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针对医生人工操作的生理学颤抖造成视网膜血管搭桥手术成功率低的问题,提出了用于辅助医生进行手术操作的机器人系统.在借鉴眼科显微手术机器人系统研究经验的基础上,基于视网膜血管搭桥手术的过程和特点,提出了合理的机器人系统整体设计方案,介绍了机器人的关键机构设计.对临床应用进行了初步探讨,确定了视网膜血管搭桥手术机器人系统的人机协同操作手术流程,提出了手术环境布置方案.最后,在开发研制原理样机的基础上列出了机器人性能指标,对视网膜表面平行运动进行了轨迹规划和仿真,在乒乓球模型上进行了可行性分析实验,并提出了安全保障措施.实验表明,系统设计满足要求,可以初步完成手术动作.
Aiming at the problem of low success rate of retinal vascular bypass surgery, which is caused by physicians’ manual manipulation of physiological trembling, a robot system for assisting doctors in surgical operation is proposed.Based on the research experience of ophthalmic microsurgery robot system, based on retinal vascular bypass surgery The author puts forward a reasonable design scheme of the robot system and introduces the design of the key mechanism of the robot.The clinical application is discussed preliminarily and the man-machine cooperative operation procedure of the retinal vascular bypass surgery robotic system is determined, Environmental layout plan.Finally, based on the development of prototype prototype, robot performance indexes are listed, the trajectory planning and simulation of the parallel movement of the retina surface are carried out, the feasibility analysis experiment is carried out on the table tennis model, and the safety protection Measures show that the system design to meet the requirements, you can initially complete the surgical action.