CN114848145A - Ophthalmic surgery robot end effector with sensitization touch detection function - Google Patents
Ophthalmic surgery robot end effector with sensitization touch detection function Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/77—Manipulators with motion or force scaling
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- A61B90/06—Measuring instruments not otherwise provided for
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- A—HUMAN NECESSITIES
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- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F9/00—Methods or devices for treatment of the eyes; Devices for putting-in contact lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
- A61F9/007—Methods or devices for eye surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
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- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
- A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
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Abstract
The invention discloses an ophthalmologic operation robot end effector with sensitization touch detection, wherein one end of an intraocular forceps core penetrates through an intraocular forceps cylinder and is connected with a haptic force sensitization structure, the haptic force sensitization structure is arranged on a tray, and an FBG fiber bragg grating sensor group is arranged on the intraocular forceps core close to the intraocular forceps cylinder and is used for realizing the detection of the transverse force of the forceps cylinder; the intra-ocular forceps cylinder is connected with a pin shaft through a forceps cylinder bearing fixing ring, one end of the pin shaft is connected with the front bracket, and the other end of the pin shaft penetrates through the forceps cylinder bearing fixing ring and the linear bearing to be connected with a spinning gear on the tray; the intraocular forceps cylinder is connected with the linear driving module arranged on the tray through the arc-shaped connecting piece and is used for realizing the detection of the axial force of the forceps core. The invention has good decoupling performance and good real-time performance, conforms to the operation mechanism of the intraocular surgery, makes up the missing tactile micro-force perception when the surgical robot is used for surgery, realizes the perception of the intraocular tactile micro-force, and lays a foundation for the further development and utilization of the subsequent ophthalmic surgical robot.
Description
Technical Field
The invention belongs to the technical field of ophthalmic medical instruments, and particularly relates to an ophthalmic surgical robot end effector with sensitization touch detection.
Background
Currently, in globally known human eye diseases, macular hole is a more common ocular fundus disease in clinical ophthalmology, and if the eye fundus disease is not treated in time, patients can finally suffer irreversible injury due to eyeball atrophy. At present, the main method for treating the macular hole is to perform an operation, and the stretching stress around the macular hole is relieved to close the macular hole by performing a vitrectomy, removing the posterior cortex, the anterior retinal membrane or the inner limiting membrane of the vitreous body around the macular hole and the like. In the operation process, natural shaking of hands and slight shaking caused by physiological structures of hands of doctors after long-time operation work inevitably occur, and visual errors and other conditions of human eyes generated under the influence of external factors such as light, narrow space and the like cause the generation of uncontrollable wounds, so that the operation difficulty is greatly improved.
In an inner limiting membrane tearing operation for treating macular holes, the three-dimensional micro-force detection of the forceps at the tail end of the robot becomes a difficult problem and a key point of the current research. In addition, the tactile force generated in the operation process is very small, and how to amplify the micro force to enable the sensor to detect is also a key problem to be solved urgently.
With the great development of robot technology in recent years, medical surgical robots are favored by most doctors and patients due to their advantages of precision and stability. If the surgical robot end effector can perform tactile force feedback like a human hand, the uncontrollable damage of the operation can be greatly reduced, and the precision and the stability of the operation can be improved.
Disclosure of Invention
The technical problem to be solved by the invention is to provide an ophthalmic surgical robot end effector with sensitization touch detection, which can perform micro touch force detection and feedback, has a touch force sensitization structure and has high compatibility at an interface aiming at the defects in the prior art.
The invention adopts the following technical scheme:
an ophthalmic surgery robot end effector with sensitization touch detection comprises an intraocular forceps core, one end of the intraocular forceps core penetrates through an intraocular forceps cylinder to be connected with a haptic force sensitization structure for realizing the detection of axial force of the forceps core, the haptic force sensitization structure is arranged on a tray, and an FBG fiber bragg grating sensor group is arranged on the intraocular forceps cylinder for realizing the detection of transverse force of the forceps cylinder; the intra-ocular forceps cylinder is connected with a pin shaft through a forceps cylinder bearing fixing ring, one end of the pin shaft is connected with the front bracket, and the other end of the pin shaft penetrates through the forceps cylinder bearing fixing ring and the linear bearing to be connected with a spinning gear on the tray; the intraocular forceps cylinder is connected with the linear driving module arranged on the tray through the arc-shaped connecting piece, and the intraocular forceps cylinder is driven to move linearly through the linear driving module, so that the intraocular forceps core can be automatically opened and closed.
Specifically, sense of touch force sensitization structure includes chain hollow out construction, and chain hollow out construction's top is provided with the screw hole, and the upside of screw hole is provided with the miniature hole that the intraocular tweezers core of installation was used, and chain hollow out construction's middle part is provided with the crossbeam of fretwork, and lower part one side corresponds the nick that is provided with the fretwork, and chain hollow out construction's bottom is passed through the location boss and is connected with the tray, is provided with fifth FBG fiber grating sensor on the chain hollow out construction.
Further, the fifth FBG fiber bragg grating sensor comprises a strain sensing grid region and a temperature compensation grid region, wherein the strain sensing grid region is arranged on the cross beam, and the temperature compensation grid region is arranged on the nick.
Further, the strain sensing gate and the temperature compensation gate have different center wavelengths.
Furthermore, the chain type hollow structure is a diamond truss structure.
Specifically, the FBG fiber bragg grating sensor group comprises four FBG fiber bragg grating sensors, and the four FBG fiber bragg grating sensors are circumferentially arranged at intervals of 90 degrees in the intraocular forceps barrel.
Specifically, the linear driving module comprises a micro screw, the micro screw is connected with the arc-shaped connecting piece, a micro lead screw and a micro slide rail penetrate through the micro screw, and one end of the micro lead screw is connected with the micro stepping motor through a gear.
Furthermore, one end of the arc-shaped connecting piece is connected with the micro screw nut through a screw, and the other end of the arc-shaped connecting piece is connected with the intraocular forceps cylinder in an interference fit mode.
Specifically, the stroke of the linear driving module is 2-3 mm.
Specifically, the two ends of the pin shaft are respectively connected with the front bracket and the rotary gear in an interference fit mode.
Compared with the prior art, the invention has at least the following beneficial effects:
according to the ophthalmic surgery robot end effector with the sensitization touch detection function, the touch force sensitization structure is connected with the intraocular forceps core, the miniature touch force sensitization structure can amplify strain when the intraocular forceps core carries out axial force detection, so that tiny axial force can be measured, and after the miniature sensitization structure is additionally arranged, the tiny axial force is amplified in multiple, so that the axial force of the intraocular forceps core can be measured by the miniature sensitization structure; arranging a fiber grating sensor group at a position close to the root of the forceps cylinder in the eye for measuring the transverse force generated in the operation process; the linear driving module drives the intraocular forceps cylinder to move linearly through the arc-shaped connecting piece, so that the forceps flap at the front end of the intraocular forceps core can be automatically opened and closed; the intraocular forceps cylinder is connected with the linear bearing through the forceps cylinder bearing fixing ring, and the linear bearing is matched with the pin shaft of which the two ends are respectively fixed on the front bracket and the spinning gear, so that the linear bearing can move on the pin shaft, and the stability of the linear motion of the intraocular forceps cylinder is improved; the end effector is integrally fixed on the spinning gear, and the robot main body can realize the spinning motion of the integral end only by arranging the matching gear with the same module as the spinning gear.
Furthermore, the hollow beam in the center of the micro tactile force sensitization structure is designed for facilitating the fixation of the fiber bragg grating sensor and improving the stability of the structure, and meanwhile, the micro tactile force sensitization structure has better repeatability under frequent strain changes. In order to reduce the influence of the rigidity of the cross beam on the strain as much as possible, the cross beam structure is hollowed out, so that the temperature compensation grid region and the strain measurement grid region have the same bonding and fixing conditions, and the temperature compensation grid region and the strain measurement grid region are ensured to be identical in other measurement environments except for the strain conditions.
Furthermore, a strain sensing grid region and a temperature compensation grid region are arranged on the fifth FBG fiber bragg grating sensor, so that the cost is saved, the number of channels required by demodulation is reduced, and strain measurement and temperature compensation are realized.
Furthermore, the fiber grating sensor of the axial force detection part is provided with two Bragg grating areas with different central wavelengths, one of the Bragg grating areas is used as a strain measurement grating area and is bonded to the beam of the miniature tactile force sensitization structure through glue, so that the strain of the beam of the miniature tactile force sensitization structure can be detected by the one Bragg grating area, and the other Bragg grating area is used as a temperature compensation grating area and is bonded to the bottom fixing end of the miniature tactile force sensitization structure after the optical fiber is bent, so that the temperature of the environment can be sensed and temperature compensation can be carried out.
Furthermore, the chain type hollowed structure is a diamond truss structure, and pressure acts in the direction of the short symmetry axis of the diamond, so that the chain type hollowed cross beam structure at the center is deformed, and the pressure can be amplified; the miniature tactile force sensitization structure is only used for axial force sensitization, and can amplify the extremely small axial tactile force in the operation process to a range which can be measured by the fiber bragg grating sensor.
Furthermore, the forceps cylinder transverse force detection part is formed by pasting fiber grating sensors at intervals of 90 degrees along the radial direction of the forceps cylinder, each fiber grating sensor is engraved with a section of grating, a grating area is as close to the root of the forceps cylinder as possible on the premise of not influencing pasting so as to obtain larger strain, the four fiber grating sensors can decouple temperature and force, eliminate the influence of temperature on strain, and simultaneously decouple the temperature to obtain the temperature in the eye of a patient.
Furthermore, the linear driving module integrates a micro stepping motor and a micro lead screw guide rail slide block, so that the occupied space is greatly reduced, and precise driving and control can be realized, thereby ensuring high-precision operation.
Furthermore, one end of the arc-shaped connecting piece is screwed and fixed with the micro screw nut through a screw, and the other end of the arc-shaped connecting piece is in interference fit with the tail of the intraocular forceps cylinder, so that the other end of the arc-shaped connecting piece is tightly sleeved with the tail of the intraocular forceps cylinder through interference fit, and the integral linear driving module is ensured to drive the intraocular forceps cylinder to perform linear motion.
Furthermore, the stroke of the linear driving module is set to be 2-3 mm, and the stroke is used for pushing the intraocular forceps cylinder to enable the intraocular forceps core to be completely opened to be completely closed, wherein the intraocular forceps core has certain clamping force but does not damage the forceps valve, so that the stroke is avoided being wasted, and the action has better real-time performance.
Furthermore, the two ends of the pin shaft are respectively connected with the front bracket and the holes on the rotary gear in an interference fit manner, so that the stability of the linear motion of the intraocular forceps cylinder is improved.
In conclusion, the invention has good decoupling performance and good real-time performance, conforms to the operation mechanism of the intraocular surgery, makes up the missing tactile micro-force perception when the surgical robot is used for surgery, realizes the perception of the intraocular tactile micro-force, and lays a foundation for the further development and utilization of the subsequent ophthalmic surgical robot.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
FIG. 1 is a block diagram of an end effector of the present invention;
FIG. 2 is a schematic diagram of the structure of the haptic force sensitization of the present invention;
FIG. 3 is a distribution diagram of an FBG fiber bragg grating sensor on a tweezer cylinder
FIG. 4 is a schematic diagram of the arrangement of FBG fiber bragg grating sensors on the micro-sensitization structure
FIG. 5 is a schematic diagram of the force analysis of the micro sensitization structure
Fig. 6 is a schematic flow chart of the intraoperative tactile micro-force perception detection method.
Wherein: 1. an intraocular forceps core; 2, FBG fiber bragg grating sensor group; 3. intraocular forceps barrels; 4. an arc-shaped connecting piece; 5. a micro stepper motor; 6. a fifth FBG fiber bragg grating sensor; 7. a tray; 8. a micro lead screw; 9. a micro slide rail; 10. a micro screw; 11. a front bracket; 12. a pin shaft; 13. a forceps cylinder bearing fixing ring; 14. a linear bearing; 15. a spinning gear; 16. a chain type hollow structure; 17. screw holes; 18. a micro-hole; 19. scoring; 20. positioning the boss; 21. a first FBG fiber bragg grating sensor; 22. a second FBG fiber bragg grating sensor; 23. a third FBG fiber bragg grating sensor; 24. a fourth FBG fiber bragg grating sensor; 25. a strain sensing gate region; 26. a temperature compensated gate region.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "one side", "one end", "one side", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Various structural schematics according to the disclosed embodiments of the invention are shown in the drawings. The figures are not drawn to scale, wherein certain details are exaggerated and possibly omitted for clarity of presentation. The shapes of various regions, layers and their relative sizes and positional relationships shown in the drawings are merely exemplary, and deviations may occur in practice due to manufacturing tolerances or technical limitations, and a person skilled in the art may additionally design regions/layers having different shapes, sizes, relative positions, according to actual needs.
Referring to fig. 1, the invention provides an end effector of an ophthalmic surgical robot with sensitivity-enhanced tactile detection, which comprises an intraocular forceps core 1, an intraocular forceps cylinder 3, an arc-shaped connecting piece 4, an integrated linear driving module, a tray 7, a front bracket 11, a pin shaft 12, a forceps cylinder bearing fixing ring 13, a linear bearing 14, a spinning gear 15 and a tactile force sensitivity-enhanced structure ii.
One end of the forceps core 1 in the eye penetrates through the forceps cylinder 3 in the eye and is connected with the haptic force sensitization structure II, the FBG fiber bragg grating sensor group 2 is arranged on the forceps cylinder 3 in the eye, a forceps cylinder bearing fixing ring 13 and an arc-shaped connecting piece 4 are sequentially sleeved on the forceps cylinder 3 in the eye, the upper end of the forceps cylinder bearing fixing ring 13 is sleeved on a pin shaft 12, one end of the pin shaft 12 is connected with a front bracket 11, and the other end penetrates through the forceps cylinder bearing fixing ring 13 and a linear bearing 14 and is connected with a spinning gear 15; the lower end of the arc-shaped connecting piece 4 is connected with an integrated linear driving module which is fixed on the bottom surface of the tray 7 through screws; the bottom recess of fore-stock 11 and the front end cooperation back of tray 7 adopt to glue or cold welding to fix, and tray 7 is fixed through the screw with spin gear 15, and location boss 20 through the bottom semicircle formula of sense of touch force sensitization structure II and the semicircle formula recess that the tray 7 side corresponds carry out the position cooperation, bond through gluing or cold welding, fix sense of touch force sensitization structure II on tray 7.
The linear bearing 14 is matched with the pin shaft 12 to improve the stability of the linear motion of the intraocular forceps barrel 3, and two ends of the pin shaft 12 are respectively connected with the front bracket 11 and the hole on the rotary gear 15 in an interference fit manner.
Wherein, the linear bearing 14 is an LM3UU micro linear bearing, and two holes of the forceps cylinder bearing fixing ring 13 are processed to be capable of being in close nested connection with the linear bearing 14 and the rear end of the intra-eye forceps cylinder 3.
Integral type linear drive module includes miniature step motor 5, miniature lead screw 8, miniature slide rail 9 and miniature screw 10, miniature screw 10 is connected with arcuation connecting piece 4, miniature lead screw 8 runs through miniature screw 10 parallel arrangement with miniature slide rail 9, miniature lead screw 8's one end is passed through the gear and is connected with miniature step motor 5, it is spacing to move through miniature slide rail 9 miniature screw 10 that sets up on the arcuation connecting piece 4, through adopting the design of integrating, reduce used space.
Specifically, one end of the arc-shaped connecting piece 4 is screwed and fixed with the micro screw nut 10 through a screw, and the other end of the arc-shaped connecting piece is in interference fit with the tail of the intraocular forceps cylinder 3, so that the other end of the arc-shaped connecting piece 4 is tightly sleeved with the tail of the intraocular forceps cylinder 3 through interference fit, and the integral linear driving module is ensured to drive the intraocular forceps cylinder 3 to perform linear motion.
One end of the intraocular forceps core 1 penetrates through the intraocular forceps barrel 3, the root of the intraocular forceps core 1 penetrates through a small hole in the top of the tactile force sensitization structure II, and two screws are screwed into the intraocular forceps core 1 from two ends of the tactile force sensitization structure II to fix the intraocular forceps rod 1 and the tactile force sensitization structure II.
The forceps flaps of the intraocular forceps core 1 can have different structures and shapes, the intraocular forceps core 1 and the haptic sensitization structure II are fixed by two fixing screws, and the intraocular forceps core 1 can be detached and replaced in a way of unscrewing the fixing screws, so that the end effector can adapt to different operation requirements.
When the forceps core 1 and the intraocular forceps barrel 3 are installed, the high coaxiality of the intraocular forceps core 1 and the intraocular forceps barrel 3 needs to be ensured, the size of the intraocular forceps is shown by reference standard 23G, the size of the intraocular forceps refers to the size of the intraocular forceps, a small gap exists between the outer diameter of the intraocular forceps core 1 and the inner wall of the intraocular forceps barrel 3, the intraocular forceps core and the intraocular forceps barrel 3 do not contact and move relatively, the front end of the intraocular forceps core 1 is in a flat forceps shape, the intraocular forceps core 1 can be replaced according to functions required by actual operations, and the fixing mode is consistent with the mode, so that the end effector has better compatibility.
Referring to fig. 3, the FBG fiber grating sensor group 2 includes a first FBG fiber grating sensor 21, a second FBG fiber grating sensor 22, a third FBG fiber grating sensor 23 and a fourth FBG fiber grating sensor 24, and the first FBG fiber grating sensor 21, the second FBG fiber grating sensor 22, the third FBG fiber grating sensor 23 and the fourth FBG fiber grating sensor 24 are circumferentially spaced along the intraocular forceps core 1.
Referring to fig. 3, the distribution diagram of the FBG fiber grating sensor group 2 on the intraocular forceps barrel 3 includes four FBG fiber grating sensors, which are circumferentially arranged on the intraocular forceps barrel 3 at intervals of 90 °. This arrangement is very different from the conventional 120 arrangement. The measurement principle of the FBG fiber grating sensor is expressed by the following formula:
Δλ B ＝(1-P e )ε·λ B +(α+δ)ΔT·λ B
that is, the strain of the measured object and the temperature of the environment will cause the shift of the central wavelength of the fiber grating, and this is applied to the effect of the strain generated by the forceps cylinder 3 in the eye under the lateral force on the central wavelength of the fiber grating. The traditional 120-degree arrangement mode is that the temperature is compensated by using a method of solving an error mean value, and then the relation between the force and the wavelength deviation is obtained through conversion, so that the complete decoupling of the force and the temperature cannot be realized. After a 90-degree arrangement mode is utilized, the decoupling performance is greatly improved, and temperature compensation can be performed more conveniently, and the specific principle is as follows:
when a transverse force in the positive Y direction is applied, the second FBG fiber bragg grating sensor 22 is pulled, the fourth FBG fiber bragg grating sensor 24 is pressed, and the strain generated by the second FBG fiber bragg grating sensor and the fourth FBG fiber bragg grating sensor are in equal and opposite directions; and at this moment, the first FBG fiber grating sensor 21 and the third FBG fiber grating sensor 23 are located in a neutral plane of tension and compression, so that the strain is not generated basically, and therefore the strain is not affected by the lateral force in the Y direction, and at this moment, the mathematical expressions measured by the second FBG fiber grating sensor 22 and the fourth FBG fiber grating sensor 24 are as follows:
subtracting the two formulas to obtain
Are added to obtain
Therefore, the relation between wavelength deviation and strain is obtained, the fiber grating sensors are all located in the same temperature environment and have the same temperature terms, temperature compensation can be achieved through subtraction, the temperature in eyes during operation can be relieved through two-way addition, the transverse force in the X direction has the same principle, decoupling of force and temperature can be achieved, compensation of temperature is achieved, accuracy is improved, and tactile micro-force detection of the two-dimensional transverse force is achieved through the arrangement mode.
It should be noted that, the intraocular forceps barrel 3 is regarded as a cantilever beam, so when the intraocular forceps barrel 3 is subjected to a two-dimensional transverse force, the strain generated closer to the root portion is larger, but considering the brittle fracture of the optical fiber, the optical fiber cannot be arranged close to the root portion, a certain distance needs to be left, the optical fiber is convenient for leading out the optical fiber, and through simulation, the generated strain can also meet the measurement requirement even if the optical fiber is not arranged close to the root portion.
Referring to fig. 2, the haptic force enhancing structure ii includes a chain-type hollow structure 16, a screw hole 17, a micro-hole 18, a notch 19 and a positioning boss 20.
The bottom of the chain type hollow structure 16 is connected with a positioning boss 20, the top of the chain type hollow structure 16 is provided with a screw hole 17 and a micro hole 18, the micro hole 18 is a mounting hole of the intraocular forceps core 1, the intraocular forceps core 1 passes through the micro hole 18 and then is screwed into the clamping intraocular forceps core 1 from two ends of the screw hole 17 respectively by two screws, the nick 19 is arranged on one side of the lower part of the chain type hollow structure 16, the middle part of the hollow chain type structure 16 is provided with a cross beam, the cross beam is horizontally provided with a strain sensing grid area 25, the nick 19 is horizontally provided with a temperature compensation grid area 26, and the strain sensing grid area 25 and the temperature compensation grid area 26 jointly form the fifth FBG fiber grating sensor 6.
The hollow chain type structure 16 is designed for reducing the rigidity of the beam, the beam structure at the center is designed for improving the structural stability and facilitating the subsequent arrangement of the fiber grating sensor, and the chain type hollow structure 16 arranged on the beam can greatly reduce the rigidity of the beam and increase the strain of the beam.
The chain type hollow structure 16 is a final scheme determined by applying Ansys to perform strain simulation comparison with a plurality of hollow structures (such as round holes, stripes and the like), has the maximum strain value and is good in sensitivity enhancement;
the nicks 19 are designed to have the same shape and nick spacing on one side as the chain type hollow-out structures 16, so that the temperature sensing grid regions arranged on the nicks 19 and the strain sensing grid regions arranged on the chain type hollow-out structures have the same arrangement environment and characteristics, and the variable control effect is achieved.
Referring to fig. 4, the arrangement of the fifth FBG fiber grating sensor 6 on the haptic sensitivity enhancing structure ii is specifically:
the fifth FBG fiber grating sensor 6 comprises a strain sensing gate region 25 and a temperature compensation gate region 26. Wherein the strain sensing grid region 25 is arranged on the chain type hollow structure 16, the temperature compensation grid region 26 is arranged on the nick 19, and the two grid regions have different central wavelengths.
The tactile force sensitization structure II is prepared by adopting a high polymer material and has the characteristics of strong toughness and easy deformation.
The overall appearance of the touch force sensitization structure II is designed as a diamond truss, and the stress analysis is carried out as shown in figure 5. The strain sensitization of the axial force is actually the sensitization of the pressure, and the force applied to the tip of the tweezers is transmitted to the touch force sensitization structure II at the root after passing through the tweezers core 1 in the eye. In the figure, the edge AA' is one end fixed with the forceps core, and the edge F is the pressure of the surgical forceps on the sensitization structure; f' is the supporting reaction force of the bottom surface to the sensitization structure; CC ' limit is the base stiff end, and BB ' is the straight line at 16 places of chain hollow out construction promptly, through tweezers core to the pressure F of whole sensitization structure for the structure takes place to deform, and the contained angle of structure is theta in the picture before the atress, and balanced back structure produces little deformation, and the contained angle size becomes theta + delta theta, carries out the atress analysis to the AA ' pole after the deformation, carries out theoretical formula and deduces:
equilibrium equation in the horizontal direction:
|F 1 |sin(θ+Δθ)＝|F 2 |sin(θ+Δθ)
equilibrium equation in vertical direction:
|F 1 |cos(θ+Δθ)+|F 2 |cos(θ+Δθ)＝|F|
obtaining:
the CC' edge works the same.
Consider the AB lever as a two-force lever, at point B, F 3 Is F 1 ，F′ 1 Resultant force, | F | ═ F' |, so | F |, F 1 |＝|F 4 I then has:
in a characteristic example, in the process of ophthalmic surgery, | F | is equal to 7.5mN, deformation caused by micro force is small, so that Delta theta approaches to 0, neglect and amplify axial force by tan (theta) times, thereby realizing sensitization of force; according to the symmetry of the structure, the same stress is applied to the point B'.
As can be seen from the formula, the sensitivity enhancing effect is more remarkable as the angle θ is larger, but obviously, the angle θ cannot exceed 90 °, and if the angle is 70 °, if | F3|, 20.6mN is selected in combination with the actual occupied space and the simulation result.
Considering that the fiber bragg grating sensors need to be arranged along the BB' direction, if the fiber bragg gratings are placed in a suspended mode, firstly, the bonding ends are too short, the fibers are fragile and easy to damage, secondly, the repeatability is poor, and bonding points are loosened due to multiple deformation, so that the fiber bragg gratings are integrally bonded on the beam structure in a designed mode, after further hollow design, the rigidity of the beam structure is greatly reduced, the sensitivity enhancing effect is not greatly reduced due to the addition of the beam structure, the final structure is the chain type hollow structure 16, and the strain sensing grid area 25 is arranged on the chain type hollow structure and used for measuring strain.
And notches 19 are designed at the bottom of the touch sensitivity enhancing structure II, the notches 19 and the chain type hollow structures 16 have the same hollow design and notch spacing, so that the strain sensing grid region 25 and the temperature compensation grid region 26 have the same arrangement environment and bonding conditions, and the temperature compensation grid region 26 is only influenced by the environment temperature and is not influenced by strain, so that the temperature compensation is performed on the part measured by the strain sensing grid region 25.
In the design, the strain sensing grid region 25 and the temperature compensation grid region 26 are arranged on the same fifth FBG fiber bragg grating sensor 6, so that the cost is saved, the number of channels required by demodulation is reduced, and strain measurement and temperature compensation are realized.
Referring to fig. 6, the method for detecting tactile micro-force perception in an ophthalmic surgical robot according to the present invention designs and plans the detection of the tactile force generated when the end effector performs different actions during the surgical procedure. The inner limiting membrane tearing operation process is divided into two stages, one of which is a detection insertion stage, and the detection insertion stage is characterized in that in the process that the end effector is inserted into an eyeball, the tip end of the intraocular forceps detects the axial force generated after the inner limiting membrane needing to be torn is detected, and the axial force is transmitted to the miniature sensitization structure through the intraocular forceps core to detect the axial micro force; the second stage is a clamping and tearing stage, which is characterized in that the inner limiting membrane is torn after being detected and clamped by the end effector, and at the moment, two-dimensional transverse force can be generated on the intraocular forceps cylinder, and the detection is carried out through four fiber bragg grating sensors arranged on the intraocular forceps cylinder. The specific implementation is as follows:
when the intraocular forceps are used for intraocular surgery, firstly, the intraocular forceps need to be inserted into an eyeball and move to a pathological change position of tissues (an inner limiting membrane and a vitreous body), when the intraocular forceps core 1 is in an open state, namely, the intraocular forceps cylinder 3 is not in contact with the tissues, and in this case, the friction force generated by the air between the intraocular forceps core 1 and the intraocular forceps cylinder 3 is small and can be ignored, so that the generated axial micro force is considered to be transmitted to the micro sensitization structure II by the forceps core, and the magnitude of the force is usually 7.5 mN.
The force is amplified through the deformation of the sensitization structure, and then the sensing is carried out through the fiber bragg grating sensor arranged on the sensitization structure. When the tissue searching stage is finished, the tissue is clamped, the linear driving module is utilized to drive the intraocular forceps cylinder 3 to advance for 2-3 mm, and forceps flaps at the front end of the intraocular forceps core 1 are promoted to close and clamp the tissue. Then tearing off and generating two-dimensional transverse force, the tweezer flap on the tweezers core 1 in the eye is in a closed state, namely, the tweezer tube 3 in the eye is contacted, the two-dimensional transverse force is transmitted to the tweezers tube 3 in the eye, the tweezers tube 3 in the eye is regarded as a cantilever beam structure to be bent and deformed, and therefore the fiber grating sensor 2 arranged on the tube wall can be used for sensing the two-dimensional transverse force. After finishing a part of tearing actions, the linear driving module drives the intraocular forceps cylinder 3 to retreat so as to open the forceps flaps on the intraocular forceps core 1, and the process is carried out again after the angle and the pose are adjusted until the operation is finished.
In conclusion, the ophthalmic surgical robot end effector with sensitization touch detection has good decoupling performance and good real-time performance, conforms to the intraocular surgical operation mechanism, makes up the missing touch micro-force perception when the surgical robot is used for surgery, realizes the perception of the intraocular touch micro-force, and lays a foundation for further development and utilization of the subsequent ophthalmic surgical robot.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (10)
1. The ophthalmic surgery robot end effector with the function of sensitization touch detection is characterized by comprising an intraocular forceps core (1), wherein one end of the intraocular forceps core (1) penetrates through an intraocular forceps cylinder (3) to be connected with a haptic force sensitization structure (II) for realizing the detection of the axial force of the forceps core, the haptic force sensitization structure (II) is arranged on a tray (7), and an FBG fiber bragg grating sensor group (2) is arranged on the intraocular forceps cylinder (3) for realizing the detection of the transverse force of the forceps cylinder; the intra-eye forceps cylinder (3) is connected with a pin shaft (12) through a forceps cylinder bearing fixing ring (13), one end of the pin shaft (12) is connected with a front bracket (11), and the other end of the pin shaft penetrates through the forceps cylinder bearing fixing ring (13) and a linear bearing (14) to be connected with a spinning gear (15) on a tray (7); the intraocular forceps cylinder (3) is connected with a linear driving module arranged on the tray (7) through an arc-shaped connecting piece (4), and the intraocular forceps cylinder (3) is driven to move linearly through the linear driving module, so that the intraocular forceps core (1) can be automatically opened and closed.
2. The ophthalmic surgical robot end effector with haptic sensation detection function according to claim 1, wherein the haptic force enhancing structure (II) comprises a chain-type hollow structure (16), a screw hole (17) is formed in the top of the chain-type hollow structure (16), a micro hole (18) for installing the intraocular forceps core (1) is formed in the upper side of the screw hole (17), a hollow beam is formed in the middle of the chain-type hollow structure (16), a hollow notch (19) is correspondingly formed in one side of the lower portion of the chain-type hollow structure, the bottom of the chain-type hollow structure (16) is connected with the tray (7) through a positioning boss (20), and a fifth FBG fiber grating sensor (6) is arranged on the chain-type hollow structure (16).
3. Ophthalmic surgical robotic end effector with sensitized tactile detection according to claim 2, characterized in that the fifth FBG fiber grating sensor (6) comprises a strain sensing grating (25) and a temperature compensation grating (26), the strain sensing grating (25) being arranged on the cross beam and the temperature compensation grating (26) being arranged on the indentation (19).
4. An ophthalmic surgical robotic end effector with sensitized tactile detection according to claim 3, characterized in that strain sensing grid (25) and temperature compensation grid (26) possess different center wavelengths.
5. The ophthalmic surgical robotic end effector with sensitization touch detection according to claim 2, characterized in that the chain hollowed-out structure (16) is a diamond truss structure.
6. The ophthalmic surgical robot end effector with haptic enhanced detection of claim 1, characterized in that the FBG fiber grating sensor group (2) comprises four FBG fiber grating sensors arranged circumferentially at 90 ° intervals in the intraocular forceps cylinder (3).
7. The ophthalmic surgical robot end effector with sensitivity enhanced tactile detection according to claim 1, wherein the linear driving module comprises a micro screw nut (10), the micro screw nut (10) is connected with the arc-shaped connecting piece (4), a micro lead screw (8) and a micro slide rail (9) penetrate through the micro screw nut (10), and one end of the micro lead screw (8) is connected with the micro stepping motor (5) through a gear.
8. The ophthalmic surgical robot end effector with sensitization touch detection according to claim 7, characterized in that one end of the arc-shaped connecting piece (4) is connected with the micro-nut (10) through a screw, and the other end is connected with the intraocular forceps barrel (3) in an interference fit mode.
9. An ophthalmic surgical robot end effector with sensitization touch detection according to claim 1 or 7, characterized in that the stroke of the linear drive module is 2-3 mm.
10. The ophthalmic surgical robot end effector with sensitization touch detection according to claim 1, characterized in that both ends of the pin (12) are connected with the front bracket (11) and the rotary gear (15) respectively in an interference fit manner.
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