Fundus medicine injection auxiliary robot

Abstract

The embodiment of the utility model provides a fundus medicine injection auxiliary robot, and belongs to the technical field of medical instruments. The fundus medicine injection auxiliary robot comprises a mechanical arm trolley and a doctor master control trolley, the mechanical arm trolley comprises a first base module, a trolley body module, a man-machine interaction module and an execution module, the trolley body module is arranged on the first base module, and the man-machine interaction module is arranged on the trolley body module; the man-machine interaction module is used for controlling the execution module to realize different working states, and the execution module is used for performing an ophthalmologic operation; the doctor master control trolley comprises an operation platform module for a doctor to operate, and the operation platform module is electrically connected with the mechanical arm trolley and used for controlling an execution module of the mechanical arm trolley to execute the ophthalmic operation. The fundus medicine injection auxiliary robot can replace doctors to complete fundus blood vessel medicine injection, the use experience of the doctors is improved, and operation is more comfortable.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a fundus drug injection assisting robot. Background Art

[0002] At present, when the blood vessels on the fundus retina are diseased, the most widely used and effective treatment option in clinical practice is to inject gene drugs into the fundus to treat symptoms such as lesions or blockages of the fundus blood vessels. In the operation of injecting drugs into the fundus blood vessels, the doctor needs to hold a light guide pen in one hand and an injection needle in the other. At this time, the doctor's hand tremors, insufficient perception of operating force, and lack of surgical skills will reduce the success rate of the operation. In addition, due to the physiological tremors of the doctor's hands, the patient's eye incisions or rupture of fundus blood vessels may occur, causing secondary damage to the patient. Therefore, a fundus drug injection assisting robot is needed to replace the doctor to complete the fundus blood vessel injection of drugs, which can avoid the impact of the doctor's hand tremors on the surgical effect. Utility Model Content

[0003] The embodiment of the present application provides a fundus drug injection assisting robot, which has a simple structure and can complete the injection of drugs into the fundus blood vessels instead of doctors, thereby improving the doctor's user experience and making the operation more comfortable.

[0004] An embodiment of the present application provides a fundus drug injection assisting robot, which includes a robotic arm trolley and a doctor's main control trolley. The robotic arm trolley includes a first base module, a trolley main module, a human-computer interaction module and an execution module. The trolley main module is arranged on the first base module, and the human-computer interaction module is arranged on the trolley main module. The human-computer interaction module is used to control the execution module to realize different working states, and the execution module is used to perform ophthalmic surgery; the doctor's main control trolley includes an operating platform module for doctors to operate, and the operating platform module is electrically connected to the robotic arm trolley to control the execution module of the robotic arm trolley to perform ophthalmic surgery.

[0005] In this solution, the fundus drug injection auxiliary robot includes two units: a robotic arm trolley and a doctor's main control trolley. The first base module in the robotic arm trolley can provide the robotic arm trolley with the function of installing a substrate, and the human-computer interaction module can control the execution module to achieve different working states. The doctor's main control trolley is for doctors to use. The doctor can control the execution module to perform ophthalmic surgery by acting on the operating platform module. It can complete the fundus blood vessel injection of drugs on behalf of the doctor, eliminate the influence of the doctor's hand tremor on the surgical effect, and improve the doctor's user experience.

[0006] In some embodiments, the first base module includes a first base and an interface panel, a first caster is provided at the bottom of the first base, a brake pedal is provided on the first caster, the interface panel is provided on the back side of the first base, and the interface panel is provided with at least one interface end.

[0007] In the above technical solution, a first caster is provided at the bottom of the first base, so that the first caster can realize the movement function of the robotic arm trolley, and an interface panel is provided on the back side of the first base, so that the interface panel can realize the connection of external lines.

[0008] In some embodiments, the trolley body module includes a trolley body having a power supply device and a controller inside the trolley body.

[0009] In some embodiments, the trolley body module further includes an armrest, which is disposed on the back side of the trolley body for moving the robotic arm trolley.

[0010] In the above technical solution, by providing an armrest on one side of the back side of the trolley body, the armrest can be pushed by a user to move the robotic arm trolley to a suitable position.

[0011] In some embodiments, the human-computer interaction module includes a touch screen, a power button and an emergency stop button. The touch screen is installed on the top of the trolley body through a bracket. The touch screen is used for the operator to touch and control the execution module to switch different working states; the power button is used to control the power on or off of the robotic arm trolley, and the emergency stop button is used to control the execution module to stop working when touched.

[0012] In the above technical solution, the setting of the touch screen allows the operator to control the execution module to achieve different working states by touching the touch screen. By setting the emergency stop button, in an emergency or erroneous operation, the execution end module will stop working after pressing the emergency stop button.

[0013] In some embodiments, an indicator light is provided on the power button, and the indicator light has a lit state and an off state. When the indicator light is in the lit state, the robotic arm trolley is in the on state, and when the indicator light is in the off state, the robotic arm trolley is in the off state.

[0014] In the above technical solution, an indicator light is integrated on the power button. When the indicator light is on, it means that the robotic arm trolley is in the power-on state, and when the indicator light is off, it means that the robotic arm trolley is in the power-off state, so that the user can know the working status of the robotic arm trolley more intuitively.

[0015] In some embodiments, the execution module includes a first execution component and a second execution component, and the first execution component and the second execution component are respectively located on both sides of the trolley body, the first execution component includes a first collaborative arm and a first end instrument, the first collaborative arm is installed on the trolley body, and the first end instrument is arranged at the end of the first collaborative arm, and the second execution component includes a second collaborative arm and a second end instrument, the second collaborative arm is installed on the trolley body, and the second end instrument is arranged at the end of the second collaborative arm.

[0016] In some embodiments, the doctor's main console cart also includes a second base module and a support module, the second base module includes a second base and a pedal, a plurality of second casters are arranged at the bottom of the second base, each second caster is provided with a brake wrench, the pedal is arranged on the second base, and a first pedal and a second pedal for the doctor to step on are arranged on the pedal; the support module includes a main support and two auxiliary supports, the two auxiliary supports are located on the left and right sides of the main support, and there is a gap between the main support and the auxiliary supports to form an extension space for the user's legs to extend out of the doctor's main console cart, the lower ends of the main support and the auxiliary supports are connected to the second base, and the upper ends thereof are connected to the operating platform module.

[0017] In the above technical solution, by arranging a plurality of second casters at the bottom of the second base, the movement of the doctor's main control trolley can be realized to meet the needs of position transfer, and by arranging a brake wrench on the second caster, the second caster can be locked and unlocked by using the brake wrench, and the support module includes a main support and two auxiliary supports, and the upper ends of the main support and the two auxiliary supports are connected to the operating platform module, thereby realizing three-point support for the operating platform module, and the support stability is high. In addition, by having a gap between the main support and the auxiliary support, when a user, such as a doctor, performs a surgical operation using the doctor's main control trolley, the surgical operation generally takes a long time, and the legs are prone to soreness after maintaining a fixed posture for a long time, but the doctor needs to monitor the surgical situation all the time to avoid sudden situations, and cannot leave the operating position of the doctor's main control platform. Therefore, in this solution, by having a gap between the main support and the auxiliary support, the doctor's legs can still maintain a sitting position, but his legs extend out of the doctor's main control trolley through the extension space, and are stretched and relaxed, which is conducive to the doctor's rapid relief of fatigue and better involvement in the surgical operation.

[0018] In some embodiments, from the second base to the operating platform module, the secondary support includes a first straight segment, a bent segment, and a second straight segment in sequence, one end of the first straight segment is connected to the second base, both ends of the bent segment are respectively connected between the first straight segment and the second straight segment, one end of the second straight segment away from the bent segment is connected to the operating platform module, and the bent segment bends and extends outward so that the vertical projection of the second straight segment in the second base is at least partially located outside the second base.

[0019] In the above technical solution, by optimizing the structure of the auxiliary support, the auxiliary support includes a first straight segment, a bent segment and a second straight segment in sequence, so that the bottom space of the second base is relatively small. However, the setting of the bent segment can extend the operating platform module outward while ensuring the plane space of the operating platform module. This saves the ground space occupied by the doctor's main control cart and ensures that the doctor's upper operating space is met. The structure is compact and has a relatively wider range of applications.

[0020] In some embodiments, the operating platform module includes an operating platform, a first controller, a second controller and a display. The operating platform is arranged on the top of the support module. The display is arranged on the operating platform through a lifting bracket. The display is used to display the fundus image of the patient under an ophthalmic surgical microscope. The first controller and the second controller are respectively located on both sides of the display on the operating platform. The first controller and the second controller are respectively used to control the actions of the first end instrument and the second end instrument. The robotic arm trolley also includes a microscope, and the microscope is connected to the display by a cable.

[0021] In the above technical solution, the first controller, the second controller and the display can be arranged through the operating platform, and the display is used to display the patient's real-time fundus condition. The first controller and the second controller are respectively located on both sides of the display on the operating platform, so that the doctor's left and right hands can coordinately operate the first controller and the second controller, thereby controlling the first end instrument and the second end instrument to complete the posture change and fundus vascular injection operation. The microscope and the display are connected by a cable, and the doctor can observe the patient's fundus image under the ophthalmic surgical microscope in real time through the display on the operating platform module, and operate the first controller and the second controller on the doctor's main console to control the first end instrument and the second end instrument to complete the posture change and complete the fundus vascular injection operation.

[0022] In some embodiments, a socket extending in the vertical direction is provided on the top of the main support, and a corresponding avoidance hole for avoiding the socket is provided on the operating platform along its thickness direction, so that the avoidance hole and the socket are connected in the vertical direction; the lifting bracket at least partially passes through the avoidance hole and is inserted into the socket of the main support, the main support is connected to a locking rod through the external thread of the socket, and a plurality of limiting grooves are provided on the outer wall of the lifting bracket at intervals along the vertical direction, and one end of the locking rod is abutted against any one of the plurality of limiting grooves on the lifting bracket to prevent the lifting bracket from sliding in the socket.

[0023] In the above technical solution, by improving the main support structure, the main support has a socket for the lifting bracket to be inserted, and of course the operating platform is correspondingly provided with an avoidance hole, so that the limiting groove on the lifting bracket is locked with the locking rod on the main support, and the height of the lifting bracket can be fixed. When different doctors have different requirements for the height of the display, when the height of the display needs to be adjusted, it is only necessary to loosen the locking piece so that the lifting bracket can slide in the socket. When the position of the lifting bracket is adjusted into place, the locking piece can be used to abut against the corresponding limiting groove on the lifting bracket, thereby completing the height adjustment of the lifting bracket. The scope of application is wider, and it can be suitable for doctors of different heights or different needs to operate and use, so that they can better devote themselves to surgical operations.

[0024] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 A schematic diagram of the structure of a fundus drug injection assisting robot provided in some embodiments of the present application;

[0027] Figure 2 for Figure 1 Schematic diagram of the structure of the middle robot arm trolley;

[0028] Figure 3 for Figure 1 Schematic diagram of the structure of the Chinese doctor's console cart.

[0029] Icons: 10-Robotic arm trolley; 11-First base module; 110-First base; 111-Interface panel; 112-First caster; 12-Trolley body module; 120-Trolley body; 121-Armrest; 13-Human-machine interaction module; 130-Touch screen; 131-Power button; 132-Emergency stop button; 14-Execution module; 140-First coordination arm; 141-First end instrument; 142-Second coordination arm; 143-First Two terminal instruments; 20-doctor's main control trolley; 21-second base module; 210-second base; 211-pedal; 212-second caster; 213-first pedal; 214-second pedal; 22-support module; 220-main support; 221-secondary support; 23-operating platform module; 230-operating platform; 231-first controller; 232-second controller; 233-display; 30-microscope; 40-ophthalmic operating table. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0031] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0032] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0033] In the description of the embodiments of the present application, it should be noted that the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the application is usually placed when in use, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0034] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" should be understood in a broad sense, for example, it can be fixedly connected, detachably connected, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0035] Example

[0036] The present application embodiment provides a fundus drug injection assisting robot. Figure 1 , Figure 2 and Figure 3 The fundus drug injection assisting robot includes a robotic arm trolley 10 and a doctor's main control trolley 20. The robotic arm trolley 10 includes a first base module 11, a trolley main module 12, a human-computer interaction module 13 and an execution module 14. The trolley main module 12 is arranged on the first base module 11, and the human-computer interaction module 13 is arranged on the trolley main module 12. The human-computer interaction module 13 is used to control the execution module 14 to realize different working states, and the execution module 14 is used to perform ophthalmic surgery; the doctor's main control trolley 20 includes an operating platform module 23 for doctors to operate, and the operating platform module 23 is electrically connected to the robotic arm trolley to control the execution module 14 of the robotic arm trolley to perform ophthalmic surgery.

[0037] In this solution, the fundus drug injection auxiliary robot includes two units: a robotic arm trolley 10 and a doctor's main control trolley 20. The first base module 11 in the robotic arm trolley can provide the robotic arm trolley with a mounting substrate, and the human-computer interaction module 13 can control the execution module 14 to achieve different working states. The doctor's main control trolley 20 is for doctors to use. The doctor can control the execution module 14 to perform ophthalmic surgery by acting on the operating platform module 23. It can replace the doctor to complete the fundus blood vessel injection of drugs, eliminate the influence of the doctor's hand tremor on the surgical effect, and improve the doctor's user experience.

[0038] In some embodiments, the first base module 11 includes a first base 110 and an interface panel 111. A first caster 112 is provided at the bottom of the first base 110, a brake pedal is provided on the first caster 112, and the interface panel 111 is provided on the back side of the first base 110. The interface panel 111 is provided with at least one interface end. By providing the first caster 112 at the bottom of the first base 110, the first caster 112 can realize the movement function of the robot trolley, and by providing the interface panel 111 on the back side of the first base 110, the interface panel 111 can realize the connection of external lines.

[0039] The interface panel 111 may be provided with IO interfaces, such as a power input, a USB interface, an HDMI interface, a power indicator light or a whole machine power-on switch.

[0040] In some embodiments, the trolley body module 12 includes a trolley body 120 , and the trolley body 120 has a power supply device and a controller inside.

[0041] In some embodiments, the trolley body module 12 further includes an armrest 121, which is disposed on the back side of the trolley body 120 for moving the robotic arm trolley. By disposing the armrest 121 on the back side of the trolley body 120, the armrest 121 can be pushed by a user to move the robotic arm trolley to a suitable position.

[0042] In some embodiments, the human-computer interaction module 13 includes a touch screen 130, a power button 131, and an emergency stop button 132. The touch screen 130 is installed on the top of the trolley body 120 through a bracket. The touch screen 130 is used for the operator to touch and control the execution module 14 to switch different working states; the power button 131 is used to control the power on or off of the robotic arm trolley, and the emergency stop button 132 is used to control the execution module 14 to stop working when touched. The setting of the touch screen 130 allows the operator to touch the touch screen 130 to control the execution module 14 to achieve different working states. Through the setting of the emergency stop button 132, in an emergency or misoperation situation, the execution end module will stop working after pressing the emergency stop button 132.

[0043] Among them, the screen size of the touch screen 130 can be 15 inches, and the bracket mainly supports the touch screen 130. Two joints can be set on the bracket, one is a pitch joint, and the other is a rotation joint, to adjust the angle of the touch screen 130 to meet the usage needs of different groups of people.

[0044] In some embodiments, an indicator light is provided on the power button 131, and the indicator light has a lit state and an off state. When the indicator light is on, the robotic arm trolley is in the on state, and when the indicator light is off, the robotic arm trolley is in the off state. By integrating an indicator light on the power button 131, the indicator light on indicates that the robotic arm trolley is in the on state, and the indicator light off indicates that the robotic arm trolley is in the off state, so that the user can more intuitively know the working status of the robotic arm trolley.

[0045] In some embodiments, the execution module 14 includes a first execution component and a second execution component, and the first execution component and the second execution component are respectively located on both sides of the trolley body 120. The first execution component includes a first collaborative arm 140 and a first end instrument 141. The first collaborative arm 140 is installed on the trolley body 120, and the first end instrument 141 is arranged at the end of the first collaborative arm 140. The second execution component includes a second collaborative arm 142 and a second end instrument 143. The second collaborative arm 142 is installed on the trolley body 120, and the second end instrument 143 is arranged at the end of the second collaborative arm 142.

[0046] The first coordination arm 140 is a mechanical arm, and the first coordination arm 140 may have multiple movable joints. In this embodiment, the first coordination arm 140 has five movable joints. Similarly, the second coordination arm 142 may also have five movable joints. The first end instrument 141 is disposed at the end of the first coordination arm 140, and is used to clamp a light guide pen or an injection needle. The second end instrument 143 may be used to clamp a light guide pen or an injection needle, surgical forceps, and other ophthalmic surgical instruments. The two actuators may cooperate with each other to complete ophthalmic surgical operations.

[0047] In some embodiments, the doctor's main console cart 20 also includes a second base module 21 and a support module 22. The second base module 21 includes a second base 210 and a pedal 211. A plurality of second casters 212 are arranged at the bottom of the second base 210, and each second caster 212 is provided with a brake wrench. The pedal 211 is arranged on the second base 210, and a first foot pedal 213 and a second foot pedal 214 for the doctor to step on are arranged on the pedal 211; the support module 22 includes a main support 220 and two auxiliary supports 221, and the two auxiliary supports 221 are located on the left and right sides of the main support 220. There is a gap between the main support 220 and the auxiliary support 221 to form an extension space for the user's legs to extend out of the doctor's main console cart. The lower ends of the main support 220 and the auxiliary support 221 are connected to the second base 210, and the upper ends are connected to the operating platform module 23. By arranging a plurality of second casters 212 at the bottom of the second base 210, the doctor's main control cart 20 can be moved to meet the needs of position transfer. A brake wrench is arranged on the second caster 212, and the second caster 212 can be locked and unlocked by using the brake wrench. The support module 22 includes a main support 220 and two auxiliary supports 221. The upper ends of the main support 220 and the two auxiliary supports 221 are connected to the operating platform module 23, thereby realizing three-point support for the operating platform module 23, and the support stability is high. Furthermore, by providing a gap between the main support and the auxiliary support, users, such as doctors, can maintain a sitting position while using the doctor's main control cart to perform surgery. Generally, the operation time is long, and the legs are prone to soreness after maintaining a fixed posture for a long time. However, the doctor needs to monitor the operation situation at all times to avoid sudden situations, and cannot leave the operating position of the doctor's main control platform. Therefore, in this solution, by providing a gap between the main support and the auxiliary support, the doctor's legs can still maintain a sitting position, but his legs can be extended to the outside of the doctor's main control cart through the extension space for stretching and relaxation, which is conducive to the doctor's quick relief of fatigue and better involvement in the operation.

[0048] In some embodiments, from the second base 210 to the operating platform module 23, the auxiliary support 221 includes a first straight segment, a bending segment, and a second straight segment in sequence, one end of the first straight segment is connected to the second base, the two ends of the bending segment are respectively connected between the first straight segment and the second straight segment, the end of the second straight segment away from the bending segment is connected to the operating platform module, and the bending segment bends and extends outward so that the orthographic projection of the second straight segment in the vertical direction of the second base is at least partially located outside the second base. By optimizing the structure of the auxiliary support 221, the auxiliary support 221 includes a first straight segment, a bending segment, and a second straight segment in sequence, so that the bottom space of the second base is relatively small, but the setting of the bending segment can make the operating platform module extend outward, and can ensure the plane space of the operating platform module, which saves the ground space occupied by the doctor's main console cart and can ensure that the doctor's upper operating space is met. The structure is compact and the scope of application is relatively wider.

[0049] In some embodiments, the operation platform module 23 includes an operation platform 230, a first controller 231, a second controller 232 and a display 233. The operation platform 230 is arranged on the top of the support module 22 through a lifting bracket. The display 233 is arranged on the operation platform 230. The display 233 is used to display the fundus image of the patient under the ophthalmic surgical microscope 30. The first controller 231 and the second controller 232 are respectively located on both sides of the display 233 on the operation platform 230. The first controller 231 and the second controller 232 are respectively used to control the actions of the first end instrument 141 and the second end instrument 143. The first controller 231, the second controller 232 and the display 233 can be arranged on the operation platform 230. The display 233 is used to display the real-time fundus condition of the patient. The first controller 231 and the second controller 232 are respectively located on both sides of the display 233 on the operation platform 230. In this way, the doctor's left and right hands can coordinately operate the first controller 231 and the second controller 232, thereby controlling the first end instrument 141 and the second end instrument 143 to complete the posture transformation and fundus vascular injection operation.

[0050] The display 233 is installed on the operating platform 230 via a display 233 bracket.

[0051] In some embodiments, the robot arm trolley further includes a microscope 30, and the microscope 30 is connected to the display 233 via a cable. Since the microscope 30 is connected to the display 233 via a cable, the doctor can observe the patient's fundus image under the ophthalmic surgical microscope 30 in real time through the display 233 on the operating platform module 23, and operate the first controller 231 and the second controller 232 on the doctor's main control trolley 20 to control the first end instrument 141 and the second end instrument 143 to complete the posture change and complete the fundus vascular injection operation.

[0052] In some embodiments, a socket extending in the vertical direction is provided on the top of the main support 220, and a corresponding avoidance hole is provided on the operating platform 230 along its thickness direction to avoid the socket, so that the avoidance hole and the socket are connected in the vertical direction; the lifting bracket at least partially passes through the avoidance hole and is inserted into the socket of the main support 220, and the main support 220 is connected to a locking rod through the external thread of the socket, and a plurality of limiting grooves are provided on the outer wall of the lifting bracket at intervals along the vertical direction, and one end of the locking rod is abutted against any one of the plurality of limiting grooves on the lifting bracket to prevent the lifting bracket from sliding in the socket. By improving the main support structure, the main support has a socket for the lifting bracket to be inserted, and of course the operating platform is correspondingly provided with an avoidance hole, so that the limiting groove on the lifting bracket is locked with the locking rod on the main support, and the height of the lifting bracket can be fixed. When different doctors have different requirements for the height of the display, when the height of the display needs to be adjusted, it is only necessary to loosen the locking piece so that the lifting bracket can slide in the socket. When the position of the lifting bracket is adjusted into place, the locking piece can be used to abut against the corresponding limiting groove on the lifting bracket to complete the height adjustment of the lifting bracket. The scope of application is wider, and it can be suitable for doctors of different heights or different needs to operate and use, so that they can better devote themselves to surgical operations.

[0053] Specifically, the surgical operation process of the fundus drug injection assisting robot system is as follows: the doctor observes the patient's fundus image under the ophthalmic surgical microscope 30 in real time through the display 233 on the doctor's main control cart 20, and operates the first controller 231 and the second controller 232 on the doctor's main control cart 20 to control the first end instrument 141 and the second end instrument 143 to complete the posture change and complete the fundus vascular injection operation.

[0054] In addition, the placement of the fundus drug injection assisting robot system in the operating room is as follows: the robot arm trolley is placed at the ophthalmic operating table 40, that is, above the patient's head. The doctor's main control trolley 20 is placed next to the ophthalmic operating table 40. The display 233 on the doctor's main control trolley 20 is connected to the ophthalmic surgical microscope 30 through a cable. A bridge cable is provided between the robot arm trolley and the doctor's main control trolley 20, which can be used for data transmission and power supply.

[0055] It should be noted that, in the absence of conflict, the features in the embodiments of this application may be combined with each other.

[0056] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A fundus drug injection assisting robot, characterized in that: It includes a robotic arm trolley and a doctor's main control trolley, the robotic arm trolley includes a first base module, a trolley main module, a human-computer interaction module and an execution module, the trolley main module is arranged on the first base module, the human-computer interaction module is arranged on the trolley main module, the human-computer interaction module is used to control the execution module to realize different working states, and the execution module is used to perform ophthalmic surgery; the doctor's main control trolley includes an operating platform module for doctors to operate, the operating platform module is electrically connected to the robotic arm trolley, so as to control the execution module of the robotic arm trolley to perform ophthalmic surgery.

2. The fundus drug injection assisting robot according to claim 1, characterized in that: The first base module includes a first base and an interface panel, a first caster is provided at the bottom of the first base, a brake pedal is provided on the first caster, the interface panel is provided on the back side of the first base, and the interface panel is provided with at least one interface end; the trolley main body module includes a trolley main body, and a power supply device and a controller are provided inside the trolley main body.

3. The fundus drug injection assisting robot according to claim 2, characterized in that: The trolley body module also includes an armrest, which is arranged on the back side of the trolley body for moving the robotic arm trolley.

4. The fundus drug injection assisting robot according to claim 1, characterized in that: The human-computer interaction module includes a touch screen, a power button and an emergency stop button. The touch screen is installed on the top of the trolley body through a bracket. The touch screen is used for the operator to touch and control the execution module to switch different working states; the power button is used to control the power on or off of the robotic arm trolley, and the emergency stop button is used to control the execution module to stop working when touched.

5. The fundus drug injection assisting robot according to claim 4, characterized in that: The power button is provided with an indicator light, which has a lighting state and an off state. When the indicator light is in the lighting state, the robotic arm trolley is in the on state, and when the indicator light is in the off state, the robotic arm trolley is in the off state.

6. The fundus drug injection assisting robot according to claim 1, characterized in that: The execution module includes a first execution component and a second execution component, the first execution component and the second execution component are respectively located on both sides of the trolley body, the first execution component includes a first coordination arm and a first end device, the first coordination arm is installed on the trolley body, and the first end device is arranged at the end of the first coordination arm, the second execution component includes a second coordination arm and a second end device, the second coordination arm is installed on the trolley body, and the second end device is arranged at the end of the second coordination arm.

7. The fundus drug injection assisting robot according to claim 6, characterized in that: The doctor's main console cart also includes a second base module and a support module. The second base module includes a second base and a pedal. A plurality of second casters are arranged at the bottom of the second base, and each of the second casters is provided with a brake wrench. The pedal is arranged on the second base, and a first pedal and a second pedal for the doctor to step on are arranged on the pedal. The support module includes a main support and two auxiliary supports. The two auxiliary supports are located on the left and right sides of the main support. There is a gap between the main support and the auxiliary supports to form an extension space for the user's legs to extend out of the doctor's main console cart. The lower ends of the main support and the auxiliary supports are connected to the second base, and the upper ends thereof are connected to the operating platform module.

8. The fundus drug injection assisting robot according to claim 7, characterized in that: In the direction from the second base to the operating platform module, the secondary support sequentially includes a first straight segment, a bent segment and a second straight segment, one end of the first straight segment is connected to the second base, two ends of the bent segment are respectively connected between the first straight segment and the second straight segment, one end of the second straight segment away from the bent segment is connected to the operating platform module, and the bent segment bends and extends outward so that the orthographic projection of the second straight segment in the vertical direction of the second base is at least partially located outside the second base.

9. The fundus drug injection assisting robot according to claim 7, characterized in that: The operating platform module includes an operating platform, a first controller, a second controller and a display. The operating platform is arranged on the top of the supporting module. The display is arranged on the operating platform through a lifting bracket. The display is used to display the fundus image of the patient under an ophthalmic surgical microscope. The first controller and the second controller are respectively located on both sides of the display on the operating platform. The first controller and the second controller are respectively used to control the actions of the first end instrument and the second end instrument. The robotic arm trolley also includes a microscope, and the microscope is connected to the display by a cable.

10. The fundus drug injection assisting robot according to claim 9, characterized in that: A plug hole extending in the vertical direction is provided on the top of the main support, and a corresponding avoidance hole for avoiding the plug hole is provided on the operating platform along its thickness direction, so that the avoidance hole is connected with the plug hole in the vertical direction; The lifting bracket at least partially passes through the avoidance hole and is inserted into the insertion hole of the main support. The main support is connected to a locking rod on the outer thread of the insertion hole. The outer wall of the lifting bracket is provided with a plurality of limiting grooves at intervals along the vertical direction. One end of the locking rod abuts against any one of the plurality of limiting grooves on the lifting bracket to prevent the lifting bracket from sliding in the insertion hole.

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