Master manipulator of master-slave intraocular surgical robot

Abstract

The invention relates to the technical field of surgical instruments, in particular to a master manipulator of a master-slave intraocular surgical robot. The master manipulator comprises a first joint mechanism, a second joint mechanism and a tail end operating part; the first joint mechanism comprises a box body and a supporting plate; the box body is rotationally connected with the supporting plate, and the box body is configured to rotate around a first axis relative to the supporting plate; the second joint mechanism is installed on the box body, the second joint mechanism comprises a linear feeding assembly, and the linear feeding assembly is configured to rotate around a second axis relative to the box body; the tail end operation part is configured to do linear motion in the first direction limited by the linear feeding assembly, the tail end operation part is further configured to rotate around a third axis, the third axis is parallel to the axial direction of the tail end operation part, and the first axis, the second axis and the third axis are perpendicular to one another. The main manipulator comprises the first joint mechanism, the second joint mechanism and the tail end operation part, the structure is relatively compact, and the overall occupied space can be reduced.

Description

technical field [0001] The present disclosure relates to the technical field of surgical instruments, in particular to a master manipulator of a master-slave intraocular surgery robot. Background technique [0002] Intraocular microsurgery includes retinal injection, submembrane injection, macular membrane peeling, capsulorhexis, etc. These procedures require instruments to be inserted through the sclera into the eye. Intraocular microsurgery is much more difficult than traditional open surgery, because the surgical instruments are usually slender, there is no intuitive force feedback, and the operating space is extremely limited. Moreover, the doctor's physiological trembling will lead to a decrease in operating accuracy, thereby increasing the risk of accidents. [0003] Robot-assisted minimally invasive surgery can make up for these shortcomings. The master-slave surgical robot can filter out the doctor's hand tremors, provide doctors with an intuitive working environme...

AI Technical Summary

Problems solved by technology

This greatly limits the doctor's ability to operate, or because the doctor is subject to physiological limitations, it is difficult to operate, so it is necessary to introduce a master manipulator. The master manipulator is an important component of the master-slave ophthalmic surgery robot system. In robot-assisted ophthalmic surgery, The doctor operates the robot through the main manipulator to complete the operation

At present, most of the existing main manipulators are general-purpose products, and the working space, movement mode, etc. are different from the requirements of surgery, and their volume is relatively large.

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