CN115137551A - Real-time cornea injury prevention early warning system and method for eye plastic surgery robot - Google Patents
Real-time cornea injury prevention early warning system and method for eye plastic surgery robot Download PDFInfo
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Abstract
The invention discloses a real-time cornea injury prevention early warning system and a real-time cornea injury prevention early warning method for an eye plastic surgery robot, wherein the early warning system comprises the following components: the system comprises a cornea deformation monitoring unit, a cornea biomechanics analysis unit, an eye plastic surgery robot, a robot control unit, an ultrasonic thickness measuring unit and an ultrasonic data analysis unit. The invention can clearly feed back the position and the posture of the robot and the actual eyelid, accurately identify and feed back the force of the puncture needle penetrating through different tissues, and the surgical robot has standard force feedback when puncturing different tissues through the simulation presetting of corneal biomechanics, thereby ensuring the safety when cutting different tissues.
Description
Technical Field
The invention belongs to the field of eye plastic surgery instruments, and particularly relates to a real-time cornea injury prevention early warning system and method of an eye plastic surgery robot.
Background
The eye plastic surgery includes cosmetic plastic of the upper and lower eyelids, eyebrows, etc. Playing a role in making eyes on the appearance of people. Clinically, it is seen in patients of all ages, such as congenital ptosis, strabismus, minor palpebral fissure, eyelid defect and various congenital malformations of children, which require periodic surgery according to the disease condition.
Double-fold eyelid surgery, also known as double-fold eyelid molding, is one of the most common operations in plastic surgery. The surgery method is different for different double eyelid surgery cases. Generally, the method is divided into two categories, namely a cutting method and a buried wire method. Each group derives a plurality of operation formulas, which are not more than one hundred in total, but the basic principle and the basic method are consistent no matter what operation formula is adopted. Even if the eyelid skin is connected with the aponeurosis of the upper eyelid muscle, the eyelid skin can be sunken to form the double eyelid groove when the eyes are opened.
Common surgical methods include incision and fixation, thread embedding, suture, eyelash lifting, eyelids doubling, no-mark double eyelid surgery, korean double eyelid surgery, etc.
The double eyelids formed by the fixation method of the opened eyelids are stable and durable, have deep folds and are rich in stereoscopic impression. The disadvantages are that the operation is complicated, the eyelid dissection is required to be familiar, and the operator needs to have a firmer plastic surgery operation foundation. After the operation, scars of the incision lines are obvious within 3-6 months, gradually subside along with the time delay, edema can be usually detected within one month after the operation, but the edema is natural after 2 months or more after the operation. The fixation method of the incised eyelid plate is suitable for all eye types, has small probability of disappearance of double eyelids, and can be almost maintained for life.
The catgut embedding method is suitable for young people with large eyelid fissure, thin eyelid, no swelling, no eyelid skin looseness, normal tension and no inner canthus excrescence. Has the advantages of simple operation and easy mastering. The wound is small, the ligature is fixed between the upper eyelid dermis and the anterior of the eyelid plate or the upper margin of the eyelid plate and between the aponeurosis of the upper eyelid muscle, and the fold has a natural shape. No incision, small postoperative tissue reaction and no influence on work. It is easy to be accepted by the patient, for example, if the beginner is not mastered properly, the original method or incision method can be used to make up the repair once the patient fails, without sequelae.
The disadvantage is that the fold of the upper eyelid is easy to become shallow and narrow, and if the selection of the case is improper, or the skill is not good, the fold of the upper eyelid is easy to disappear. The knot is easily loosened, resulting in a failed operation. The thread knots are buried too shallow and are easily exposed or form small cysts. The range of case selection is narrower than the incision method. If the upper eyelid is slightly swollen, the operator can firmly require the catgut embedding operation, and a small incision can be made 1/3 of the position outside the fold of the upper eyelid to remove orbital fat.
Clinically, the following complications are mainly seen in the common double eyelid surgery:
first complication of double eyelid surgery: combined with membrane hyperemia: it is often the case that the upper eyelid needs to be turned over and the double eyelid forming operation is performed by a penetration suture ligation method.
Complication two of double eyelid operation: slow detumescence: postoperative swelling of the eye is a normal phenomenon. However, if the swelling does not subside even lasts for several months after 1 week of operation, the complication of double eyelid surgery should be classified. The reason for this is that the physician is inexperienced in the operation, and has more injuries or infections.
Complications of double eyelid surgery three: hematoma: the major cause of hematoma in the complications of double-palpebral surgery is the lack of careful hemostasis during surgery. In addition, the artery arch of the eyelid is located about 2mm from the eyelid margin, and when the range of the orbicularis oculi muscle to be cut off during the operation is too low, the artery is often damaged, and the double-eyelid operation is frequently accompanied by more immediate bleeding or postoperative bleeding. Severe postoperative bleeding requires opening the wound to stop bleeding.
Complication four of double eyelid operation: infection: infection of double-fold blepharoplasty wounds occurs, certainly without strict adherence to aseptic procedures. However, the manipulations are rough during the operation, and no non-invasive techniques are used, which reduces the vitality of the tissues and is also the cause of infection. Once the complication of the infected double eyelid operation occurs, treatment with effective antibiotics is required.
The defects of the prior art are as follows:
1. the degree of dependence on the capability and experience of doctors is large, and the cornea of patients after the operation of most doctors generates hyperemia;
2. the physiological trembling of the hands of doctors can reduce the operation precision and even cause complications such as corneal hemorrhage of eyes and the like;
3. the operation is not a minimally invasive operation, the operation time is long, and the operation effect caused by eyeball eyelid movement is poor;
4. corneal damage is easy to occur;
5. doctors lack real-time and accurate operation area information perception capability, including information such as puncture force, eyelid deformation, soft tissue deformation, arrival position of a scalpel and the like;
6. the eyelid movement and eyelid blinking are greatly influenced by eyeball movement and eyelid blinking of a patient, eyelid fluctuating movement can be caused by the eyeball movement and eyelid blinking of the patient, and multidirectional nonlinear displacement deformation (movement, rotation and the like) of tissues and organs causes drift of a target operation position, and finally, a target point position is difficult to be punctured accurately, so that a bad result or operation failure of a double eyelid operation is caused, and severe visual loss can be caused by excessive pressure on a cornea.
Disclosure of Invention
In order to solve the above problems, a primary object of the present invention is to provide a real-time cornea damage prevention early warning system and method for an eye plastic surgery robot, which can clearly feed back the position and posture of the robot and the actual eyelid, accurately identify and feed back the force of the puncture needle penetrating through different tissues, and through simulation presetting of cornea biomechanics, the surgery robot has a standard force feedback when puncturing different tissues, thereby ensuring the safety when cutting different tissues.
The invention also aims to provide a real-time cornea injury prevention early warning system and a real-time cornea injury prevention early warning method for the eye plastic surgery robot, the system and the method have high positioning precision and short surgery time, have a good planned path and are automatically positioned, so that the surgery time is shortened, the labor intensity of doctors is reduced, the safety of the eye plastic surgery robot and the final success rate of surgery are improved, and the sequelae and the recurrence probability of the eye plastic surgery are reduced.
In order to achieve the above object, the technical solution of the present invention is as follows.
The utility model provides a real-time cornea damage prevention early warning system of eye plastic surgery robot, includes:
a corneal-deformation monitoring unit for monitoring the deformation of the cornea,
a cornea biomechanics analysis unit for analyzing the cornea,
an eye plastic surgery robot is provided with a plurality of eye plastic surgery robots,
a control unit of the robot, and a control unit of the robot,
an ultrasonic thickness measuring unit is used for measuring the thickness,
an ultrasonic data analysis unit;
wherein: a corneal deformation monitoring unit: for monitoring deformation of the cornea;
cornea biomechanical analysis unit: according to the deformation amount of the cornea: calculating the pressure of the eyelid back surface meibomian plate and cornea, and feeding the value back to the robot control unit;
an eye plastic surgery robot: the device is used for eyelid puncture, double eyelid shaping and redundant skin tissue removal;
ultrasonic thickness measurement unit: acquiring a plurality of groups of eyelid skin thickness data;
an ultrasonic data analysis unit: converting the data of the ultrasonic thickness measuring unit into an eyelid thickness map in real time and transmitting the eyelid thickness map to the robot control unit;
a robot control unit: the cornea biomechanics analysis unit is used for receiving data of the cornea biomechanics analysis unit and the ultrasonic data analysis unit, controlling the action of the eye plastic surgery robot and giving real-time force feedback to a doctor.
Further, the robot control unit judges according to the analysis result that if the corneal pressure exceeds a set threshold, the eye plastic surgery robot gives an alarm; and calculating the puncture depth of the eye plastic surgery robot according to the real-time eyelid thickness map, and if the puncture depth exceeds a set threshold value, alarming by the eye plastic surgery robot.
The cornea refers to the anterior corneal surface.
The eye shaping includes: eyelid prolapse surgery, double eyelid surgery, pouch removal surgery, etc.
A real-time cornea injury prevention early warning method of an eye plastic surgery robot comprises the following steps:
s1, monitoring the deformation of a cornea by a cornea deformation monitoring unit, and transmitting the deformation to a cornea biomechanics analysis unit;
s2, the cornea biomechanical analysis unit is used for analyzing the deformation quantity of the cornea according to the following steps: calculating the corneal pressure and feeding back the corneal pressure to the robot control unit;
the formula for calculating corneal pressure is as follows:
F＝P*S
wherein F is the externally applied pressure corneal pressure value; p is intraocular pressure (IOP is simply P)), measured by tonometer before operation; s is the area of corneal applanation caused by corneal pressure F;
the effect of this value is: if F is too large, it means that a large amount of deformation is generated to the cornea, which may cause damage to the cornea and impair vision.
S3, the ultrasonic thickness measuring unit acquires a plurality of groups of eyelid skin thickness data and transmits the eyelid skin thickness data to the ultrasonic data analysis unit;
s4, an ultrasonic data analysis unit: converting and depicting the data of the ultrasonic thickness measuring unit into an eyelid thickness map in real time and transmitting the eyelid thickness map to the robot control unit;
s5, comparing the operation data of the eye plastic operation robot with the eyelid thickness map in real time by the robot control unit to judge whether the operation data is in a reasonable range, wherein the reasonable range means that the operation data does not exceed an eyelid thickness threshold value; if an eyelid thickness threshold is exceeded (which may be defined artificially or obtained experimentally), the ophthalmic plastic surgery robot will alarm; and calculating the puncture depth of the eye plastic surgery robot according to the real-time eyelid thickness map, and if the puncture depth exceeds a set threshold value, alarming by the eye plastic surgery robot.
This monitoring is a double insurance, the eyelid thickness map can guide the robot's motion, and if within reasonable limits, it is not damaging to the cornea, but the eyelid thickness map is not necessarily completely correct in real time at all times, and the second level of insurance for safety is: a corneal deformation monitoring unit; the corneal deformation monitoring unit is used for monitoring the corneal deformation, the puncture depth of the surgical robot is judged according to the corneal deformation, and if the corneal deformation exceeds a set threshold value, the ophthalmic plastic surgical robot gives an alarm.
The eyelid thickness map can also be used for selection of preoperative surgical modes (double eyelid surgery, which can select an incision eyelid plate fixing method, a buried line method and a three-point double eyelid surgery due to different eyelid skin thicknesses) and navigation planning of a preoperative surgical robot.
The invention has the beneficial effects that:
1. the robot can automatically position according to the path planned by the doctor, and completes the operation with high positioning precision and no shake, thereby shortening the operation time and reducing the labor intensity of the doctor.
2. The robot can provide the optimal operation path selection for doctors, and if the phenomena of deviation from a planned path, soft tissue displacement deformation, eyeball movement, drift caused by blinking of eyelids and the like occur, the robot can effectively compensate and assist in completing actions in time, and the success rate, the efficiency and the operation safety are improved.
3. The robot arm with the stability more than a human hand provides the advantages of higher rigidity and accuracy.
4. The effect obtained by the robot assisting the facial rejuvenation is the same as the conventional endoscope assisting eyebrow lifting effect, the robot can perform operation in a wide area only by micro incisions during operation, and the treatment is more accurate and reliable.
5. The continuous stability of the eye plastic surgery robot is completely superior to that of the human hand, and the errors are in millimeter level. Meanwhile, the utility model also has the touch function of hands, which is convenient for doctors to do complicated and difficult operations in narrow space.
6. In addition, the surgical robot is also provided with a good control device, and if a doctor touches a dangerous area, the cornea injury prevention early warning system can automatically recognize and prompt to help the doctor perform an operation within a safe range.
Drawings
Figure 1 is a diagrammatic illustration of eyelid thickness for an implementation of the present invention.
Figure 2 is a schematic diagram of the forced deformation of a cornea in accordance with the practice of the present invention.
Fig. 3 is a schematic diagram of a cell structure embodying the present invention.
FIG. 4 is a process schematic of the steps implemented by the present invention.
Fig. 5 is a schematic diagram of the implementation of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
The real-time cornea injury prevention early warning system of the eye plastic surgery robot, which is realized by the invention, is shown in figure 3 and comprises the following components:
a corneal-deformation monitoring unit for monitoring the deformation of the cornea,
a cornea biomechanics analysis unit for analyzing the cornea,
an eye plastic surgery robot is provided with a plurality of eye plastic surgery robots,
a control unit of the robot, and a control unit of the robot,
an ultrasonic thickness measuring unit is used for measuring the thickness,
an ultrasound data analysis unit.
Wherein: a corneal deformation monitoring unit: for monitoring deformation of the cornea;
cornea biomechanical analysis unit: according to the deformation amount of the cornea: calculating the pressure of the eyelid back surface meibomian plate and cornea, and feeding the value back to the robot control unit;
an eye plastic surgery robot: the device is used for eyelid puncture, double eyelid shaping and redundant skin tissue removal;
ultrasonic thickness measurement unit: acquiring a plurality of groups of eyelid skin thickness data;
an ultrasonic data analysis unit: converting the data of the ultrasonic thickness measuring unit into an eyelid thickness map in real time and transmitting the eyelid thickness map to the robot control unit;
a robot control unit: used for receiving the data of the cornea biomechanical analysis unit and the ultrasonic data analysis unit, controlling the action of the eye plastic surgery robot and giving real-time force feedback to a doctor.
The robot control unit judges according to the analysis result that if the corneal pressure exceeds a set threshold, the eye plastic surgery robot gives an alarm; and calculating the puncture depth of the eye plastic surgery robot according to the real-time eyelid thickness map, and if the puncture depth exceeds a set threshold value, alarming by the eye plastic surgery robot.
The cornea refers to the anterior corneal surface.
The eye shaping includes: eyelid prolapse surgery, double eyelid surgery, pouch removal surgery, etc.
Referring to fig. 1 to 5, in the real-time cornea injury prevention early warning method of the eye plastic surgery robot implemented by the present invention, as shown in fig. 1, eyelids of both eyes of a human have a certain thickness, and in the figure, the thicknesses of five points a, b, c, d, and e are 2.34mm, 2.21mm, 2.59mm, 2.40mm, and 2.76mm, respectively. Referring to fig. 4 and 5, the real-time cornea injury prevention early warning method of the eye plastic surgery robot includes the following steps:
s1, a cornea deformation monitoring unit monitors deformation of a cornea and transmits the deformation to a cornea biomechanics analysis unit; the force F applied by the surgical robot to the eyelid plate causes the cornea to deform, as shown in figure 2.
S2, the cornea biomechanical analysis unit is used for analyzing the deformation quantity of the cornea according to the following steps: calculating the corneal pressure and feeding back the value to the robot control unit;
the formula for calculating corneal pressure is as follows:
F＝P*S
wherein F is the value of the externally applied pressure corneal pressure; p is intraocular pressure (IOP is simply P) (intraocular pressure P: the range of normal intraocular pressure is 1.47-2.79 kPa (11-21 mmHg), measured by tonometer before operation;)
S is the area of corneal applanation caused by corneal pressure F (fig. 2);
the effect of this value is: if F is too large, exceeding the threshold (which can be empirically set or artificially defined) means that a large amount of deformation is created to the cornea, potentially causing corneal damage and impairing vision.
S3, the ultrasonic thickness measuring unit acquires a plurality of groups of eyelid skin thickness data and transmits the eyelid skin thickness data to the ultrasonic data analysis unit;
s4, an ultrasonic data analysis unit: converting and describing data of the ultrasonic thickness measuring unit into an eyelid thickness map in real time and transmitting the eyelid thickness map to the robot control unit;
s5, according to data of the cornea biomechanical analysis unit: specifically, the eyelid thickness map is the basis for the operation of the eye plastic surgery robot, and the robot control unit compares the operation data of the eye plastic surgery robot with the eyelid thickness map in real time to judge whether the operation data is in a reasonable range, wherein the reasonable range means that the operation data does not exceed an eyelid thickness threshold; if an eyelid thickness threshold is exceeded (which may be defined artificially or obtained experimentally), the ophthalmic plastic surgery robot will alarm; and calculating the puncture depth of the eye plastic surgery robot according to the real-time eyelid thickness map, and if the puncture depth exceeds a set threshold value, alarming by the eye plastic surgery robot.
The eyelid thickness map can also be used for selection of a preoperative surgical mode (double eyelid surgery, a fixation method for cutting the eyelid plate, a line embedding method and a three-point double eyelid surgery can be selected due to different eyelid skin thicknesses) and navigation planning of a preoperative surgical robot.
This monitoring is a double insurance, the eyelid thickness map can guide the robot's motion, and if within reasonable limits, it is not damaging to the cornea, but the eyelid thickness map is not necessarily completely correct in real time at all times, and the second level of insurance for safety is: a corneal deformation monitoring unit; the corneal deformation monitoring unit is used for monitoring the corneal deformation, the puncture depth of the surgical robot is judged according to the corneal deformation, and if the corneal deformation exceeds a set threshold value, the ophthalmic plastic surgical robot gives an alarm.
The system and the method provided by the embodiment of the invention can improve the identification accuracy of the eye plastic surgery robot, prevent the effectiveness of corneal injury, feed back proper force to a doctor, alarm in time after the stress of the cornea exceeds a safe range, avoid the damage to the meibomian gland of a patient and the cornea below the meibomian gland, improve the safety of the eye plastic surgery robot and the final success rate of surgery, and reduce the sequelae and the recurrence probability of the eye plastic surgery.
The surgical robot system can work in an environment which is unfavorable for doctors, can determine the position by referring to medical images under the help of eyelid thickness diagrams and force feedback early warning systems, can execute continuous actions without vibration, can quickly and accurately pass through complex tracks, accurately position and reach a target position, and finally completes the eye plastic surgery under the command of doctors or autonomously.
In conclusion, the invention has the advantages that:
1. the robot can automatically position according to the path planned by the doctor, and completes the operation with high positioning precision and no shake, thereby shortening the operation time and reducing the labor intensity of the doctor.
2. The robot can provide the optimal operation path selection for doctors, and if the phenomena of deviation from a planned path, soft tissue displacement deformation, eyeball movement, drift caused by blinking of eyelids and the like occur, the robot can effectively compensate and assist in completing actions in time, and the success rate, the efficiency and the operation safety are improved.
3. The robot arm with the stability more than a human hand provides the advantages of higher rigidity and accuracy.
4. The effect obtained by the robot assisting the facial rejuvenation is the same as the conventional endoscope assisting eyebrow lifting effect, the robot can perform operation in a wide area only by micro incisions during operation, and the treatment is more accurate and reliable.
5. The continuous stability of the eye plastic surgery robot is completely superior to that of the human hand, and the errors are all in millimeter level. Meanwhile, the utility model also has the touch function of hands, which is convenient for doctors to do complicated and difficult operations in narrow space.
6. In addition, the surgical robot is also provided with a good control device, and if a doctor touches a dangerous area, the cornea injury prevention early warning system can automatically recognize and prompt to help the doctor perform an operation within a safe range.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. The utility model provides a real-time cornea damage prevention early warning system of eye plastic surgery robot, includes:
a corneal-deformation monitoring unit for monitoring the deformation of the cornea,
a cornea biomechanics analysis unit for analyzing the cornea,
an eye plastic surgery robot is provided with a plurality of eye plastic surgery robots,
a control unit of the robot is provided with a robot control unit,
an ultrasonic thickness measuring unit is used for measuring the thickness,
an ultrasonic data analysis unit;
wherein: a corneal deformation monitoring unit: for monitoring deformation of the cornea;
cornea biomechanical analysis unit: according to the deformation amount of the cornea: calculating the pressure of the eyelid back surface meibomian plate and cornea, and feeding the value back to the robot control unit;
an eye plastic surgery robot: the utility model is used for eyelid puncture, double eyelid forming and unnecessary skin tissue removal;
ultrasonic thickness measuring unit: acquiring a plurality of groups of eyelid skin thickness data;
an ultrasonic data analysis unit: converting the data of the ultrasonic thickness measuring unit into an eyelid thickness map in real time and transmitting the eyelid thickness map to the robot control unit;
a robot control unit: the cornea biomechanics analysis unit is used for receiving data of the cornea biomechanics analysis unit and the ultrasonic data analysis unit, controlling the action of the eye plastic surgery robot and giving real-time force feedback to a doctor.
2. The real-time cornea injury-preventing early-warning system of an eye plastic surgery robot as claimed in claim 1, wherein the robot control unit judges, based on the analysis result, that if the cornea pressure exceeds a set threshold, the eye plastic surgery robot will give an alarm; and calculating the puncture depth of the eye plastic surgery robot according to the real-time eyelid thickness map, and if the puncture depth exceeds a set threshold, alarming by the eye plastic surgery robot.
3. A real-time cornea injury prevention early warning method of an eye plastic surgery robot comprises the following steps:
s1, monitoring the deformation of a cornea by a cornea deformation monitoring unit, and transmitting the deformation to a cornea biomechanics analysis unit;
s2, the cornea biomechanical analysis unit is used for analyzing the deformation quantity of the cornea according to the following steps: calculating the corneal pressure and feeding back the value to the robot control unit;
s3, the ultrasonic thickness measuring unit acquires a plurality of groups of eyelid skin thickness data and transmits the eyelid skin thickness data to the ultrasonic data analysis unit;
s4, the ultrasonic data analysis unit converts and depicts the data of the ultrasonic thickness measurement unit into an eyelid thickness map in real time and transmits the eyelid thickness map to the robot control unit;
s5, the robot control unit compares the operation data of the eye plastic operation robot with the eyelid thickness map in real time and judges whether the operation data is in a reasonable range, wherein the reasonable range is that the operation data does not exceed an eyelid thickness threshold value: if the eyelid thickness exceeds the set eyelid thickness threshold value, the eye plastic surgery robot will alarm; and calculating the puncture depth of the eye plastic surgery robot according to the real-time eyelid thickness graph, and if the puncture depth exceeds a set eyelid thickness threshold value, alarming by the eye plastic surgery robot.
4. The real-time corneal damage prevention warning method of an eye plastic surgery robot as claimed in claim 3, wherein the eyelid thickness map is used for selection of a preoperative surgical mode and navigation planning of a preoperative surgical robot.
5. The real-time corneal damage prevention warning method of an ophthalmic plastic surgery robot according to claim 3, wherein in the step S2, the formula for calculating corneal pressure is as follows:
F＝P*S
wherein F is the value of the externally applied pressure corneal pressure; p is intraocular pressure, measured preoperatively by tonometer; s is the area of corneal applanation caused by corneal pressure F.
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