Seven-degree-of-freedom robotic execution system for fundus surgery and methods of use

By using a seven-degree-of-freedom robotic execution system, combined with a telecentric positioning mechanism and an attitude adjustment adaptive platform, the problem of insufficient end-effector precision in existing technologies has been solved, enabling precise and stable operation of surgical instruments in fundus surgery and improving surgical quality.

CN121943489BActive Publication Date: 2026-06-16HARBIN INST OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
HARBIN INST OF TECH
Filing Date
2026-04-03
Publication Date
2026-06-16

AI Technical Summary

Technical Problem

Existing surgical robot products have limited end-effector precision in fundus surgery, making it difficult to achieve accurate and stable operation. In particular, the design of the slave-end execution system supporting surgical instruments lacks the combination of high-performance hybrid mechanisms and flexible structures, resulting in serious problems of surgeon's hand tremors and fatigue, which affects the quality of surgery.

Method used

A seven-degree-of-freedom robotic execution system for fundus surgery is provided, including a base, a telecentric positioning mechanism, an attitude adjustment adaptive platform, and an end effector. The attitude adjustment adaptive platform is installed on the base through the telecentric positioning mechanism, and the end effector is connected to the attitude adjustment adaptive platform to realize the movement of surgical instruments in three-dimensional space and rotation around the axis. By combining multiple moving mechanisms and revolute joints, the surgical instruments can achieve seven degrees of freedom of movement around a fixed telecentric point.

Benefits of technology

It improves the precision, flexibility, and stability of fundus surgery, reduces surgeons' hand tremors and fatigue, ensures precise positioning of surgical instruments in complex procedures, and improves the accuracy and success rate of surgery.

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Abstract

The application discloses a seven-degree-of-freedom robot execution system for fundus surgery and a use method, relates to the technical field of medical equipment, and comprises a base, a telecentric positioning mechanism and an end effector, wherein the telecentric positioning mechanism is installed on the base; a posture adjustment adaptive platform is connected to the output end of the telecentric positioning mechanism and can move in a three-dimensional space under the driving of the telecentric positioning mechanism, and the instantaneous motion center of the posture adjustment adaptive platform is constrained to a fixed telecentric point in space; and the end effector is connected to the posture adjustment adaptive platform and can drive a surgical instrument installed on the end effector to rotate around the axis of the surgical instrument. The application has the advantages of simple structure, convenient use, and effective improvement of the precision, flexibility and stability of fundus surgery operation.
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