Device for performing an automated seamless corneal incision

Abstract

Device for performing an automated seamless main corneal incision, comprising a machine operating arm and a scalpel (1) installed on the machine operating arm, wherein the machine operating arm comprises a clamping device (2) for clamping the scalpel (1) and a drive arm for driving the clamping device (2) to oscillate, wherein the drive arm is provided with a first linear motor (3) and a second linear motor (4), wherein the clamping device (2) is provided with a third linear motor (5), characterized by that the device is designed to perform the automated seamless corneal main incision according to a method comprising the following steps: Step 1: two eye images are taken using a microscope camera system with a vertical shift in the millimeter range (a); Step 2: each image is preprocessed, converted into a grayscale image, and the first image is subjected to vertex detection to obtain a plurality of candidate vertices and obtain the coordinates of the vertices; Step 3: a plurality of vertices are centered and R j is the radius to detect black and white points relative to the vertices, and the black point is located in the white pixel area of ​​the vertex and the white point is located in the black pixel area of ​​the vertex, and the pixel gray level of the black point is < 0.5 and the pixel gray level of the white point is > 0.5, then the vertex is the scalpel point P' i , and the calculation formula for the position of the black dot and the white dot is as follows: X blacki = ∑ j ∈ R j ( 1 − I ( X j . Y j ) ) Y blacki = ∑ j ∈ R j ( 1 − I ( X j . Y j ) ) Y j ∑ j ∈ R j ( 1 − I ( X j . Y j ) ) X whitei = ∑ j ∈ R j ( 1 − I ( X j . Y j ) ) Y whitei = ∑ j ∈ R j ( 1 − I ( X j . Y j ) ) Y j ∑ j ∈ R i ( 1 − I ( X j . Y j ) ) R j ⇒ [ (X j − X i ) 2 + (Y j − Y i ) 2 ≤ range 2 ] including X blacki and Y blacki the coordinate values ​​of the black point, X whitei and Y whitei are the coordinate values ​​of the white point, X j and Y j are the respective coordinates of all pixels in the area of ​​the corner point as the center and R j as radius, I is the gray value of the point, range is the maximum value of the selected radius and X i and Y i are the coordinate values ​​of the scalpel point P' i ; Step 4: the P' iof the first image is adjusted to the second image to achieve a pixel distance between the adjustment points P'' i , P' i and P'' i to obtain; Step 5: The formula for calculating the depth of the scalpel point is as follows: z ′ = ( r Δ r + 1 ) a where r is the distance between the scalpel point P' i and the magnification center of the microscope, and Δr is the pixel distance between P' i and P'' i , which is called parallax; Step 6: the position and relative depth of the scalpel (1) are obtained according to the calculation, and the position of the iris is determined and the cutting position is positioned at the point on the edge of the iris closest to the pupil center; Step 7: the machine operating arm controls the movement of the scalpel (1) along the set cutting path.

Description

Technical area

[0001] The present invention relates to the field of automated surgery and, more particularly, to an apparatus for performing an automated sutureless corneal major incision. State of the art

[0002] The first step in cataract surgery is to make a major corneal incision in the corneal layer of the patient's eye. The existing procedure is mainly performed manually by physicians using instruments. However, different physicians vary in each operation for different patients. The quality of the major incision depends on the technique and condition of the chief physician. However, when performing a sutureless major incision, injury to the incision is likely to occur due to the high precision required in manual surgery.

[0003] The disclosure with publication number CN102639088B discloses a laser system and method for suturing corneal incisions and corneal incisions that perform automated surgery on the incisions using lasers. However, the laser procedure can also easily cause other damage to the corneal layer.

[0004] US 2016 / 0030240 A1 discloses a micromanipulation system with a micromanipulator comprising a handpiece and a micromanipulation tool with a tool shaft. An actuator enables manual control of the tool. A force sensor on the tool shaft detects applied forces and outputs an output signal. A processor compensates for actuation forces and determines an interaction force with a region of interest. The processor outputs an indication of the strength and direction of the determined force.

[0005] US 2015 / 0077528 A1 discloses a surgical guidance system for assisting a surgeon. The system includes an image capture device for generating near-real-time digital video data of a patient's eye. A processor receives this video data, processes external data, and generates composite digital image data. A display device displays overlaid images with procedural instructions based on the patient images and external data to the surgeon.

[0006] US 2017 / 0000647 A1 discloses a system for ophthalmic laser surgery. It comprises a laser source that, under the control of a control unit, alternately delivers a first and a second treatment laser beam. The first laser beam has a pulse energy of 10 to 500 µJ, while the second has a lower pulse energy of 0.1 to 10 µJ. An optical system focuses the beams to different focal points, which are then directed into different intraocular targets. Contents of the present invention

[0007] The present invention aims to solve the above technical problems at least to some extent and to provide an apparatus for performing an automated sutureless main corneal incision, thereby avoiding additional damage during corneal incision surgery.

[0008] In order to solve the above technical problems, the technical solution of the present invention consists in a device for performing an automated seamless corneal main incision, comprising a machine operating arm and a scalpel installed on the machine operating arm, wherein the machine operating arm comprises a clamping device for clamping the scalpel and a drive arm for driving the clamping device to oscillate, wherein the drive arm is provided with a first linear motor and a second linear motor, wherein the clamping device is provided with a third linear motor, wherein the device is designed to perform the automated seamless corneal main incision according to a method comprising the following steps: Step 1: two images are taken with a microscope camera system with a vertical shift in the millimeter range (a); Step 2: each image is preprocessed, converted into a grayscale image, and the first image is subjected to vertex detection to obtain a plurality of candidate vertices, and the coordinates of the vertices are obtained; Step 3: a plurality of vertices are centered and R j is the radius to detect black and white points relative to the vertices, and the black point is located in the white pixel area of ​​the vertex and the white point is located in the black pixel area of ​​the vertex, and the pixel gray level of the black point is < 0.5 and the pixel gray level of the white point is > 0.5, then the vertex is the scalpel point P' i , and the calculation formula for the position of the black dot and the white dot is as follows: Xblacki=∑j∈Rj(1−I(Xj.Yj))Xj∑j∈Ri(1−I(Xj.Yj)) Yblacki=∑j∈Rj(1−I(Xj.Yj))Yj∑j∈Ri(1−I(Xj.Yj)) Xwhitei=∑j∈Rj(1−I(Xj.Yj))Xj∑j∈Ri(1−I(Xj.Yj)) Ywhitei=∑j∈Rj(1−I(Xj.Yj))Yj∑j∈Ri(1−I(Xj.Yj)) Rj⇒[(Xj−Xi)2+(Yj−Yi)2≤range2] including X blacki and Y blacki the coordinate values ​​of the black point, X whitei and Y whitei are the coordinate values ​​of the white point, X j and Y j are the respective coordinates of all pixels in the area of ​​the corner point as the center and R j as radius, I is the gray value of the point, range is the maximum value of the selected radius and X i and Y i are the coordinate values ​​of the scalpel point P' i ; Step 4: the P' i of the first image is adjusted to the second image to maintain a pixel distance between the adjustment points P" i , P' i and P'' i to obtain; Step 5: The formula for calculating the depth of the scalpel point is as follows: z'=(rΔr+1)a where r is the distance between the scalpel point P' and the magnification center of the microscope, and Δr is the pixel distance between P' i and P'' i , which is called parallax; Step 6: the position and relative depth of the scalpel are obtained according to the calculation, and the position of the iris is determined and the cutting position is positioned at the point on the edge of the iris closest to the center of the pupil; Step 7: the standard seamless corneal main incision is defined as a loose Z-shape, and the machine operator arm controls the movement of the scalpel along the set incision path.

[0009] Preferably, in step 4, the adaptation method consists in determining a P' i -centered base point block area in P' i to set up a point other than P' ias a neighboring point and the depth of each neighboring point relative to P' i to define, wherein the adjustment points corresponding to the second image are calculated by adjusting all the base points of the block area, wherein the adjustment point and the corresponding parallax are calculated by selecting the parallax that minimizes the value of the cost function, where the formula of the cost function is, C(P'ij,Δr)=min{d(P'ij,P'ij−Δr,IZ,Iz−a),d(P'ij−Δr,P'ij,IZ−a,Iz)} d(P'ij,P'ij−Δr,Iz,Iz−a)=minP'ij−Δr−0.5 ≤P'ij−Δr+0.5{|Iz(P'ij)−Iz−a(P''ij)|} where P' ij the pixel position of the corresponding base point, P'' ij is the pixel position of the corresponding adjustment point, I z is the gray value of each pixel in the first image, I z-a is the gray value of each pixel in the second image, I z (P' ij ) is the gray value of P' ij and I z-a (P''ij ) is the gray value of P'' ij .

[0010] Preferably, a checking step is provided between step 4 and step 5, and if the position of the corresponding adjustment point P'' ij in a multitude of second images relative to P'' i with the position of the neighboring point relative to P' i matches, the verification is successful (where P' ij the field point, P'' ij is the fitting point of the field point, P' i is the center and P' i is the adjustment point of the center); A point is called center P' iadded, the total number of votes is 8 (8 field points), and 4 or more votes (including 4 votes) are considered a successful adjustment; otherwise, a base point block area is established around each adjacent point, the calculation formula in step 4 is executed again, the adjustment point and the corresponding parallax are recalculated, and the voting is executed, and the first person with more than 4 votes is considered the winner. More than half of the adjustment points have the same relative position to the adjacent points, thus avoiding the situation that P' i a noise point to improve the correctness of the scalpel point.

[0011] Preferably, the first successful neighboring verification point is designated as the new point P' iis defined, and other adjacent points and unsuccessful verification points are discarded, and then the remaining adjustment point P'' ik In the second image, the reference point is used as the base point for matching with the first image to obtain the verification point. If the verification point is consistent with the position of the base point, the matching is successful; otherwise, the verification step is performed again. The correctness of the matching is rechecked by reversing the matching direction to improve the accuracy of the scalpel point.

[0012] Preferably, an interpolation optimization calculation is performed on the depth calculation formula of the scalpel point in step 5. The calculation of the depth is made more accurate by interpolation optimization calculation. Each P'' ik sets two interpolation points along the epipolar line L ik, namely the left interpolation point P'' ikl or the right interpolation point P'' ikr, where the cost function is used to adjust the block area to obtain the cost C(P' i , Δr ikr ), C(P' i , Δr ikl ) and C(P' i , Δr ik ), remove the interpolation point or origin of minimum cost and remove the remaining two points to obtain the final depth formula as follows, Zkj=(rΔrl⇒minil=ik,ikr,ikl{C(P'i,Δril)}+1)a where L ik the epipolar line and Z kj is the depth, the P'' ik P' ij corresponds; the formula for calculating the final depth: Zpi'=Zpi''=∑kjZkjno where n o the number of Z kj .

[0013] Preferably, the calculation formulas of the interpolation point are P''ikl=(P''ik+Li+P''ik) / 2 P''ikr=(P''ik−Li+P''ik) / 2 where P'' ik+Li the value at which P'' ik the distance of Li pixels along the epipolar line moves forward, and P'' ik-Li is the value at which P'' ik the distance of Li pixels moves backward along the epipolar line.

[0014] Preferably, the cutting path is defined as follows, S1: the scalpel enters the corneal layer; S2: the scalpel is raised 40-50 degrees to perform an RCM movement at the first distant midpoint; S3: the scalpel moves forward according to the angle in S2 until it reaches the second distant center point; S4: after performing the RCM movement, the scalpel is lowered by 40-50 degrees; S5: the scalpel moves forward according to the angle in S4 until it passes the corneal layer.

[0015] Preferably, in step 7, the scalpel performs an RCM movement, the position of the RCM point is fixed, and the control strategy formula of the RCM point is as follows, xR=L1+L22+(Ltool+L3)sin(φ+ϑ−π2)+Lo cos(ϑ)+dmcos(φ+ϑ−π2) yR=(Ltool+L3)cos(φ+ϑ−π2)−Locos(ϑ)−dmsin(φ+ϑ−π2) where x R the X-axis coordinate position of the RCM point; y R is the Y-axis coordinate position of the RCM point; L 1 is the linear displacement of the first linear motor; L 2 is the linear displacement of the second linear motor; L tool is the distance between the clamping device and the tip of the scalpel; L 3 is the linear displacement of the third linear motor; φ is the angle between the surface of the scalpel and the connecting end of the clamping device; ϑ is the angle between the surface of the scalpel and the horizontal plane; L ois the length of the scalpel surface; dm is the vertical distance from the third linear motor to the horizontal axis of the first linear motor or the second linear motor.

[0016] Preferably, the scalpel rotates around the RCM point and the angle change trajectory of ϑ=arctan(hL1−L2)+π2−φ, ϑ ϑ=f(t) where the set trajectory formulas of the first linear motor, the second linear motor and the third linear motor are as follows, L3=(yR+Losin(f(t))+dmsin(φ+f(t)−π2)−(Ltool)cos(φ+f(t)−π2) / cos(φ+f(t)−π2) L2=xR−(Ltool+L3)sin(φ+f(t)−π2)−L0cos(f(t))−dmcos(φ+f(t)−π2)+h2tan(φ+f(t)−π2) L1=xR−(Ltool+L3)sin(φ+f(t)−π2)−L0cos(f(t))−dmcos(φ+f(t)−π2)+h2tan(φ+f(t)−π2) where h is the linear distance between the first linear motor and the second linear motor.

[0017] The scalpel calculates the motion trajectories of the first linear motor, the second linear motor, and the third linear motor according to the coordinate control strategy of the RCM point during movement and rotation. At the same time, the motion trajectories of the first linear motor, the second linear motor, and the third linear motor are also calculated according to the formula during movement, thus achieving the effect of controlling the movement of the scalpel.

[0018] Preferably, a control method for a machine operating arm with parallel series joints is provided in that the first linear motor, the second linear motor and the third linear motor define the position from the previous target position to the next target position by the linear interpolation method and adjust the step size between the two target positions.

[0019] Preferably, the position of each millisecond for the target position of each step is obtained by calculating the cutting path.

[0020] Preferably, the microscope system and the machine operator arm are initialized before performing step 1, wherein the X-axis and Y-axis coordinates of the machine operator arm and the microscope camera system are consistent during the initialization process. The coordinates of the machine operator arm and the microscope system are consistent, and the coordinates for executing the movement of the machine operator arm are consistent with the coordinates for calculation, thereby ensuring the accuracy of the movement of the machine operator arm.

[0021] Preferably, the width of the cut is not greater than the width of the scalpel surface. The machine operating arm controls the movement of the scalpel only along the cutting path, and no displacement occurs in other directions, thus ensuring that the width of the cut is not greater than the width of the scalpel surface to avoid expansion of the cut.

[0022] Compared with the prior art, the advantageous effect is that the method is based on a machine operating arm and a scalpel, thereby realizing the method of performing a fully automatic corneal incision with a scalpel and avoiding the injury of wound enlargement caused by inaccurate manual operation and other injuries of the corneal layer caused by the laser. Short description of the drawing Fig. 1 is a flow diagram of the method of the present invention; Fig. 2 is a schematic diagram of the structure of the machine operating arm; Fig. Figure 3 is a schematic diagram of the cutting path of the present invention.

[0023] Reference numerals: 1. Scalpel; 2. Clamping device; 3. The first linear motor; 4. The second linear motor; 5. The third linear motor; 6. Corneal layer; 7. The first distant center; 8. The second distant center. Detailed embodiments

[0024] The drawings are for illustrative purposes only and should not be construed as limiting the present invention. To better illustrate the present embodiment, certain parts of the drawings may be omitted, enlarged, or reduced, which does not represent the size of the actual product. Those skilled in the art will understand that certain well-known structures and their descriptions may be omitted from the drawings. The terms describing the positional relationship in the drawings are used for illustrative purposes only and should not be construed as limiting the present invention.

[0025] The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar parts. In describing the present invention, it should be understood that the azimuth or positional relationship indicated by the terms Top, Bottom, Left, Right, Long, Short is based on the azimuth or positional relationship shown in the drawings. Only to facilitate the description of the present invention and to simplify the description, rather than indicating or implying that the named device or component must have a particular orientation and be constructed and operated in a particular orientation, the terms describing the positional relationship in the drawings are used for exemplary illustration only and cannot be understood as limiting the present invention.For one of ordinary skill in the art, the specific meaning of the above terms in the present invention can be understood from case to case.

[0026] The technical solutions of the present invention are described in detail below by specific embodiments in conjunction with the drawings. Embodiment 1

[0027] A method for performing an automated seamless corneal main incision, comprising a machine operating arm and a scalpel 1 installed on the machine operating arm, wherein a machine operating arm with parallel series joints comprises a clamping device 2 for clamping the scalpel 1 and a drive arm for driving the clamping device 2 to oscillate, wherein the drive arm is provided with a first linear motor 3 and a second linear motor 4, wherein the clamping device 2 is provided with a third linear motor 5, comprising the following steps: Step 1: two images are taken using a microscope camera system with 6 mm vertical shift; Step 2: each image is preprocessed, converted into a grayscale image, and the first image is subjected to vertex detection to obtain a plurality of candidate vertices, and the coordinates of the vertices are obtained; Step 3: a plurality of vertices are centered and R j is the radius to detect black and white points relative to the vertices, and the black point is located in the white pixel area of ​​the vertex and the white point is located in the black pixel area of ​​the vertex, and the pixel gray level of the black point is < 0.5 and the pixel gray level of the white point is > 0.5, then the vertex is the scalpel point P' i , and the calculation formula for the position of the black dot and the white dot is as follows: Xblacki=∑j∈Rj(1−I(Xj⋅Yj))Xj∑j∈Ri(1−I(Xj⋅Yj)) Yblacki=∑j∈Rj(1−I(Xj⋅Yj))Yj∑j∈Ri(1−I(Xj⋅Yj)) Xwhitei=∑j∈Rj(1−I(Xj⋅Yj))Xj∑j∈Ri(1−I(Xj⋅Yj)) Ywhitei=∑j∈Rj(1−I(Xj⋅Yj))Yj∑j∈Ri(1−I(Xj⋅Yj)) Rj⇒[(Xj−Xi)2+(Yj−Yi)2≤range2] including X blacki and Y blacki the coordinate values ​​of the black point, X whitei and Y whitei are the coordinate values ​​of the white point, X j and Y j are the respective coordinates of all pixels in the area of ​​the corner point as the center and R j as radius, I is the gray value of the point, range is the maximum value of the selected radius and X i and Y i are the coordinate values ​​of the scalpel point P' i ; Step 4: the P' i of the first image is adjusted to the second image to achieve a pixel distance between the adjustment points P'' i , P' i and P'' i to obtain; Step 5: The formula for calculating the depth of the scalpel point is as follows: z′=(rΔr+1)a where r is the distance between the scalpel point P' and the magnification center of the microscope, and Δr is the pixel distance between P' i and P'' i , which is called parallax; Step 6: the position and relative depth of the scalpel are obtained according to the calculation, and the position of the iris is determined and the cutting position is positioned at the point on the edge of the iris closest to the center of the pupil; Step 7: the standard seamless corneal main incision is defined as a loose Z-shape, and the machine operating arm controls the movement of the scalpel along the set incision path and is defined as follows: S1: the scalpel 1 moves forward 5 mm and enters the corneal layer 6; S2: the scalpel 1 is raised by 45 degrees to perform an RCM movement at the first distant center point 7; S3: the scalpel 1 moves forward by 1.5-2 mm according to the angle in S2 until it reaches the second distant center 8; S4: After performing the RCM movement, scalpel 1 is lowered by 45 degrees; S5: the scalpel 1 moves forward 2 mm according to the angle in S4 until it passes the corneal layer 6.

[0028] Operation of this embodiment: The scalpel point is the position of the scalpel. The three-dimensional coordinates of the scalpel are obtained by calculating the position of the scalpel and the depth relative to the microscope system. At the same time, the scalpel is also moved to the home position based on the obtained position information such as the cornea and iris. The machine operating arm controls the movement of the scalpel along the set cutting path to automatically complete the cut.

[0029] The method is based on a machine operating arm and a scalpel, which realizes the method of performing a fully automatic corneal incision with a scalpel and avoids the injury of wound enlargement caused by inaccurate manual operation and other injuries of the corneal layer caused by the laser. Embodiment 2

[0030] In the present embodiment, a specific fitting method, a fitting result verification method, and a depth calculation optimization method based on Embodiment 1 are provided, specifically: The adjustment procedure consists in creating a P' i -centered base point block area in P' i to set up a point other than P' i as a neighboring point and the depth of each neighboring point relative to P' i to define, wherein the adjustment points corresponding to the second image are calculated by adjusting all the base points of the block area, wherein the adjustment point and the corresponding parallax are calculated by selecting the parallax that minimizes the value of the cost function, where the formula of the cost function is, C(P′ij,Δr)=min{d(P′ij,P′ij−Δr,IZ,Iz−a),d(P′ij−Δr,P′ij,IZ−a,Iz)} d(P′ij,P′ij−Δr,IZ,IZ−a)=minP′ij−Δr−0.5≤P′ij−Δr+0.5{|IZ(P′ij)−IZ−a(P′′ij)|} where P' ij the pixel position of the corresponding base point, P'' ij is the pixel position of the corresponding adjustment point, I z is the gray value of each pixel in the first image, I z-a is the gray value of each pixel in the second image, I z (P' ij ) is the gray value of P' ij and I z-a (P'' ij ) is the gray value of P'' ij , and Δr is the pixel distance between P' i and P'' i , which is called parallax.

[0031] Verification step: If the position of the corresponding adjustment point P'' ij in a multitude of second images relative to P'' i with the position of the neighboring point relative to P' i matches, the verification is successful (where P' ij the field point, P'' ijis the fitting point of the field point, P' i is the center and P' i is the adjustment point of the center); A point is called center P' i added, the total number of votes is 8 (8 field points), and 4 or more votes (including 4 votes) are considered successful adjustment; otherwise, a base point block area is established around each adjacent point, the calculation formula in step 4 is executed again, and the adjustment point and the corresponding parallax are recalculated. More than half of the adjustment points have the same relative position to the adjacent points, thus avoiding the situation that P' i a noise point to improve the correctness of the scalpel point.

[0032] The adjustment point and the corresponding parallax are recalculated and verified, that is, the voting is carried out, and the first person with more than 4 votes is considered the winner, the first successful adjacent verification point as the new point P' i is defined, and other adjacent points and unsuccessful verification points are discarded, and then the remaining adjustment point P'' ik In the second image, the reference point is used as the base point for matching with the first image to obtain the verification point. If the verification point is consistent with the position of the base point, the matching is successful; otherwise, the verification step is performed again. The correctness of the matching is rechecked by reversing the matching direction to improve the accuracy of the scalpel point.

[0033] Depth calculation optimization is specifically the interpolation optimization of the depth calculation formula. The specific method is that an interpolation optimization calculation is performed on the depth calculation formula of the scalpel point, and each P'' ik two interpolation points along the epipolar line L ik , namely the left interpolation point P'' ikl or the right interpolation point P'' ikr, where the cost function is used to adjust the block area to obtain the cost C(P' i , Δr ikr ), C(P' i , Δr ikl ) and C(P' i , Δr ik ), remove the interpolation point or origin of minimum cost and remove the remaining two points to obtain the final depth formula as follows, P′′ikl=(P′′ik+Li+P′′ik) / 2 P′′ikr=(P′′ik−Li+P′′ik) / 2 Zkj=(rΔrl⇒minil=ik,ikr,ikl{C(P′i,Δril)}+1)a where L ik the epipolar line and Z kj is the depth, the P'' ik P' ij corresponds to; P'' ik+Li is the value at which P'' ik the distance of Li pixels along the epipolar line moves forward, and P'' ik-Li is the value at which P'' ik the distance of Li pixels moves backward along the epipolar line.

[0034] Finally, the formula for calculating the depth is: Zpi′=Zpi′′=∑kjZkjno where n o the number of Z kj .

[0035] The advantageous effects of the present invention are that by setting up the adjustment and checking of the block area, the position of the scalpel can be found more accurately and the calculation of the depth becomes more accurate by interpolation optimization. Embodiment 3

[0036] In the present embodiment, a motion trajectory control algorithm formula and method for a machine operating arm with parallel row joints based on Embodiment 1 or Embodiment 2 are provided, specifically: The scalpel 1 performs an RCM movement, the position of the RCM point is fixed, and the control strategy formula of the RCM point is as follows, xR=L1+L22+(Ltool+L3)sin(φ+ϑ−π2)+Lo cos(ϑ)+dmcos(φ+ϑ−π2) yR=(Ltool+L3)cos(φ+ϑ−π2)−Locos(ϑ)−dmsin(φ+ϑ−π2) where x R the X-axis coordinate position of the RCM point; y R is the Y-axis coordinate position of the RCM point; L 1 is the linear displacement of the first linear motor; L 2 is the linear displacement of the second linear motor; L tool is the distance between the clamping device and the tip of the scalpel; L 3is the linear displacement of the third linear motor; φ is the angle between the surface of the scalpel and the connecting end of the clamping device; ϑ is the angle between the surface of the scalpel and the horizontal plane; L o is the length of the scalpel surface; dm is the vertical distance from the third linear motor to the horizontal axis of the first linear motor or the second linear motor.

[0037] When the scalpel 1 rotates around the RCM point and the angle change trajectory of ϑ=arctan(hL1−L2)+π2−φ,ϑ ϑ=f(t) is, the set trajectory formulas of the first linear motor, the second linear motor and the third linear motor are as follows, L3=(yR+Losin(f(t))+dmsin(φ+f(t)−p2)−(Ltool)cos(φ+f(t)−π2) / cos(φ+f(t)−π2) L2=xR−(Ltool+L3)sin(φ+f(t)−π2)−Locos(f(t))−dmcos(φ+f(t)−π2)+h2tan(φ+f(t)−π2) L1=xR−(Ltool+L3)sin(φ+f(t)−π2)−Locos(f(t))−dmcos(φ+f(t)−π2)+h2tan(φ+f(t)−π2) where h is the linear distance between the first linear motor and the second linear motor.

[0038] Scalpel 1 calculates the motion trajectories of the first linear motor, the second linear motor, and the third linear motor according to the coordinate control strategy of the RCM point during movement and rotation. At the same time, during movement, the motion trajectories of the first linear motor 3, the second linear motor 4, and the third linear motor 5 are also calculated according to the formula to achieve the effect of controlling the motion of scalpel 1.

[0039] In addition, the first linear motor 3, the second linear motor 4 and the third linear motor 5 define the position from the previous target position to the next target position by the linear interpolation method and set the step size between the two target positions.

[0040] In particular, the position of each millisecond for target position of each step is obtained by calculating the cutting path.

[0041] Additionally, the microscope system and the machine operator arm will be initialized before executing step 1. The X-axis and Y-axis coordinates of the machine operator arm and the microscope camera system are consistent during the initialization process. The coordinates of the machine operator arm and the microscope system are consistent, and the coordinates for executing the movement of the machine operator arm are consistent with the coordinates for calculating the movement, ensuring the accuracy of the movement of the machine operator arm.

[0042] In addition, the width of the cut is not greater than the width of the surface of the scalpel 1. The machine operating arm controls the movement of the scalpel 1 only along the cutting path and no displacement in other directions occurs, thus ensuring that the width of the cut is not greater than the width of the surface of the scalpel to avoid expansion of the cut.

[0043] The advantageous effects of the present embodiment are that the step size of each step of the machine operating arm is adjusted until the cutting path is obtained, and the corresponding movement trajectory of the machine operating arm along the cutting path and the corresponding movement trajectory of the linear motor are calculated, so that the machine operating arm drives the scalpel to move along the set cutting path.

[0044] Obviously, the above embodiment of the present invention is only used to clearly illustrate the examples of the present invention, rather than limiting the embodiments of the present invention. Those of ordinary skill in the art can make various other changes or modifications based on the above description. Not all embodiments can be detailed here. All changes, equivalent substitutions, and improvements made within the spirit and principles of the present invention fall within the scope of the claims of the present invention.

Claims

[1] Device for performing an automated seamless corneal main incision, comprising a machine operating arm and a scalpel (1) installed on the machine operating arm, wherein the machine operating arm comprises a clamping device (2) for clamping the scalpel (1) and a drive arm for driving the clamping device (2) to oscillate, wherein the drive arm is provided with a first linear motor (3) and a second linear motor (4), wherein the clamping device (2) is provided with a third linear motor (5), characterized by , that the device is designed to perform the automated seamless corneal main incision according to a method comprising the following steps: Step 1: two eye images are taken using a microscope camera system with a vertical shift in the millimeter range (a); Step 2: each image is preprocessed, converted into a grayscale image, and the first image is subjected to vertex detection to obtain a plurality of candidate vertices and obtain the coordinates of the vertices; Step 3: a plurality of vertices are centered and R j is the radius to determine black and white points relative to the vertices, and the black point is located in the white pixel area of the vertex and the white point is located in the black pixel area of the vertex, and the pixel gray level of the black point is < 0.5 and the pixel gray level of the white point is > 0.5, then the vertex is the scalpel point P' i , and the calculation formula for the position of the black dot and the white dot is as follows: Xblacki=∑j∈Rj(1−I(Xj.Yj))Xj∑j∈Ri(1−I(Xj.Yj)) Yblacki=∑j∈Rj(1−I(Xj.Yj))Yj∑j∈Rj(1−I(Xj.Yj)) Xwhitei=∑j∈Rj(1−I(Xj.Yj))Xj∑j∈Ri(1−I(Xj.Yj)) Ywhitei=∑j∈Rj(1−I(Xj.Yj))Yj∑j∈Ri(1−I(Xj.Yj)) Rj⇒[(Xj−Xi)2+(Yj−Yi)2≤range2] including X blacki and Y blacki the coordinate values of the black point, X whitei and Y whitei are the coordinate values of the white point, X j and Y j are the respective coordinates of all pixels in the area of the corner point as center and R j as radius, I is the gray value of the point, range is the maximum value of the selected radius and X i and Y i are the coordinate values of the scalpel point P' i ; Step 4: the P' i of the first image is adjusted to the second image to maintain a pixel distance between the adjustment points P'' i , P' i and P'' i to obtain; Step 5: The formula for calculating the depth of the scalpel point is as follows: z′=(rΔr+1)a where r is the distance between the scalpel point P' i and the magnification center of the microscope, and Δr is the pixel distance between P' i and P'' i , which is called parallax; Step 6: the position and relative depth of the scalpel (1) are obtained according to the calculation, and the position of the iris is determined and the cutting position is positioned at the point on the edge of the iris closest to the pupil center; Step 7: the machine operating arm controls the movement of the scalpel (1) along the set cutting path. [2] Device for performing an automated seamless corneal main incision according to claim 1, characterized by that in step 4 of the automated seamless corneal main incision method, the adjustment procedure consists in applying a P' i -centered base point block area in P' i to set up a point other than P' ias a neighboring point and the depth of each neighboring point relative to P' i to define, wherein the adjustment points corresponding to the second image are calculated by adjusting all the base points of the block area, wherein the adjustment point and the corresponding parallax are calculated by selecting the parallax that minimizes the value of the cost function, where the formula of the cost function is, C(P′ij,Δr)=min{d(P′ij,P′ij−Δr,IZ,Iz−a),d(P′ij−Δr,P′ij,IZ−a,IZ)} d(P′ij,P′ij−Δr,IZ,IZ−a)=minP′ij−Δr−0.5≤P′ij−Δr+0.5{|IZ(P′ij)−IZ-a(P′′ij)|} where P' ij the pixel position of the corresponding base point, P'' ij is the pixel position of the corresponding adjustment point, I z is the gray value of each pixel in the first image, I z-a is the gray value of each pixel in the second image, I z (P' ij ) is the gray value of P' ij and I z-a (P''ij ) is the gray value of P'' ij . [3] Device for performing an automated seamless corneal main incision according to claim 2, characterized by that a verification step is provided between step 4 and step 5 of the method for automated seamless corneal main incision, and if the position of the corresponding adjustment point P'' ij in a multitude of second images relative to P'' i with the position of the neighboring point relative to P' i matches, the verification is successful; otherwise, a base point block area is established around each adjacent point, and the adjustment point and the corresponding parallax are recalculated according to the calculation formula in step 4. [4] Device for performing an automated seamless corneal main incision according to claim 3, characterized bythat in the method for automated seamless corneal main incision at least half of the adjustment points relative to P'' i with the position of the neighboring points relative to P' i matches. [5] Device for performing an automated seamless corneal main incision according to claim 3, characterized by that the first successful adjacent verification point in the automated seamless corneal main incision procedure is the new point P' i is defined, and other adjacent points and unsuccessful verification points are discarded, and then the remaining adjustment point P'' ik in the second image is used as the base point for matching with the first image to obtain the verification point, and if the verification point is consistent with the position of the base point, the matching is successful, otherwise the verification step is performed again. [6] Device for performing an automated seamless corneal main incision according to claim 5, characterized by that an interpolation optimization calculation is performed on the depth calculation formula of the scalpel point in step 5 of the automated seamless corneal main incision method and each P'' ik two interpolation points along the epipolar line L ik , namely the left interpolation point P'' ikl or the right interpolation point P'' ik , where the cost function is used to adjust the block area to determine the cost C(P' i , Δr ikr ), C(P' i , Δr ikl ) and C(P' i , Δr ik ), remove the interpolation point or origin of minimum cost and remove the remaining two points to obtain the final depth formula as follows, Zkj=(rΔrl⇒minil=ik,ikr,ikl{C(P′i,Δril)}+1)a where Lik the epipolar line and Z kj is the depth, the P'' ik and P' i ; corresponds; the formula for calculating the final depth: Zpi'=Zpi''=∑kjZkjno where n o the number of Z kj . [7] Device for performing an automated seamless corneal main incision according to claim 6, characterized by that the calculation formulas of the interpolation point in the automated seamless corneal main incision procedure are as follows: P''ikl=(P''ik+Li+P''ik) / 2 P''ikr=(P''ik−Li+P''ik) / 2 where P'' ik+Li the value at which P'' ik the distance of Li pixels along the epipolar line moves forward, and P'' ik-Li is the value at which P'' ik the distance of Li pixels moves backward along the epipolar line. [8] Device for performing an automated seamless corneal main incision according to one of claims 1 to 7, characterized by that the cutting path in the automated seamless corneal main incision procedure is defined as follows, S1: the scalpel (1) enters the corneal layer (6); S2: the scalpel (1) is raised by 40-50 degrees to perform an RCM movement at the first distant center point (7); S3: the scalpel (1) moves forward according to the angle in S2 until it reaches the second distant center point (8); S4: after performing the RCM movement, the scalpel (1) is lowered by 40-50 degrees; S5: the scalpel (1) moves forward according to the angle in S4 until it passes the corneal layer. [9] Device for performing an automated seamless corneal main incision according to claim 8, characterized bythat the scalpel (1) performs an RCM movement in step 7 of the method for automated seamless corneal main incision, the position of the RCM point is fixed, and the control strategy formula of the RCM point is as follows, xR=L1+L22+(Ltool+L3)sin(φ+ϑ−π2)+Locos(ϑ)+dmcos(φ+ϑ −π2) yR=(Ltool+L3)cos(φ+ϑ−π2)−Locos(ϑ)−dmsin(φ+ϑ−π2) where x R the x-axis coordinate position of the RCM point; y R is the Y-axis coordinate position of the RCM point; L1 is the linear displacement of the first linear motor (3) L2 is the linear displacement of the second linear motor (4) L tool is the distance between the clamping device (2) and the tip of the scalpel (1) L3 is the linear displacement of the third linear motor; φ is the angle between the surface of the scalpel (1) and the connecting end of the clamping device (2); ϑ is the angle between the surface of the scalpel (1) and the horizontal plane; L o is the length of the surface of the scalpel (1) dm is the vertical distance from the third linear motor (5) to the horizontal axis of the first linear motor (3) or the second linear motor (4) [10] Device for performing an automated seamless corneal main incision according to claim 9, characterized by that the scalpel (1) in the process for automated seamless corneal main incision rotates around the RCM point and the angle change trajectory of ϑ=arctan(hL1−L2)+π2−φ, wherein the set trajectory formulas of the first linear motor (3), the second linear motor (4) and the third linear motor (5) are as follows, L3=(yR+Losin(f(t))+dmsin(φ+f(t)−π2) −(Ltool)cos(φ+f(t)−π2) / cos(φ+f(t)−π2) L2=xR−(Ltool+L3)sin(φ+f(t)−π2)−Lo cos(f(t)) −dm cos(φ+f(t)−π2)+h2tan(φ+f(t)−π2) L1=xR−(Ltool+L3)sin(φ+f(t)−π2)−Lo cos(f(t)) −dm cos(φ+f(t)−π2)+h2tan(φ+f(t)−π2) where h is the linear distance between the first linear motor (3) and the second linear motor (4).

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