Research Of Robot Assisted Eye Surgery System Based On Teleoperation Control

In recent years,with the increasing prevalence of ophthalmic diseases and the continuous development of intelligent technology,master-slave ophthalmic microsurgery robot has gradually become the focus of research.In this paper,a master-slave ophthalmic surgery robotic system is built for cataract surgery.To solve the safety problem of robotic surgery in narrow space,a multi-layer security constraint model is established,and based on the constraint model,the optimal surgical path is planning is finished.In order to achieve personalized surgical treatment,this paper not only realizes automatic pupil recognition,but also studies the effect of the interaction of surgical instruments on eye's rotation.The accuracy of the robot system is verified on the basis of experiments,and achieved good results.When the puncture of surgical instruments between the cornea and sclera during cataract surgery,the effect of puncture moment on the rotation of extraocular muscles was studied in order to investigate the effect of puncture moment on the rotation of extraocular muscles.According to the anatomical parameters,a finite element model of the extraocular muscles was established to analyze the rotation of the eyeball caused by the puncture forces of different sizes and directions.The non-linear relationship between the puncture moment and the rotation angle of the eyeball was found by simulation.In robotic assisted surgery,in order to determine the position of the eye and solve the problem that the position of the eye may change during the operation,image recognition is used to realize the position tracking of the eye coordinates.The camera is used to sample and recognize eyes in different positions and postures,the experimental results show that the recognition accuracy is high and the tracking reliability is good.Based on above works,according to the characteristics of the operation area,the operation constraint model was established and the different constraint areas were divided.Combining the constraints and the clinical operation process,the motion planning of the robotassisted operation is carried out to realize the different control of the robot in different motion stages.According to the hardware requirement of the master-slave robotic platform,Omega.6 force feedback master and UR5 robot is used for the master and slave hand respectively?The visual operation interface is written based on Qt and C++ for the control of the robot system.According to the precision requirements of operation,the master-slave tracking accuracy of the robot is verified,and the results show that the tracking error is within 1 mm.Considering the situation that the surgical instruments need to move around the remote motion center in operation,a remote center of motion control algorithm with master-slave heterogeneous operation is proposed.Based on the algorithm,The RCM motion control of the surgical robot is successfully realized,and the vector motion of the robot is dynamically compensated.When the robot simulates the real operation,the corresponding stability control algorithm is adopted in the motion of the robot to control the robot more smoothly and reduce the vibration of the instrument,and the experimental results show that the motion of the robot changes more smoothly.In order to improve the operator's sense of experience and the situation that the eyeball needs to rotate under special circumstances during the operation,a dynamic constraint space with virtual force feedback is established to feedback the interaction force between the device and the eyeball to the operator.The experimental results show that when the constraints change,the force feedback to the main hand will also change significantly.