-shaped laser treatment. These methods often lack precision, and the treatment measures are based on mechanical contact, requiring patients to maintain a specific sitting posture to cooperate with the structure of the equipment. They cannot treat newborns, the elderly, and patients who lie down or have difficulty sitting in the operating room. Summary of the Invention

[0004] The embodiment of the present invention provides a fully automatic fundus laser treatment robot to solve the problem that the existing technology is based on mechanical contact treatment methods and cannot treat newborns, the elderly, and patients who are unable to lie or sit in the operating room.

[0005] In order to achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0006] A fully automatic fundus laser treatment robot comprises a robotic arm, a movable end of the robotic arm being provided with an imaging treatment system, a fixed end of the robotic arm being provided at the movable end of a two-dimensional moving device, and the robotic arm, the two-dimensional moving device, and the imaging treatment system being all connected to a control center;

[0007] The control center receives image information acquired by the imaging therapy system, adds an image coordinate system to the image information, converts selected coordinates in the image coordinate system into destination coordinates in the coordinate system of the robotic arm end according to an established correspondence between the image coordinate system and the coordinate system of the robotic arm end, obtains a horizontal coordinate movement distance and a vertical coordinate movement distance of the robotic arm end according to the current coordinate of the robotic arm end and the destination coordinate, and controls the two-dimensional movement device to move the robotic arm to the destination;

[0008] After the mechanical arm adjusts the light outlet of the imaging treatment system to the right position, the imaging treatment system emits the co-light-path aiming light and treatment light into the human eye through the light outlet in sequence, and the imaging treatment system receives the reflected light of the fundus to generate the fundus image in real time.

[0009] Further, the two-dimensional moving device comprises an X-axis moving sub-device and a Y-axis moving sub-device, the X-axis moving sub-device drives the mechanical arm to move horizontally along the X-axis, and the Y-axis moving sub-device drives the mechanical arm to move horizontally along the Y-axis.

[0010] Further, the mechanical arm is a multi-axis degree-of-freedom mechanical arm, wherein the rotary joints between the mechanical arm and the imaging treatment system and between the mechanical arm and the two-dimensional moving device are horizontal rotary joints, and the mechanical arm further comprises at least two longitudinal rotary joints.

[0011] Further, the mapping between the image coordinate system and the mechanical arm end coordinate system comprises selecting feature points having the same position in the image coordinate system and the mechanical arm end coordinate system, establishing the mapping relationship of the feature points in the two coordinate systems, and then establishing the mapping relationship of all coordinate points according to the mapping relationship of the feature points.

[0012] Further, the imaging treatment system is provided with an OCT module and a laser light source, the OCT module is used to obtain the scanning data of the fundus and generate the OCT aiming light, and the laser light source is used to generate the treatment light, and the OCT aiming light and the treatment light are combined into the same light path through the first optical coupling module.

[0013] Further, the imaging treatment system is provided with a light beam adjusting module for adjusting the size of the light spot, the light beam adjusting module comprises a lens barrel, an optical assembly and a variable magnification assembly, the optical assembly is arranged in the lens barrel, the variable magnification assembly comprises a variable magnification lens tube, a variable magnification cam, a variable magnification lens, a motor and a gear set, the variable magnification lens tube is arranged outside the lens barrel, the variable magnification cam is connected with the lens barrel, the variable magnification lens is arranged in the lens barrel and connected with the variable magnification cam, the variable magnification lens tube is provided with a variable magnification groove, and the motor controls the rotation of the variable magnification cam in the variable magnification groove through the gear set, so as to drive the variable magnification lens to move.

[0014] Further, the light beam adjusting module is provided with a position feedback device, the position feedback device is provided with a photoelectric switch and a baffle, the baffle is in the form of an arc-shaped sheet, the baffle rotates synchronously with the variable magnification cam, and the photoelectric switch is arranged on the rotation path of the baffle.

[0015] Further, a lens is arranged in front of the human eye, the lens is a non-contact lens or a contact lens; the non-contact lens adopts a small-view-angle non-contact lens or a wide-angle non-contact lens; and the contact lens adopts a small-view-angle contact lens or a wide-angle contact lens.

[0016] Further, the imaging treatment system is provided with an illumination light source, the illumination light source sequentially passes through a collimation module, a light homogenization module, and then enters a slit module, and the light emitted from the slit module is incident on the human eye through a second light coupling module.

[0017] Further, the illumination light source includes a white light source formed by combining red light, green light and blue light, and an infrared light source, and the white light source and the infrared light source enter the light homogenization device after collimation and beam combination.

[0018] The embodiment of the present application has the following advantages:

[0019] The full-automatic fundus laser treatment robot of the present application adopts a two-dimensional transmission platform structure and a multi-joint 360-degree adjustable mechanical arm, in addition to being able to perform conventional seated fundus laser treatment, it can also perform automatic laser treatment on any other angle, especially for newborns, the elderly, patients in the operating room who are lying down and patients who have difficulty sitting.

[0020] The full-automatic fundus laser treatment robot of the present application can image a patient in a large field of view and cover the entire retinal area by adjusting the angle, so it can perform retinal wide-angle imaging and full-automatic laser treatment on a neonatal ROP patient, solving the pain points of current neonatal ROP laser treatment, such as relying on head-mounted treatment equipment for manual operation, difficult operation, inaccurate laser treatment and inability to realize real-time digital image. At the same time, the present application can be applied to multiple wavelength treatment lasers, and can meet the needs of different indications and different types of patients. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only exemplary, and for those skilled in the art, other drawings can be derived from the provided drawings without creative labor.

[0022] The structures, proportions, sizes, etc. shown in the present specification are only used to cooperate with the content disclosed in the specification, to be understood and read by those skilled in the art, and do not define the limiting conditions under which the present application can be implemented, so they do not have technical significance. Any modification of structure, change of proportion relationship or adjustment of size, without affecting the effect and purpose that the present application can produce, should still fall within the scope of the technical content disclosed by the present application.

[0023] Figure 1 A system structure diagram of a full-automatic fundus laser treatment robot provided by the embodiment of the present application is shown in the following figure:

[0024] Figure 2 A two-dimensional moving device structure diagram in a full-automatic fundus laser treatment robot is provided for the embodiment of the present application;

[0025] Figure 3 A mechanical arm structure diagram in a full-automatic fundus laser treatment robot is provided for the embodiment of the present application;

[0026] Figure 4 A system structure diagram of an imaging treatment system in a full-automatic fundus laser treatment robot is provided for the embodiment of the present application;

[0027] Figure 5 A product structure diagram of a light beam adjusting module in a full-automatic fundus laser treatment robot is provided for the embodiment of the present application;

[0028] Figure 6 A light path diagram of an imaging treatment system in a full-automatic fundus laser treatment robot is provided for the embodiment of the present application.

[0029] In the figure:

[0030] 1, mechanical arm; 2, two-dimensional moving device; 3, imaging treatment system; 4, control center; 5, X-axis moving sub-device; 6, Y-axis moving sub-device; 7, rotating joint;

[0031] 8, laser light source; 9, OCT light source; 10, first light coupling module; 11, light beam adjusting module; 12, optical assembly; 13, lens barrel; 14, variable magnification cam; 15, variable magnification lens tube; 16, motor; 17, gear set; 18, variable magnification groove; 19, photoelectric switch; 20, baffle; 21, light scanning module; 22, second light coupling module; 23, lens;

[0032] 24, white light source; 25, infrared light source; 26, collimation module; 27, dichroic mirror; 28, light homogenization module; 29, slit module; 30, imaging acquisition module; 31, light scanning assembly. DETAILED DESCRIPTION

[0033] The embodiments of the present application will be described in detail by specific embodiments, and those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in the specification. Obviously, the described embodiments are part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0034] As Figure 1As shown, a full-automatic fundus laser treatment robot comprises a mechanical arm 1, a moving end of the mechanical arm 1 is provided with an imaging treatment system 3, a fixed end of the mechanical arm 1 is arranged at a moving end of a two-dimensional moving device 2, the mechanical arm 1, the two-dimensional moving device 2 and the imaging treatment system 3 are all connected with a control center 4. The control center 4 receives image information collected by the imaging treatment system 3, adds an image coordinate system to the image information, converts selected coordinates in the image coordinate system into destination coordinates in a mechanical arm 1 end coordinate system according to a correspondence relationship between the image coordinate system and the mechanical arm 1 end coordinate system, obtains horizontal coordinate moving distance and vertical coordinate moving distance of the mechanical arm 1 end according to a current coordinate and the destination coordinate of the mechanical arm 1 end, and controls the two-dimensional moving device 2 to move the mechanical arm 1 to the destination.

[0035] The two-dimensional moving device 2 is used to control two-dimensional position of the mechanical arm 1, and can control two-dimensional position of single mechanical arm 1 or double mechanical arms 1. The two-dimensional moving device 2 comprises an X-axis moving sub-device 5 and a Y-axis moving sub-device 6. The X-axis moving sub-device 5 drives the mechanical arm 1 to move horizontally along the X-axis, and the Y-axis moving sub-device 6 drives the mechanical arm 1 to move horizontally along the Y-axis. Figure 2 As shown, taking single mechanical arm 1 as an example, a moving end of the Y-axis moving sub-device 6 is vertically connected with the X-axis moving sub-device 5, a moving end of the X-axis moving sub-device 5 is fixedly connected with the mechanical arm 1, and two-dimensional movement of the mechanical arm 1 is realized. Conversely, the technical solution that the X-axis moving sub-device 5 and the Y-axis moving sub-device 6 interchange positions also falls within the protection scope of the present technology. Transmission structures of the X-axis moving sub-device 5 and the Y-axis moving sub-device 6 can be chain transmission structures, screw transmission structures or other linear transmission structures. Before starting movement, the mechanical arm 1 is in a default retracted shape, an outlet of the imaging treatment system 3 faces the patient and is located in an eye collection space, the control center 4 has established a correspondence relationship between an image coordinate system and a mechanical arm 1 end coordinate system in advance, the control center 4 controls the imaging treatment system 3 to collect image information of a current space, adds an image coordinate system to the image information, a doctor can select a destination on a monitoring interface or formulate a planned route containing multiple destination coordinates, the control center 4 converts the destination coordinates in the image coordinate system into mechanical arm 1 end coordinates in the mechanical arm 1 end coordinate system, calculates distance between the two coordinates, i.e. X-axis moving distance and Y-axis moving distance, and then controls the X-axis moving sub-device 5 and the Y-axis moving sub-device 6 respectively to move the outlet to a position. This step can be repeated until the selected area viewed by the doctor on the monitoring interface is located at the center of the interface, i.e. the monitoring interface displays that the mechanical arm 1 adjusts the outlet to be right above the patient's eye. The monitoring interface can be displayed on a display device connected with the mechanical arm alone or can share a display device with an image display interface of the imaging treatment system 3.

[0036] The mapping between the image coordinate system and the coordinate system of the end of the robotic arm 1 is established by selecting feature points with the same position in the image coordinate system and the coordinate system of the end of the robotic arm 1, establishing a mapping relationship between the feature points in the two coordinate systems, and then establishing a mapping relationship for all coordinate points based on the mapping relationship of the feature points. For example, the origin, center point, boundary point, boundary midpoint, etc. of the two coordinate systems are selected to associate the feature points of the two coordinate systems. The number of associated feature points on the same coordinate axis is no less than 2, and feature points on different coordinate axes can overlap.

[0037] The doctor operates the monitoring interface to send instructions to the robotic arm 1, such as Figure 3 As shown, in this embodiment, the robotic arm 1 has seven axes of freedom. The rotational joints 7 between the robotic arm 1 and the imaging therapy system 3, and between the robotic arm 1 and the two-dimensional motion device 2, are all horizontal. The robotic arm 1 also includes at least two longitudinal rotational joints 7. Each rotational joint 7 has a working range of ±180° and a position repeatability of ±0.01mm. This allows for path planning. The robotic arm 1's inverse kinematics algorithm calculates the required rotation angles for each joint, ultimately adjusting the spatial position of the robotic arm's end to align the imaging therapy system's light outlet with the patient's eye. The inverse kinematics algorithm improves calculation accuracy and speed. During operation, the robot arm 1 is first controlled to be lifted to a specified height to prevent the robot arm 1 from contacting the patient during movement, and then the horizontal position or vertical position of the robot arm 1 is adjusted by controlling the two-dimensional moving device 2. Finally, the robot arm 1 is controlled to make fine adjustments. The robot arm 1 moves the light outlet of the imaging treatment system 3 to the position and angle facing the patient's eyes. The image collected by the imaging treatment system 3 is fed back to the monitoring interface. The doctor operates the monitoring interface and then micro-controls the robot arm 1 to form a closed-loop feedback, realizing the precise spatial positioning of the imaging treatment system and the fundus, thereby improving the accuracy of the operation.

[0038] After robotic arm 1 adjusts the light outlet into position, control center 4 activates OCT light source 9 of imaging therapy system 3, emitting an aiming beam. It then activates laser light source 8, emitting therapeutic light along the same optical path as the aiming beam, directing the therapeutic light toward the targeted location on the fundus. During treatment, imaging therapy system 3 receives reflected light from the fundus and generates a real-time A-scan image and a two-dimensional retinal image of the targeted location.

[0039] like Figures 4-6As shown, the imaging treatment system 3 is provided with a laser light source 8 for emitting treatment light and an OCT light source 9 for emitting aiming light. The laser light source 8 can be selected from multiple wavelengths, preferably 577 nm, 532 nm, 810 nm or other laser light sources for fundus treatment. The laser light source 8 is provided with a laser control module for adjusting the optical power of the laser light source 8 or switching the laser output mode, both functions can be performed simultaneously, for example, the laser output power needs to be adapted according to the treatment plan when the doctor selects the treatment plan, or for example, the micro-pulse treatment mode can be selectively performed in some areas of the fundus, and the treatment mode has two modes of threshold laser and micro-pulse below the threshold, which are suitable for different treatment plans.

[0040] Before performing laser surgery, the prior art is to perform surgery planning according to fundus color photography, but in fact, the same energy laser strikes in different positions will produce different effects, and the clinician can only set the laser parameters for each region by experience. The present technology solves this technical problem. Before performing laser treatment, the doctor can use the OCT light to scan the patient's retina to obtain a blood vessel image (OCTA), i.e., to obtain three-dimensional information composed of fundus layers, which can reflect the biological tissue characteristics, blood vessel distribution, etc. of different regions, which is beneficial to the doctor to make overall planning for the surgery, making the surgery planning more objective and reasonable, and can also use image processing methods to automatically extract and avoid blood vessels, further realizing automatic planning.

[0041] During the treatment, the OCT light source 9 is used to replace the aiming light in the conventional laser treatment for aiming at the position to be struck, which can greatly simplify the structure, realize multi-functional integration and system miniaturization, and reduce the manufacturing cost. Moreover, after the imaging treatment system 3 receives the OCT reflected light, it can display the A-scan data of the aimed / struck position in real time, obtain the depth change of the tissue at this position before and after laser striking, and also can combine the fundus image generated by the imaging treatment system 3, i.e., the two-dimensional image of the retina, to obtain the color, property, etc. changes of the fundus tissue, and use image processing technology to extract these changes for objective and real-time evaluation of the effect of laser striking. Compared with the prior art of judging the striking effect by the color change of the fundus color photography, the accuracy is higher; in addition, the evaluation results such as the depth of laser striking can be fed back to the laser control module to adjust the parameters of the laser light source 8, automatically perform laser treatment, realize intelligent control of the treatment light, achieve treatment optimization, and lay a technical foundation for intelligent laser treatment technology.

[0042] When the laser hits the fundus, the OCT image obtained by the imaging treatment system 3 can provide the doctor with feedback on the longitudinal laser treatment effect of the retina, and can also output a thickness change map of each point hit, directly reflecting the effect of laser treatment. The doctor can select the power size and treatment mode of the subsequent operation laser light source 8 according to the content of the image display interface.

[0043] The imaging treatment system 3 is provided with a first light coupling module 10, which can be any one of a flat beam splitter, a light splitting prism, and a thin film light splitter, and is used to combine the treatment light and the aiming light into the same light path, so as to realize the synchronization of the treatment light and the aiming light. When the doctor is treating, it can ensure that the treatment laser hits the path planned by the aiming laser, and realizes safe and effective treatment.

[0044] The imaging treatment system 3 is provided with a light beam adjusting module 11 arranged on the light output side of the first light coupling module 10, which is used to adjust the spot diameter of the treatment light and the aiming light, and the adjustment range is 40μm-1000μm, and is also used to accurately control and feedback position information. The light beam adjusting module 11 adopts a zoom lens group, which limits the movement degree of freedom of the zoom lens by mechanical cooperation between the zoom lens tube 15 and the lens barrel 13, so that the zoom lens can only move in the axial direction.

[0045] Specifically, as shown in Figure 5 The light beam adjusting module 11 includes an optical assembly 12 (such as a lens) arranged in the lens barrel 13 and a zoom assembly. The zoom assembly includes a zoom cam 14, a zoom lens tube 15, two zoom lenses, a motor 16, and a gear set 17. The zoom lens tube 15 is arranged outside the lens barrel 13, the zoom cam 14 is connected with the lens barrel 13, the two zoom lenses are arranged in the lens barrel 13 and connected with the zoom cam 14 respectively, the zoom lens tube 15 is provided with a zoom groove 18, the motor 16 controls the rotation of the zoom cam 14 in the zoom groove 18 through the gear set 17, and the rotation of the zoom cam 14 can drive the zoom lenses to move, so as to adjust the distance between the zoom lenses and the optical assembly 12. In this technology, the cost, size, and required precision of the power device are considered, the motor 16 adopts a two-way stepping motor 16 as a power source, and the motor 16 drives the gear set 17 to make the unit distance of the axial movement of the zoom lenses more precise.

[0046] In the operation of the device, the position feedback device is arranged in the light beam adjusting module 11, because the motor 16 may lose steps or the system may be powered off, the position feedback device is provided with a photoelectric switch 19 and a baffle 20, the baffle 20 is in the form of an arc-shaped sheet, the baffle 20 rotates synchronously with the variable magnification cam 14, and the photoelectric switch 19 is arranged on the rotating path of the baffle 20. In the position feedback device of the embodiment, the length of the baffle 20 is lengthened, so that the sensor of the photoelectric switch 19 senses the light shielding in a certain rotating angle of the variable magnification cam 14; when the variable magnification cam 14 rotates in the remaining angle, the sensor of the photoelectric switch 19 senses the non-shielded light, and the intersection of the sensed shielded light and non-shielded light is the rotation origin of the variable magnification cam 14, which is used to correct the errors of the stepping motor 16 and the program.

[0047] The imaging treatment system 3 is provided with a light scanning module 21, which is arranged after the light adjusting module, and the treatment light emitted by the laser light source 8 and the aiming light emitted by the OCT light source 9 are adjusted by the light scanning module 21 and then enter the human eye. The light scanning module 21 is an X-Y galvanometer or a device capable of adjusting the light beam in two-dimensional directions, such as a two-dimensional MEMS galvanometer, a piezoelectric galvanometer and the like, which is used to change the positions of the treatment laser and the aiming light on the retina. Specifically, in the double slow mirror system composed of the X-Y galvanometer, the X galvanometer and the Y galvanometer can control the movement directions of the laser on the X axis and the Y axis of the fundus respectively, so as to realize two-dimensional control of the laser and accurate attack treatment on the retinal lesion area; similarly, other technical solutions capable of achieving accurate attack of the laser spot on the retina also fall within the protection scope of the present application. The control of the galvanometer of the light scanning module 21 can realize various laser attack modes, including:

[0048] 1) Single-point attack mode, the user determines the laser attack position to be performed on the pathological area through the real-time image of the imaging treatment system 3, the aiming light is aligned with the target, the treatment light is started, and the target is attacked with the pre-set laser dose, exposure time and other parameters.

[0049] 2) Regular spatial region array attack mode, which combines the single-point attack mode and the scanning mode of the imaging treatment system 3, so that the user defines the laser dose and other parameters of each position, and then starts the treatment light to attack the predetermined target at equal time intervals.

[0050] 3) Self-defined irregular spatial region multi-point attack mode, which is a complete free attack mode, the user defines the laser dose, exposure time and other parameters of any attack position in the pathological area, and then attacks the predetermined target one by one.

[0051] The imaging therapy system 3 is equipped with a second optical coupling module 22. This second optical coupling module 22 can be any of a flat beam splitter, a beam splitter prism, or a thin film beam splitter. It is used to de-coaxially couple the illumination light and the imaging light reflected from the fundus, effectively eliminating stray light caused by reflection from the optical lens, allowing the system to capture clear images. The therapeutic light and the illumination light pass through the second optical coupling module 22 and then through the lens 23 to enter the human eye. The light reflected from the fundus then passes through the second optical coupling module 22, which splits the imaging light into an imaging acquisition module 30 to generate a two-dimensional retinal image. The OCT light is also split into an OCT acquisition terminal to generate an A-scan image.

[0052] The lens 23 of the imaging treatment system 3 is a replaceable lens: it includes a non-contact lens and a contact lens. The non-contact lens can be a small-angle non-contact lens or a wide-angle non-contact lens, which can better perform non-invasive large-field imaging of the retina of premature infants, thereby performing safer and more effective fundus laser treatment; the contact lens can be a small-angle contact lens or a wide-angle contact lens. The wide-angle contact lens can provide better large-field imaging for panretinal photocoagulation.

[0053] The imaging therapy system 3 is equipped with an illumination source, which can be composed of a red LED, a green LED, and a blue LED, along with two first beam splitters. The three lights emitted by the red, green, and blue LEDs are combined by the two first beam splitters to generate a white light source 24. If the wavelength of any LED is set to the fluorescence excitation wavelength, this technology can achieve fluorescence angiography. For example, the wavelength of the blue LED can be set to 480 nm. The imaging therapy system 3 is equipped with a fluorescence detector. The reflected light from the eye is split into two beams by a beam splitter. One beam enters a light collection module, and the other enters a fluorescence detector. The fluorescence image data collected by the fluorescence detector generates fluorescence angiography, which can more accurately reflect the condition of retinal blood vessels. Combined with fundus color photography, this allows doctors to examine a wider range of retinal conditions, such as retinal vein occlusion and macular degeneration.

[0054] The illumination light source can also be provided with an infrared light source 25 to achieve infrared imaging. The infrared light source 25 is different from the infrared light wavelength emitted by the OCT light source 9, and in the present technology, the infrared light source 25 is preferably a 785nm LED, which can also be replaced by a 785nm laser. Before performing laser surgery, the doctor can turn on the white light source 24 alone to collect the preoperative fundus image of the patient using the imaging system 3. During the operation, the doctor turns on the infrared light source 25 alone to perform real-time imaging of the patient's fundus. After the doctor strikes the treatment laser, the doctor can switch the white light source 24 to collect the true color image of the fundus after the operation, and the doctor can judge the grading effect of the laser treatment from the light spot in the image, and adjust the parameters of the laser (such as spot size, power size and exposure time, etc.).

[0055] The white light source 24 and the infrared light source 25 emitted by the illumination light source are respectively collimated by the collimation module 27, and then enter the homogenization module 28 through the dichroic mirror 26 for homogenization. In the present technology, the homogenization module 28 can use a microlens array, a homogenization rod or a multi-lens design, which can improve the uniformity of light to more than 85%, thereby improving the image quality of the fundus. The homogenization device of the present embodiment preferably uses a microlens array.

[0056] After the illumination light or infrared light is collimated and homogenized, it enters the slit module 29. When there is no unique (or full field of view) mapping between the emission area of the light source and the retina, the area of the emission light source only needs to have the aspect ratio of the detection solid angle of the illuminated area on the retina, and does not need to have the aspect ratio of the entire imaging area of the retina, so the slit module 29 is located on the light path to control the width of the illumination light. In the present embodiment, the slit module 29 is a digital micromirror (DMD) or a slit assembly. The digital micromirror can realize digital modulation of the light source, and by adjusting the shape, brightness and angle of the light source, the illumination light of the fundus can be modulated. In the present technology, the slit module 29 can be realized by an assembly with a slit or aperture.

[0057] The slit light is used for specific scanning or suppressing reflection during scanning. A light scanning component 31 is arranged behind the slit. In this embodiment, the light scanning component 31 is a scanning galvanometer or other device capable of scanning the light beam, which is used to control the scanning range and frequency of the slit light on the fundus. The slit module 29 remains static during imaging, but can be adjusted to different widths, allowing different degrees of confocality and different applications. In this embodiment, the slit module 29 is composed of a scanning galvanometer and a corresponding control module. The control module controls the angle and frequency of the galvanometer rotation, achieving scanning of the slit light on the fundus. The angle is matched with the imaging range of the fundus, and the frequency is matched with the frame rate of the camera in the imaging and treatment system 3, so that the imaging and treatment system 3 can capture real-time images of the fundus. Alternatively, when the light scanning component 31 is a two-dimensional galvanometer, a two-dimensional scanning is achieved accordingly. This module can achieve fundus tracking and is a closed-loop control system. When the light source passes through the two-dimensional scanning galvanometer and reaches the fundus, the system obtains a clear image of the fundus. When the eyeball moves, the motion signal of the eyeball captured by the imaging and treatment system 3 in real time is fed back to the two-dimensional scanning galvanometer, which can quickly move to the corresponding position, thereby achieving accurate fundus tracking and stabilizing the random changes of the fundus image in space over time. Alternatively, the slit component is a moving slit. A moving device is arranged on the slit component, which uses electronic mechanical motion or magnetic force to drive the slit component to move linearly or rotate, etc. The frequency of the motion of the slit component is matched with the frame rate of the camera in the imaging and treatment system 3, achieving line-by-line exposure of the slit light on the fundus, without the need to additionally set a light scanning component.

[0058] The imaging and acquisition module 30 of the imaging and treatment system 3 is connected to the control center 4. The imaging and acquisition module 30 is used to acquire the eye reflection light, preferably using a face array camera, to display the two-dimensional image of the retina on the image display interface, so as to facilitate real-time observation and diagnosis by the clinician. The control center 4 can change the image parameters such as the size of the imaging, the frame rate of the image, the brightness and grayscale control of the image, the pixel resolution of the image, the dynamic range of the image, etc.

[0059] Although the present application has been described in detail with general description and specific embodiments above, some modifications or improvements can be made on the basis of the present application, which is obvious to those skilled in the art. Therefore, these modifications or improvements made on the basis of not deviating from the spirit of the present application, are within the scope of the present application.

Claims

1. A fully automatic fundus laser treatment robot, characterized by: The device comprises a robotic arm, wherein the movable end of the robotic arm is provided with an imaging therapy system, the fixed end of the robotic arm is provided at the movable end of a two-dimensional mobile device, and the robotic arm, the two-dimensional mobile device and the imaging therapy system are all connected to a control center; The control center receives image information acquired by the imaging therapy system, adds an image coordinate system to the image information, converts selected coordinates in the image coordinate system into destination coordinates in the coordinate system of the robotic arm end according to an established correspondence between the image coordinate system and the coordinate system of the robotic arm end, obtains a horizontal coordinate movement distance and a vertical coordinate movement distance of the robotic arm end according to the current coordinate of the robotic arm end and the destination coordinate, and controls the two-dimensional movement device to move the robotic arm to the destination; After the robotic arm adjusts the light outlet of the imaging therapy system into position, the imaging therapy system successively emits aiming light and therapeutic light in a common optical path through the light outlet into the human eye. The imaging therapy system receives reflected light from the fundus and generates fundus images in real time.

2. The fully automatic fundus laser treatment robot according to claim 1, characterized in that: The two-dimensional moving device includes an X-axis moving sub-device and a Y-axis moving sub-device. The X-axis moving sub-device drives the robot arm to move horizontally along the X-axis, and the Y-axis moving sub-device drives the robot arm to move horizontally along the Y-axis.

3. The fully automatic fundus laser treatment robot according to claim 2, characterized in that: The robotic arm is a multi-axis freedom robotic arm, wherein the rotation joints between the robotic arm and the imaging treatment system and between the robotic arm and the two-dimensional moving device are all horizontal rotation joints, and also include at least two longitudinal rotation joints.

4. The fully automatic fundus laser treatment robot according to claim 1, characterized in that: The mapping between the image coordinate system and the robot arm end coordinate system includes selecting feature points with the same position in the image coordinate system and the robot arm end coordinate system, establishing a mapping relationship between the feature points in the two coordinate systems, and then establishing a mapping relationship between all coordinate points based on the mapping relationship of the feature points.

5. The fully automatic fundus laser treatment robot according to claim 1, characterized in that: The imaging therapy system is provided with an OCT module and a laser light source. The OCT module is used to obtain fundus scanning data and generate OCT aiming light. The laser light source is used to generate therapeutic light. The OCT aiming light and therapeutic light are merged into the same optical path through a first optical coupling module.

6. The fully automatic fundus laser treatment robot according to claim 1, characterized in that: The imaging therapy system is provided with a beam adjustment module for adjusting the size of the light spot. The beam adjustment module includes a lens barrel, an optical component and a magnification component. The optical component is arranged in the lens barrel. The magnification component includes a magnification tube, a magnification cam, a magnification lens, a motor and a gear set. The magnification tube is arranged outside the lens barrel, the magnification cam is connected to the lens barrel, the magnification lens is arranged in the lens barrel and connected to the magnification cam. The magnification tube is provided with a magnification slot. The motor controls the magnification cam to rotate in the magnification slot through the gear set, thereby driving the magnification lens to move.

7. The fully automatic fundus laser treatment robot according to claim 6, characterized in that: The beam adjustment module is provided with a position feedback device, which is provided with a photoelectric switch and a baffle. The baffle is an arc-shaped sheet structure, which rotates synchronously with the zoom cam, and the photoelectric switch is provided on the rotation path of the baffle.

8. The fully automatic fundus laser treatment robot according to claim 1, characterized in that: A lens is provided in front of the human eye, which is a non-contact lens or a contact lens; the non-contact lens is a small-angle non-contact lens or a wide-angle non-contact lens; the contact lens is a small-angle contact lens or a wide-angle contact lens.

9. The fully automatic fundus laser treatment robot according to claim 1, characterized in that: The imaging therapy system is provided with an illumination light source, which passes through a collimating module and a light homogenizing module in sequence and then enters a slit module. The light emitted from the slit module enters the human eye through a second optical coupling module.

10. The fully automatic fundus laser treatment robot according to claim 9, characterized in that: The illumination light source includes a white light source formed by combining red light, green light and blue light, and an infrared light source. The white light source and the infrared light source enter the light homogenizing device after being collimated and combined.

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