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A retinal surgical robot fused with microscope and oct

A technology of surgical robots and microscopes, applied in surgical robots, surgery, surgical navigation systems, etc., can solve the problems of incompatibility between accuracy and real-time performance, poor imaging accuracy and safety of retinal surgery robots, and improve the effect and probability of success , save physical exertion, reduce the effect of surgical risk

Active Publication Date: 2022-03-01
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention aims to solve the problem that the existing OCT system used in surgery is not compatible with the accuracy and real-time performance due to the limitations of data processing speed and scanning mode, which leads to the problem of poor imaging accuracy and safety of retinal surgery robots.

Method used

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  • A retinal surgical robot fused with microscope and oct
  • A retinal surgical robot fused with microscope and oct
  • A retinal surgical robot fused with microscope and oct

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Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0029] DETAILED DESCRIPTION One: Combination Figure 1 to 4 Incidentally, a microscope and an OCT fusion retinal surgical robot imaging method, which includes the following steps:

[0030] Step 1: Establish a three-dimensional model;

[0031] The OCT device was used for C scan using an OCT device, and the three-dimensional information results obtained from the C scan were established on the OCT device, and the tissue structure and position information around the injection zone were determined.

[0032] Step 2: The position of the needle tip 3-1;

[0033] The visual information obtained by the surgical microscope during operation is used, and the real-time depth information of the tip integrated endoscopic OCT fiber probe 3-3 feedback is used to locate and track the tip position;

[0034] Step 3: Regulate the retina three-dimensional model and the intraoperative positioning needle tip position in step one;

[0035] Step 3: Specify the observation coordinate system used in the preope...

specific Embodiment approach 2

[0042] DETAILED DESCRIPTION 2: Combination Figure 1 to 4 When the present embodiment is established in the step one of the steps of the present embodiment, the doctor uses the model to initially diagnose the lesion region, and plan the motion trajectory of the surgical instrument in the eye, establish the puncture position of the injection of the injection of the injection of the injection of the retina . This is set, which is easy to accurately determine the injection position. Other components and connection relationships are identical to those of the specific embodiments.

specific Embodiment approach 3

[0043] Specific Embodiment 3: Combination Figure 1 to 4 In the operation of step two of the present embodiment, the doctor observes the horizontal position of the syringe needle tip 3-1 relative target area by microscope, and reaches the piercing point by the mechanical arm master control the needle, and integrates The OCT probe behind the needle tip passes the depth information of the needle tip through the A scan function, providing the exact relative distance between the doctor needle tip and the retina surface. This is set, avoiding the touch of the tip and the fragile tissue in the eye, ensuring the safety of the operation. Other components and connection relationships are the same as those of the specific embodiments.

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Abstract

The invention relates to a retinal surgery robot imaging method combining microscope and OCT, and relates to a retinal surgery robot imaging method. The invention solves the problem of poor imaging accuracy and safety of the retinal surgery robot in the prior art. Step 1 of the present invention: use OCT equipment to perform C-scan on the surgical target area before the operation, and establish a three-dimensional retinal model of the treated tissue on the OCT equipment according to the results obtained by the C-scan; Step 2: locate the position of the needle tip 3-1; The visual information obtained by using the surgical microscope, combined with the real-time depth information fed back by the needle tip integrated endoscopic OCT fiber optic probe 3‑3, is used to locate and track the needle tip position in real time; Step 3: The three-dimensional retinal model and surgical The position of the positioning needle tip in the center is registered; step 4: observe the penetration depth of the needle tip, and after injection, pull out the syringe to complete the injection operation. The present invention is used for retinal hand imaging.

Description

Technical field [0001] The present invention relates to a retinal surgical robot, and more particularly to a microscope and an OCT fusion retinal surgical robot. Background technique [0002] The eye structure is exquisite, the organization is fragile, most of the ophthalmology needs to be implemented under the microscope, so the ophthalmological microsurgery has a large risk, high difficult, easy to fatigue, and lack of fine tactile feelings. Especially the fundus retinal surgery, not only the high difficulty leads to the length of the ophthalmologist learning curve, but even certain surgical operations exceeds the physiological limits of the human hand (the average tremor amplitude of human hand is 156μm), resulting in effective operating formula. The robot has the advantages of high exercise accuracy, good stability, strong sense of perception, and failure, so in modern ophthalmology, robotic auxiliary operation has been widely used in retinal surgery, eye angle transplantatio...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/20A61B34/37A61B34/10
CPCA61B34/20A61B34/37A61B34/10A61B2034/2065A61B2034/2055A61B2034/105
Inventor 张赫陈昱赵杰
Owner HARBIN INST OF TECH
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