The invention relates to a
robot remote fixed point control method for
human eye subretinal injection, which comprises the following steps of: 1, selecting a needle inserting position, and setting a motion path of a mechanical arm; 2, obtaining an injection through an
injector; 3, controlling the mechanical arm to move along a set movement path, and making the
tail end of the needle tip move to a turning point along the movement path; 4, using the mechanical arm to drive the
tail end of the needle tip to execute RCM movement at the turning point; 5, using the mechanical arm to drive the
tail end of the needle tip to continue to move to the target position of the
retina layer according to the movement path set in the step 2; and 6, injecting a certain amount of injection to the target position. According to the method, in a high-precision environment with resistance, the degree of freedom of motion of the mechanical arm can be guaranteed, a
control mode of precisely completing closed-loop motion can be provided, the precision limitation caused when the mechanical arm is manually operated to complete a
retina injection operation is overcome, the precision is improved, the difficulty of manual operation is reduced, and unnecessary injuries are avoided.