CN111544197A

CN111544197A - Flexible force-sensitive operating mechanism of ophthalmic surgery robot

Info

Publication number: CN111544197A
Application number: CN202010312641.6A
Authority: CN
Inventors: 张小栋; 王宁; 张政; 贾浩然
Original assignee: Xian Jiaotong University
Current assignee: Xian Jiaotong University
Priority date: 2020-04-20
Filing date: 2020-04-20
Publication date: 2020-08-18
Anticipated expiration: 2040-04-20
Also published as: CN111544197B

Abstract

The invention discloses a flexible force-sensitive operating mechanism of an ophthalmic surgery robot, which comprises an operating arm and a micro executing end. The operation arm includes: a front end connecting ring, an operation tail end, a cable and a compensation spring; a plurality of cables are laid around the outer layer of the inner layer helical spring, the outer layer of each cable is provided with an outer layer helical spring to form a flexible shaft, and the outer layer of each cable is provided with a hard sleeve to form a rigid shaft; one end of the cable is connected with the front end connecting ring, and the other end of the cable is connected with the operation tail end; the operation tail end is of a rigid hollow structure, and the compensation spring is arranged on a cable in the operation tail end; a bracket and a tail end control module are arranged in the end part of the operation tail end; the compensating spring is elastically contacted with the inner end of the operation tail end and the inner side of the bracket; the micro-execution end is connected with the front end connecting ring and is used for carrying out the ophthalmic surgery. The invention can effectively improve the operation precision in the ophthalmologic operation process, inhibit the involuntary movement of a doctor during the operation, and has the advantages of high freedom of movement, low cost, convenient and safe use and the like.

Description

Flexible force-sensitive operating mechanism of ophthalmic surgery robot

Technical Field

The invention relates to a medical instrument, in particular to a flexible force-sensitive operating mechanism of an ophthalmic surgical robot.

Background

At present, eye diseases are numerous, and macular hole is a common fundus disease clinically, which can cause severe damage to visual function of patients, even retinal detachment and eyeball atrophy. It is generally believed that idiopathic macular holes may be associated with vitreous traction. The disease is hidden, and is usually discovered when the other eye is covered, so that early detection and timely treatment are key factors influencing the final healing of the patient. The ophthalmologist mainly relies on fundus examination and OCT auxiliary examination to diagnose and stage the disease clinically. Currently, loosening traction around the macular hole by vitrectomy, especially the removal of the posterior cortex, epiretinal membrane or inner limiting membrane of the vitreous, is the most prominent and effective treatment. However, in the operation process, complications such as cataract, visual field defect, iatrogenic retinal hole, macular hole enlargement, and retinitis pigmentosa caused by phototoxicity can be caused by natural shaking of the hands of a doctor, physical fatigue due to long-time operation, and improper operation due to narrow visual field angle in the eye space of a pathological change body. Therefore, how to accurately position the hierarchical structure of the traction factors, eliminate involuntary movements such as vibration, urge and low-frequency drift, overcome physiological barriers, develop a new intraocular surgery mode, improve the safety of the existing surgery operation, increase the visual field angle of a doctor, reduce iatrogenic injuries caused by surgery trauma or unclear visual field and the like is a difficult problem to overcome.

The research on the ophthalmic surgical robot is the key to solve the problems, and from the current development trend, a system of the foreign ophthalmic surgical robot, such as a million dollar system, namely the da vinci master/slave robot, is commercially successful and can perform minimally invasive surgery, but the system is too high in cost and high in operation cost, and meanwhile, the robot is large in size and low in degree of freedom of a rigid structure, so that the key factors for further development and medical market widening of the robot are limited. Therefore, the research and innovation of a novel, small, low-cost and flexible ophthalmologic surgical robot is the direction of future development, so that the ophthalmologic surgical robot enters a wider market and brings great value to medical economy.

Disclosure of Invention

In order to solve the problems in the prior art, the invention aims to provide a flexible force-sensitive operating mechanism of an ophthalmic surgical robot, which has the advantages of micro contact force detection and feedback, illumination imaging, flexible operating arm and high-precision driving, and is applied to the ophthalmic surgical robot.

In order to achieve the purpose, the invention adopts the following technical means:

a flexible force sensitive operating mechanism for an ophthalmic surgical robot, comprising: a robot operating arm and a micro executing end;

the operation arm includes: the front end connecting ring, the operation tail end, the inner layer spiral spring, the cable, the outer layer spiral spring and the compensation spring; a plurality of cables are laid around the outer layer of the inner layer spiral spring, the outer layer of each cable is provided with an outer layer spiral spring to form a flexible shaft, and the outer layer of each cable is provided with a hard sleeve to form a rigid shaft; one end of the cable is connected with the front end connecting ring, and the other end of the cable is connected with the operation tail end; the operation tail end is of a rigid hollow structure, and the compensation spring is arranged on a cable in the operation tail end; a bracket and a tail end control module are arranged in the end part of the operation tail end, and the bracket is sleeved on the cable and is fixedly connected with the cable; one end of the compensation spring is elastically contacted with the inner end of the operation tail end, and the other end of the compensation spring is elastically contacted with the inner side of the bracket; the end control module is arranged outside the bracket;

the micro execution end is arranged on the front end connecting ring and used for carrying out ophthalmic surgery.

As a further improvement of the present invention, the flexible shaft includes a first flexible shaft and a second flexible shaft, and the rigid shaft is disposed between the first flexible shaft and the second flexible shaft; the first flexible shaft is connected with the front end connecting ring, and the second flexible shaft is connected with the operation tail end.

As a further improvement of the present invention, the outer layer coil spring on the second flexible shaft is a closed extension spring, and the inner layer coil spring, the compensation spring and the outer layer coil spring on the first flexible shaft are all compression springs.

As a further improvement of the invention, the cable is arranged in an annular cavity between the inner layer spiral spring and the outer layer spiral spring along the radial direction, and the radius difference of the inner layer spiral spring and the outer layer spiral spring is equal to the diameter of the cable.

As a further improvement of the invention, the device also comprises an illumination imaging module arranged on the front end connecting ring and a tail end control module arranged outside the bracket; the front end connecting ring is a circular ring, the illumination imaging module is arranged on the outer side of the front end connecting ring in an adhesion mode, and the illumination imaging module is electrically connected with the tail end control module.

As a further improvement of the present invention, the illumination imaging module comprises a miniature camera, an LED lamp and a base plate; the LED lamps are uniformly arranged along the circumferential direction of the bottom plate, and the miniature cameras are arranged on the bottom plate; the bottom plate is integrated with a micro camera control circuit to drive the micro camera to work; the lead of the bottom plate passes through the central hole of the inner layer spiral spring to be connected to the end control module.

As a further improvement of the invention, the front end connecting ring can be bent by 180 degrees along any direction, and the bending radius is 0-5 mm.

As a further improvement of the invention, the micro execution end comprises a micro surgical clamp, a rigid rod, a micro linear driving motor and a sliding block component;

the rigid rod is a hollow rigid rod, and one end of the rigid rod is connected with the sliding block assembly;

the connecting end of the miniature surgical forceps is inserted into the other end of the rigid rod, and the connecting end is fixed on a miniature execution end base;

the slider assembly is moved along a pin of a micro actuator base by the micro linear drive motor.

As a further improvement of the invention, the micro execution end further comprises an FBG fiber bragg grating sensor;

the rigid rod is evenly provided with a plurality of FBG fiber bragg grating sensors along the periphery of the rigid rod, and the FBG fiber bragg grating sensors are integrated at one end, close to the micro operating forceps, of the periphery of the rigid rod.

As a further improvement of the invention, the micro execution end also comprises a magnetic position sensor and a magnetic rod;

the side surface of the upper end of the sliding assembly is provided with the magnetic position sensor, and the side surface of the miniature execution end base is provided with the magnetic rod matched with the magnetic position sensor.

Compared with the prior art, the invention has the following advantages:

the invention adopts the spiral spring and the outer spiral spring to replace the traditional compression spring and the universal wheel, so that the cable winding is simpler, and the multi-degree-of-freedom bending of the flexible operating arm is realized by manually or automatically controlling the cable fixed by the tail end bracket in the flexible operating arm. The operating arm is designed into a flexible structure according to the working environment of ophthalmic surgery, is composed of an inner spiral spring, an outer spiral spring and a radial cable in the middle of the inner spiral spring, and can realize bending in any direction in the surgery process according to a parallelogram control principle. The flexible operating arm is adopted to replace the traditional rigid manipulator, so that the structure is small and exquisite, and the action is sensitive. And the micro execution end is integrated on the flexible operation arm, so that the multi-degree-of-freedom and high-precision ophthalmic operation is realized.

Because the external diameter size of inlayer spring and the internal diameter size of skin spring have the difference, and the internal diameter of skin spring is greater than the external diameter of inlayer spring, consequently forms the annular chamber between the two, and inside and outside coil spring radius difference equals with cable diameter size to this eliminates the slip of inside cable.

Furthermore, the front end connecting ring is used for installing the illumination imaging module and the micro execution end, the illumination imaging module provides a visual field for the operation process and transmits images to an external display screen, the flexible shaft realizes multi-degree-of-freedom bending in the operation process, the tail end control module integrates the driving module and the power supply module of the micro execution end while ensuring the normal work of the flexible shaft, and the rigid shaft is connected with the two flexible shafts and improves the rigidity of the operation arm.

Furthermore, the micro execution end has the functions of tactile feedback and low-frequency vibration filtering, can complete corresponding actions according to the command of the main control end, realizes the control of a master-slave mode, and has the advantages of high motion precision, sensitive tactile sense and the like.

Furthermore, the micro operating forceps at the micro executing end of the invention is driven by the micro linear driving motor to complete the opening and closing of the rigid rod, and the opening and closing of the operating forceps manually operated by the traditional ophthalmologist are eliminated; the forceps are designed to be miniature and can pass through a trocar (1.1mm) in an ophthalmic surgery to reach a lesion position for surgery. Miniature operation pincers are according to the removable operation cutter type of pathological change position operation demand in order to satisfy different operation needs, and during cavity rigidity pole passed through the trocar and inserted eyeball, FBG fiber grating sensor realized the measurement of power, and miniature linear drive motor, magnetic force position sensor realized opening and shutting and the accurate judgement in position of operation pincers.

Furthermore, the invention adopts 3 FBG fiber bragg grating sensors which are uniformly distributed on the periphery of the rigid rod, and the FBG fiber bragg grating sensors have the advantages of small size, high sensitivity, good biocompatibility, good bactericidal property, static resistance, electromagnetic noise and the like, and have ultrahigh sensitivity with sub-mN resolution in measurement.

Drawings

The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.

FIG. 1 is a cross-sectional view of a flexible force-sensitive actuator of an ophthalmic surgical robot (normal state);

FIG. 2 is a cross-sectional view of the flexible force sensitive actuator of the ophthalmic surgical robot in a curved configuration;

FIG. 3 is a plan view of the illumination imaging module on the ring plane of the connection ring at the front end of the operation arm II;

FIG. 4 is a perspective view of the micro actuator I;

FIG. 5 is a distribution diagram of FBG fiber bragg grating sensors and a perspective view of a micro surgical clamp in an eyeball;

FIG. 6 is a schematic view of the opening and closing of the driving micro-forceps;

the reference numerals I, II, 1-28 in the

drawings

1, 2, 3, 4, 5 represent:

a micro execution terminal I; an operating arm II; a terminal control module 1; a bracket 2; an inner layer coil spring 3; a compensation spring 4; a tip spring 5; a cable 6; a lead 7; a top spring 8; an inner layer coil spring 9; a front end connection ring 10; an illumination imaging module 11; a flexible shaft 12; a rigid shaft 13; an operational tip 14; a plastic base plate 15; an LED lamp 16; a micro camera 17; a pair of miniature surgical forceps 18; an FBG fiber grating sensor 19; a rigid rod 20; a magnetic position sensor 21; a micro linear drive motor 22; a magnetic bar 23; a slider assembly 24; a lead 25; a set screw 26; a trocar 27; the eyeball 28.

Detailed Description

In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.

Fig. 1 and 2 are sectional structural views of the flexible force-sensitive operating mechanism of the ophthalmic surgical robot of the invention, and two pictures are respectively a normal state and a bending state of the flexible force-sensitive operating mechanism.

The invention relates to a flexible force-sensitive operating mechanism of an ophthalmic surgery robot. The operating arm is designed into a flexible structure according to the working environment of ophthalmic surgery, is composed of an inner spiral spring, an outer spiral spring and a radial cable in the middle of the inner spiral spring, and can realize bending in any direction in the surgery process according to a parallelogram control principle. It includes: the device comprises a front end connecting ring, an illumination imaging module, a flexible shaft, a tail end control module and a rigid shaft. Wherein: the front end connecting ring is used for installing the illumination imaging module and the micro execution end, the illumination imaging module provides a visual field for an operation process and transmits images to an external display screen, the flexible shaft realizes multi-degree-of-freedom bending in the operation process, the tail end control module integrates the driving module and the power supply module of the micro execution end while ensuring the normal work of the flexible shaft, and the rigid shaft is connected with the two flexible shafts and improves the rigidity of the operation arm. The micro execution end plays a role in ophthalmologic operation (such as inner limiting membrane tearing and vitrectomy), has the functions of touch identification and feedback, automatic control of opening and closing of an operating forceps and low-frequency vibration filtering, and comprises: the device comprises a micro operating forceps, a hollow rigid rod, an FBG fiber bragg grating sensor, a micro linear driving motor, a magnetic position sensor and a sliding block assembly. Wherein: miniature operation pincers are according to the removable operation cutter type of pathological change position operation demand in order to satisfy different operation needs, and during cavity rigidity pole passed through the trocar and inserted eyeball, FBG fiber grating sensor realized the measurement of power, and miniature linear drive motor, magnetic force position sensor realized opening and shutting and the accurate judgement in position of operation pincers. The invention can effectively improve the operation precision in the ophthalmologic operation process, inhibit the involuntary movement of a doctor during the operation, and has the advantages of high freedom of movement, low cost, convenient and safe use and the like.

The invention is described in detail below with reference to specific embodiments and the attached drawing figures:

as shown in fig. 2, a flexible force sensitive operating mechanism for an ophthalmic surgical robot, comprising: a robot operating arm II and a micro executing end I.

The operating arm II comprises: the flexible shaft 12, the front end connecting ring 10, the illumination imaging module 11, the tail end control module 1 and the rigid shaft 13. The illumination imaging module 11 is arranged on the front end connecting ring 10, the front end connecting ring 10 is connected with one end of a flexible shaft 12, the other end of the flexible shaft 12 is connected with one end of a rigid shaft 13, the other end of the rigid shaft 13 is connected with another flexible shaft 12, and the flexible shaft 12 is connected with an operation tail end 14.

The inner layer of the operating arm II is provided with an inner layer spiral spring 3 and/or an inner layer spiral spring 9 which are called inner layer spiral springs, the cable 6 is laid on the outer layer of the spiral spring, the cable ring 6 is wrapped on the outer sides of the inner layer spiral spring 3 and the inner layer spiral spring 9, the outer layer of the cable 6 at the specific bending position required by the operating arm II is provided with the outer layer spiral spring, and the bending of the operating arm II in any direction can be realized according to the parallelogram control principle.

The inner coil spring 3 and the inner coil spring 9 may be one inner coil spring connected together or two separate and connected coil springs.

The flexible shaft 12 is a specific bending portion of the operating arm and includes two coil springs, an inner coil spring 9 and an outer coil spring having a diameter larger than that of the inner coil spring 9. Placing the inner helical spring 9 in the outer helical spring creates an annular chamber through which the cable 6 can be guided. The thickness of the annular chamber is 0.6mm, which is equal to the thickness of the cable 6, the cable 6 can be fixed in radial position. In principle, four cables 6 can control the left/right and up/down bending of the front end connection ring 10, and 22 cables 6 uniformly wrapped around the outer side of the inner layer coil spring 9 can control the bending of the front end connection ring in any direction.

The outer layer coil springs comprise a top spring 8 between a front end connecting ring 10 and a rigid shaft 13, a tip spring 5 of the rigid shaft 13 and an operating tip 14, and a compensation spring 4 in the tip, the tip spring 5 being designed as a closed extension spring to increase the stiffness of the rigid shaft and the operating tip 14, the other three springs being compression springs, the compensation spring 4 having a higher spring constant than the top spring 8. The four springs are held in place and prevented from bending.

The front end connecting ring 10 is a front end connecting ring of the operating arm II, is used for limiting the positions of the inner layer spiral spring 9 and the top spring 8, and is used for installing the micro-execution end I and the illumination imaging module 11. The cable 6 is connected with the front end connecting ring 10 in a welding mode of micro automatic spot welding. The front surface of the front end connecting ring 10 is in a ring shape.

As shown in fig. 3, the illumination and imaging module 11 is adhesively mounted at an outer ring of the front surface of the front end connection ring 10, and the illumination and imaging module 11 includes a micro camera 17, an LED lamp 16 and a plastic base plate 15.

The micro-camera 17 is used for shooting a diseased eyeball part and providing a visual field for an operation with the assistance of an OCT imaging instrument, the LED lamps 16 are equally divided along the circumferential direction of the bottom plate and used for emitting light rays, so that the working environment is favorable for the imaging of the micro-camera 17 and an external OCT imaging instrument, and the plastic bottom plate 15 is integrated with a micro-camera control circuit and drives the micro-camera 17 to work. The plastic bottom plate 15 is connected with the tail end control module 1 through an inner hole of an inner layer spiral spring 9 in the front end connecting ring 10, and the lead 7 is used for power supply and signal transmission work of the illumination imaging module 11 and power supply and drive control signal transmission of normal operation work of the micro execution end I.

The terminal control module 1 is used for controlling the pictures of the operation process shot by the micro camera 17 to be transmitted to an external display screen, and providing control and power supply for the illumination imaging module 11 and the operation execution terminal I. The operation end 14 is a rigid hollow structure and is connected with the end spring 5, the inner wall of the operation end is the same as the outer diameter of the compensation spring 4, and the compensation spring 4 is arranged in the hollow of the operation end 14. At the bottom end of the operating end 14, a bracket 2 is mounted to limit the movement of the compensating spring 4 and the inner coil spring 3, and the bracket 2 is connected to the cable 6 by micro spot welding.

In a preferred embodiment, the compensation spring 4 pushes the bracket 2 and the cable 6 loop to the right. A large spring force is generated on the cable so that the top spring 8 is fully compressed in a straight position. The terminal control module can be connected with an external active control module and controls the work of the micro execution end according to an external active control signal.

In a preferred embodiment, parallelogram control is achieved by the interaction of the top spring 8 with the compensation spring 4. The compensating spring 4 pushes the bracket 2 and the cable 6 loop to the right, so that a large elastic force is generated on the cable 6, so that the top spring 8 and the end spring 5 are completely compressed at a straight position to maintain a normal straight state. When the operating end 14 is bent, the lower part of the cable 6 outside the end spring 5 at the bend lengthens, and the lower part of the cable 6 cannot be shortened because the top spring 8 is fully compressed, but the compensation spring 4 in the operating end 14 can shorten, the carriage 2 moves downwards, the tension of the cable 6 in other directions is released, and the force is reduced, so that the cables 6 slide through the operating end 14 and the rigid shaft 13, and the top spring 8 bends at a small radius until reaching the same angle as the bending of the end spring 5. The front end connection ring 10 may be bent 180 deg. in all directions and have a bending radius of at most 5 mm.

The terminal control module 1 can be connected with an external active control module and controls the work of the micro execution end according to an external active control signal.

As shown in fig. 4, the micro-execution end I is used for ophthalmic surgery (such as inner limiting membrane tearing and vitrectomy), and comprises: a micro surgical clamp 18, a rigid rod 20, an FBG fiber grating sensor 19, a micro linear drive motor 22, a pin and slide block assembly 24.

In a preferred embodiment, the front end connecting ring of the micro execution end i performs an inner limiting membrane tearing operation on the surgical clamp 18, and the micro execution end i can realize the functions of touch recognition and feedback, automatic control of opening and closing of the surgical clamp 18 and low-frequency vibration filtering.

The rigid rod 20 is a hollow rigid rod made of nitinol with an outer diameter of about 1mm into which the micro-forceps 18 are inserted, and is connected to the slider assembly 24. The forceps 18 are reusable, cleaned and sterilized before and after each operation, and when the micro forceps 18 are subjected to a number of cycles of operation, the resulting material fatigue and surface property changes degrade the grasping quality and, in the worst case, they may break off during the operation. Thus, prior to this, the micro-forceps 18 are replaced.

The micro surgical clamp 18 is secured to the micro actuator mount by a set screw 26 on the cover. By loosening the set screw 26, the jaws can be easily replaced and switched between different types.

As shown in fig. 5, 3 FBG fiber grating sensors 19 are uniformly arranged along the periphery of the rigid rod 20 at a position closer to the connection ring at the front end of the rigid rod 20, and the included angle of each FBG fiber grating sensor 19 in the circumferential direction is 120 °. The FBG fiber bragg grating sensor 19 has the advantages of small size, high sensitivity, good biocompatibility, good bactericidal property, static resistance, electromagnetic noise and the like. The operating force is usually less than 7.5mN in the vitreous retinal microsurgery of the eyeball 28, and the FBG fiber grating sensor 19 can still have sub-mN resolution in measurement.

As shown in fig. 5, the FBG fiber grating sensor 19 is integrated at the periphery of the rigid rod 20 near one end of the micro surgical forceps 18 for measuring the forces (Fx and Fy) perpendicular to the axis of the micro surgical tool (forceps 18) during the surgical procedure. Modeling the tool shaft as a cantilever beam, when a lateral force is applied to the tool tip, the tool shaft deforms and produces a normal stress on the attached FBG fiber grating sensor 19.

In a preferred embodiment, the hollow rigid rod 20 is attached to the slider assembly 24, and the slider assembly 24 is moved back and forth along the pins of the base by the micro linear drive motor 22. The driving voltage of the micro linear driving motor 22 is controlled by the end control module 1, when the end control module 1 receives an external active signal, the back and forth movement of the micro linear driving motor 22 can be controlled through the lead 25, as shown in fig. 6, the hollow rigid rod 20 carrying the FBG fiber grating sensor 19 is pushed to the front end connection ring by the forward movement, so as to squeeze and close the mouth of the micro surgical forceps 18; the motion in the opposite direction releases and opens the jaws of the microsurgical forceps 18. It requires a travel distance of around 1mm to fully open and close the jaws, which is well below the 7 mm range limit of the miniature linear drive motor 22. The micro linear drive motor 22 has a drive force of about 1N to provide sufficient force in the micro actuation end i top jaw for this task.

During driving, a magnetic position sensor 21 is attached to the upper end position of the slide assembly 24 at the side of the slide, so that the motor position is tracked and detected by the magnetic bar 23 fixed to the side of the base.

In addition to functional requirements, design variables are also limited by application-based facts and manufacturing capabilities. The length of the sliding assembly 24 to the microsurgical forceps 18 to which the rigid rod 20 is attached cannot be greater than 14mm, since the adult eyeball 28 is typically less than 24mm in diameter, with 10mm already occupied by the active section of the FBG fiber grating sensor 19. The width of jaws 18 cannot be increased too much because the instrument must pass through an ophthalmic surgical trocar 27 (about 1.1mm inner diameter). Finally, the connection on the jaws 18 cannot be less than 50 microns, since smaller values would make laser cutting very challenging, or in some cases even impossible depending on the available equipment.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

It is to be understood that the above description is intended to be illustrative, and not restrictive. Many embodiments and many applications other than the examples provided would be apparent to those of skill in the art upon reading the above description. The scope of the present teachings should, therefore, be determined not with reference to the above description, but should instead be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. The disclosures of all articles and references, including patent applications and publications, are hereby incorporated by reference for all purposes. The omission in the foregoing claims of any aspect of subject matter that is disclosed herein is not intended to forego such subject matter, nor should the applicant consider that such subject matter is not considered part of the disclosed subject matter.

Claims

1. A flexible force-sensitive operating mechanism of an ophthalmic surgical robot, comprising: a robot operating arm (II) and a micro execution end (I);

the operating arm (II) comprises: a front end connecting ring (10), an operation tail end (14), an inner layer spiral spring, a cable (6), an outer layer spiral spring and a compensation spring (4); a plurality of cables (6) are laid around the outer layer of the inner layer spiral spring, the outer layer of each cable (6) is provided with an outer layer spiral spring to form a flexible shaft (12), and the outer layer of each cable (6) is provided with a hard sleeve to form a rigid shaft (13); one end of the cable (6) is connected with the front end connecting ring (10), and the other end of the cable (6) is connected with the operation tail end (14); the operation tail end (14) is of a rigid hollow structure, and the compensation spring (4) is mounted on a cable (6) in the operation tail end (14); a bracket (2) and a tail end control module (1) are arranged in the end part of the operation tail end (14), and the bracket (2) is sleeved on the cable (6) and is fixedly connected with the cable (6); one end of the compensation spring (4) is elastically contacted with the inner end of the operation tail end (14), and the other end of the compensation spring is elastically contacted with the inner side of the bracket (2); the end control module (1) is arranged outside the bracket (2);

the micro execution end (I) is arranged on the front end connecting ring (10) and is used for performing ophthalmic surgery.

2. The ophthalmic surgical robot flexible force-sensitive operating mechanism of claim 1, characterized in that the flexible shaft (12) comprises a first flexible shaft and a second flexible shaft, the rigid shaft (13) being arranged between the first flexible shaft and the second flexible shaft; the first flexible shaft is connected with a front end connecting ring (10), and the second flexible shaft is connected with an operation tail end (14).

3. The flexible, force-sensitive operating mechanism of an ophthalmic surgical robot of claim 2, wherein the outer coil spring on the second flexible shaft is a closing extension spring, and the inner coil spring, the compensation spring (4) and the outer coil spring on the first flexible shaft are compression springs.

4. The flexible, force-sensitive operating mechanism of an ophthalmic surgical robot of claim 1, wherein the cable (6) is radially disposed within an annular cavity between the inner and outer coil springs, and wherein the difference in radius between the inner and outer coil springs is equal to the cable diameter.

5. The flexible, force-sensitive operating mechanism of an ophthalmic surgical robot according to claim 1, further comprising an illumination imaging module (11) disposed on the front end connection ring (10) and a tip control module (1) disposed outside the cradle (2); the front end connecting ring (10) is a circular ring, the illumination imaging module (11) is arranged on the outer side of the front end connecting ring (10) in an adhesion mode, and the illumination imaging module (11) is electrically connected with the tail end control module (1).

6. The ophthalmic surgical robot flexible force-sensitive operating mechanism according to claim 5, characterized in that the illumination imaging module (11) comprises a micro camera (17), an LED lamp (16) and a base plate (15); the LED lamps (16) are uniformly arranged along the circumferential direction of the bottom plate (15), and the miniature cameras (17) are arranged on the bottom plate (15); the bottom plate (15) integrates a micro camera control circuit to drive the micro camera (17) to work; and a lead (7) of the bottom plate (15) passes through a central hole of the inner layer spiral spring to be connected to the tail end control module (1).

7. The flexible force sensitive operating mechanism of an ophthalmic surgical robot according to claim 1, wherein the front connecting ring (10) can be bent 180 ° in any direction with a bending radius of 0-5 mm.

8. The flexible force-sensitive operating mechanism of an ophthalmic surgical robot according to claim 1, characterized in that said micro-actuator (i) comprises a micro-forceps (18), a rigid rod (20), a micro-linear drive motor (22) and a slider assembly (24);

the rigid rod (20) is a hollow rigid rod, and one end of the rigid rod (20) is connected with the sliding block assembly (24);

the connecting end of the micro operating forceps (18) is inserted into the other end of the rigid rod (20), and the connecting end is fixed on a micro execution end base;

the slider assembly (24) is moved along a pin of a micro actuator base by the micro linear drive motor (22).

9. The flexible force-sensitive operating mechanism of an ophthalmic surgical robot according to claim 8, characterized in that said micro-actuator (i) further comprises a FBG fiber grating sensor (19);

the rigid rod (20) is uniformly provided with a plurality of FBG fiber bragg grating sensors (19) along the periphery thereof, and the FBG fiber bragg grating sensors (19) are integrated at one end of the periphery of the rigid rod (20) close to the micro surgical forceps (18).

10. The flexible force-sensitive operating mechanism of an ophthalmic surgical robot according to claim 8, characterized in that said micro-actuator (i) further comprises a magnetic position sensor (21) and a magnetic rod (23);

the side surface of the upper end of the sliding assembly (24) is provided with the magnetic position sensor (21), and the side surface of the base of the micro execution end is provided with the magnetic rod (23) matched with the magnetic position sensor (21).