CN109106501B

Movatterモバイル変換

Info

Publication number: CN109106501B
Application number: CN201811170268.4A
Authority: CN
Inventors: 杨洋; 韩少峰; 邬如靖; 贺昌岩
Original assignee: Beihang University
Current assignee: Beihang University
Priority date: 2018-10-09
Filing date: 2018-10-09
Publication date: 2020-10-27
Anticipated expiration: 2038-10-09
Also published as: CN109106501A

Abstract

Translated fromChinese

本发明公开了一种具有力感知功能的眼科手术环切装置，由手柄、六维力传感器和环钻组成。六维力传感器两端通过连接机构分别于环钻和手柄连接，可以实时检测环切力的大小。手柄外侧安装有调速机构，调速机构与直线电位器连接，通过调速机构控制电位器的滑移改变电路电压，建立电压与脉冲之间的关系，进而可以控制步进电机转速；手柄内部的两腔分别安装有联轴器和步进电机，同时步进电机通过联轴器与手柄顶端的编码器连接。本发明的有益效果如下：(1)在环切过程中可实时检测环切力的大小；(2)建立了电压与脉冲之间的关系，通过调速机构电压的变化来改变环钻的转速；(3)本发明整体尺寸较小，操作简单，在手术过程中，医生可以手持器械进行手术操作。

The invention discloses an ophthalmic surgical circumcision device with force sensing function, which is composed of a handle, a six-dimensional force sensor and a trephine. The two ends of the six-dimensional force sensor are connected to the trephine drill and the handle respectively through the connecting mechanism, which can detect the size of the trephine force in real time. A speed regulating mechanism is installed on the outside of the handle, and the speed regulating mechanism is connected with the linear potentiometer. The sliding of the potentiometer is controlled by the speed regulating mechanism to change the circuit voltage, establish the relationship between the voltage and the pulse, and then control the speed of the stepper motor; inside the handle A coupling and a stepping motor are respectively installed in the two cavities of the shaft, and the stepping motor is connected with the encoder at the top of the handle through the coupling. The beneficial effects of the invention are as follows: (1) the size of the ring cutting force can be detected in real time during the ring cutting process; (2) the relationship between the voltage and the pulse is established, and the rotation speed of the trephine drill is changed by the change of the voltage of the speed regulating mechanism (3) The overall size of the present invention is small, and the operation is simple. During the operation, the doctor can hold the instrument to perform the operation.

Description

Translated fromChinese

一种具有力感知功能的眼科手术环切装置An ophthalmic surgical circumcision device with force sensing function

技术领域technical field

本发明涉及一种眼科医疗器械领域，特别涉及一种具有力感知功能的眼科手术环切装置。The invention relates to the field of ophthalmic medical instruments, in particular to an ophthalmic surgical circumcision device with force sensing function.

背景技术Background technique

眼睛是人体重要的感觉器官，人类大脑的80％信息是通过眼睛得到的，若眼部发生疾病将会给人的生活带来极大的不便，其中，角膜疾病和青光眼是发病率较高的眼科疾病。对于圆锥角膜、角膜白斑、顽固性角膜炎等角膜疾病，效果较好的是进行角膜移植，以替代病变的角膜；对于青光眼，效果较好的是进行黏小管成形术，以降低眼内的压力。Eyes are an important sensory organ of the human body. 80% of the information of the human brain is obtained through the eyes. If the eye disease occurs, it will bring great inconvenience to people's life. Among them, corneal diseases and glaucoma have a higher incidence rate. eye disease. For corneal diseases such as keratoconus, leukoplakia, and refractory keratitis, corneal transplantation is more effective to replace the diseased cornea; for glaucoma, mucotubular plasty is more effective to reduce intraocular pressure. .

在这些手术过程中，环切操作是一个重要的操作步骤。角膜移植手术最常用的方法是眼科医生手持环钻做周期性旋转运动并逐步向下按压，以切除病变的角膜；黏小管成形术过程中的第一步便是层切巩膜以找到黏小管的位置。但是这些操作很难获知环切过程中力和速度的大小，容易贯穿眼组织，同时也很难保证环切边缘的整齐度，影响后续操作和愈合效果。因此如何使眼科医生在操作过程中实时获得操作力的大小并能控制环切速度是需要亟待解决的问题。Circumcision is an important procedure in these surgical procedures. The most commonly used method for corneal transplantation is that the ophthalmologist holds a trephine in a periodic rotating motion and gradually presses down to remove the diseased cornea; the first step in the mucotubuloplasty process is to slice the sclera to find the mucous tubules. Location. However, it is difficult to know the force and speed of the circumcision during these operations, and it is easy to penetrate the eye tissue. At the same time, it is difficult to ensure the uniformity of the circumcision edge, which affects the subsequent operation and healing effect. Therefore, how to make the ophthalmologist obtain the size of the operating force in real time and control the speed of the circumcision during the operation is an urgent problem to be solved.

发明内容SUMMARY OF THE INVENTION

本发明的目的是针对现有角膜环钻以及人工层切巩膜的不足，提供一种具有力感知功能的眼科手术环切装置。器械末端环钻与手柄之间安装有六维力传感器，可以实时检测在环切过程中力的变化。手柄外侧安装有调速机构，调速机构末端连接有直线电位器；手柄内部安装有步进电机，步进电机两端分别与外部的六维力传感器与编码器连接。眼科医生通过调速机构以调节直线电位器的滑移，从而改变两端电压，电压与脉冲数成一定的比例关系，进而间接改变电机转速，同时编码器可实时读取电机的转速，以达到控制环切速度的目的。The purpose of the present invention is to provide an ophthalmic surgical circumcision device with force sensing function in view of the deficiencies of the existing corneal trephine and artificial slice sclera. A six-dimensional force sensor is installed between the trephine at the end of the instrument and the handle, which can detect the change of force during the trepanning process in real time. A speed regulating mechanism is installed on the outside of the handle, and a linear potentiometer is connected to the end of the speed regulating mechanism; a stepper motor is installed inside the handle, and both ends of the stepper motor are respectively connected with an external six-dimensional force sensor and an encoder. The ophthalmologist adjusts the slippage of the linear potentiometer through the speed regulating mechanism, thereby changing the voltage at both ends, and the voltage is proportional to the number of pulses, thereby indirectly changing the speed of the motor. At the same time, the encoder can read the speed of the motor in real time to achieve The purpose of controlling the loop cutting speed.

为了达到上述目的，本发明提供如下技术方案：In order to achieve the above object, the present invention provides the following technical solutions:

所述的一种具有力感知功能的眼科手术环切装置，由手柄、力传感器和环钻三部分组成。六维力传感器两端通过连接机构分别于环钻和手柄连接，可以实时检测环切力的大小。手柄外侧安装有调速机构，调速机构与直线电位器连接，通过调速机构控制电位器的滑移改变电路电压，建立电压与脉冲之间的关系，进而可以控制步进电机转速；手柄内部的两腔分别安装有联轴器和步进电机，同时步进电机通过联轴器与手柄顶端的编码器连接。The ophthalmic surgical circumcision device with force sensing function is composed of three parts: a handle, a force sensor and a trephine. The two ends of the six-dimensional force sensor are connected to the trephine drill and the handle respectively through the connecting mechanism, which can detect the size of the trephine force in real time. A speed regulating mechanism is installed on the outside of the handle, and the speed regulating mechanism is connected with the linear potentiometer. The sliding of the potentiometer is controlled by the speed regulating mechanism to change the circuit voltage, establish the relationship between the voltage and the pulse, and then control the speed of the stepping motor; inside the handle A coupling and a stepping motor are respectively installed in the two cavities of the shaft, and the stepping motor is connected with the encoder at the top of the handle through the coupling.

进一步地，环钻与六维力传感器之间通过杯形连接件相连，环钻嵌套在杯型连接件的杯口内，杯口两端有顶丝紧固环钻，防止滑移。Further, the trephine and the six-dimensional force sensor are connected by a cup-shaped connector, the trephine is nested in the cup mouth of the cup-shaped connector, and the two ends of the cup mouth are provided with top wires to fasten the trephine to prevent slippage.

进一步地，六维力传感器与手柄之间通过伞形连接件相连，连接件顶端与力传感器直径相同，连接件末端通过手柄内部的联轴器与步进电机相连。Further, the six-dimensional force sensor and the handle are connected by an umbrella-shaped connecting piece, the top end of the connecting piece has the same diameter as the force sensor, and the end of the connecting piece is connected with the stepping motor through a coupling inside the handle.

进一步地，手柄采用柱形设计结构，由手柄盖和手柄主体两部分组成，两者之间通过螺钉连接。Further, the handle adopts a cylindrical design structure, which is composed of a handle cover and a handle body, and the two are connected by screws.

进一步地，手柄盖是环钻的控制部位，外侧安装有调速机构，末端连接有直线电位器，调速机构采用曲柄滑块机构的运动方式，当手部按压曲柄时可以使直线电位器沿着手柄轴向上下运动，以控制直线电位器的滑移。Further, the handle cover is the control part of the trephine, a speed regulating mechanism is installed on the outside, and a linear potentiometer is connected to the end. The speed regulating mechanism adopts the movement mode of the crank-slider mechanism. Move the handle shaft up and down to control the sliding of the linear potentiometer.

进一步地，调节直线电位器的滑移可以控制两端的电压，通过数据采集卡采集电压信息，并建立电压与步进电机脉冲数之间的关系。Further, adjusting the sliding of the linear potentiometer can control the voltage at both ends, collect the voltage information through the data acquisition card, and establish the relationship between the voltage and the pulse number of the stepping motor.

优选地，电机可选用伺服电机，通过电压的改变控制伺服电机的转速。Preferably, the motor can be a servo motor, and the speed of the servo motor is controlled by changing the voltage.

进一步地，手柄主体内部为空腔结构，中间夹板将空腔分为两部分，前腔安装有联轴器，后腔安装有步进电机，中间夹板同时起到固定步进电机的作用。Further, the interior of the handle body is a cavity structure, and the middle splint divides the cavity into two parts. The front cavity is installed with a coupling, and the rear cavity is installed with a stepping motor.

进一步地，手柄主体前端安装有微型轴承，支撑伞形连接件的旋转，后端安装有编码器，实时读取转速的变化。Further, a miniature bearing is installed at the front end of the handle main body to support the rotation of the umbrella-shaped connector, and an encoder is installed at the rear end to read the change of the rotational speed in real time.

进一步地，环钻分为环形钻和弧形钻，可根据不同手术类型进行更换。Further, trephine drills are divided into annular drills and arc drills, which can be replaced according to different types of operations.

进一步地，环钻有两种运动模式，单向旋转和交替旋转，交替旋转角度为60°，两种模式之间通过手柄中间部分的切换按钮进行切换。Further, the trephine has two movement modes, one-way rotation and alternate rotation, the alternate rotation angle is 60°, and the two modes are switched by the switch button in the middle part of the handle.

优选地，交替旋转角度可通过控制面板进行调节。Preferably, the alternating rotation angle can be adjusted through the control panel.

本发明的有益效果在于：The beneficial effects of the present invention are:

本发明可以在环切过程中实时检测环切力的大小，医生可以根据环切力的大小来控制手术操作过程中的按压力。The invention can detect the size of the circumcision force in real time during the circumcision process, and the doctor can control the pressing force during the operation according to the size of the circumcision force.

本发明通过调节直线电位器的滑移改变其两端电压，建立了电压与脉冲之间的关系，进而通过电压的变化就可以控制电机转速变化。The invention changes the voltage between the two ends of the linear potentiometer by adjusting the slippage, and establishes the relationship between the voltage and the pulse, and then the change of the motor speed can be controlled by the change of the voltage.

本发明手柄尺寸较小，操作简单，在手术过程中，医生可以手持器械进行手术操作。The size of the handle of the invention is small and the operation is simple. During the operation, the doctor can hold the instrument to perform the operation.

附图说明Description of drawings

图1本发明环钻装置的总体结构示意图1 is a schematic diagram of the overall structure of the trephine device of the present invention

图2本发明手柄内部结构示意图2 is a schematic diagram of the internal structure of the handle of the present invention

图3本发明环钻运动和停止状态下调速开关位置示意图3 is a schematic diagram of the position of the speed switch in the movement and stop state of the trephine according to the present invention

图4本发明环钻装置的两种运动模式Fig. 4 Two movement modes of the trephine device of the present invention

图5本发明弧形钻结构示意图5 is a schematic diagram of the structure of the arc drill of the present invention

具体实施方式Detailed ways

以下结合附图对本发明进行详细说明。The present invention will be described in detail below with reference to the accompanying drawings.

一种具有力感知功能的眼科手术环切装置，图1和图2分别为本发明角膜环切器械的总体结构示意图和手柄内部结构示意图，包括：手柄1，编码器2，直线电位器3，调速机构4，六维力传感器5，杯形连接件6，环钻7，伞形连接件8，联轴器Ⅰ9，步进电机10，联轴器Ⅱ11，模式切换按钮12。An ophthalmic surgical circumcision device with force sensing function, Fig. 1 and Fig. 2 are respectively a schematic diagram of the overall structure of the corneal circumcision instrument of the present invention and a schematic diagram of the internal structure of the handle, including: ahandle 1, anencoder 2, alinear potentiometer 3,Speed regulating mechanism 4, six-dimensional force sensor 5,cup connector 6,trephine 7,umbrella connector 8, coupling I9,stepping motor 10, coupling II11,mode switch button 12.

由图1所示，手柄1外侧安装有调速机构4，调速机构末端连接有直线电位器3，调速机构4采用曲柄滑块机构的运动方式，当手部按压曲柄时可以使直线电位器3沿着手柄轴向上下运动，以控制直线电位器3的滑移。As shown in Figure 1, aspeed regulating mechanism 4 is installed on the outside of thehandle 1, and alinear potentiometer 3 is connected to the end of the speed regulating mechanism. The speed regulatingmechanism 4 adopts the movement mode of a crank-slider mechanism. Thepotentiometer 3 moves up and down along the axis of the handle to control the sliding of thelinear potentiometer 3 .

直线电位器3与外部电路连接，调节直线电位器3的滑移可以改变其两端电压，通过数据采集卡采集两端电压信息，并建立电压与脉冲多少之间的关系，通过电压的大小控制步进电机10转速的快慢。Thelinear potentiometer 3 is connected to the external circuit. Adjusting the slip of thelinear potentiometer 3 can change the voltage at both ends. The data acquisition card collects the voltage information at both ends, and establishes the relationship between the voltage and the number of pulses, which is controlled by the magnitude of the voltage. The speed of the speed of thestepping motor 10.

六维力传感器5下部通过杯形连接件6与环钻7相连，上部通过伞形连接件8与手柄1相连，这种结构可以测量环切过程中环切力的大小。The lower part of the six-dimensional force sensor 5 is connected with thetrephine 7 through the cup-shaped connectingpiece 6, and the upper part is connected with thehandle 1 through the umbrella-shaped connectingpiece 8. This structure can measure the magnitude of the circumcision force during the circumcision process.

由图2所示，中间夹板将手柄1分为两个空间腔体，前腔安装有联轴器Ⅰ9，后腔安装有步进电机10，步进电机10固定在中间夹板上，同时通过联轴器Ⅱ11与手柄1后端的编码器2连接，可以实时检测步进电机10转速。As shown in Fig. 2, thehandle 1 is divided into two space cavities by the middle splint, the coupling I9 is installed in the front cavity, and thestepper motor 10 is installed in the rear cavity. The shaft II11 is connected with theencoder 2 at the rear end of thehandle 1, and can detect the speed of the steppingmotor 10 in real time.

由图3所示，当调速机构4处于自然状态图3(a)时，直线电位器3的滑块处于最下端，此时两端没有电压，环钻处于静止状态；当向下按压调速机构4时，直线电位器3的滑块向上运动，环钻开始运动图3(b)，并且随着直线电位器3滑块的向上运动，环钻转速逐渐加快；当直线电位器3滑移到最顶端图3(c)，环钻转速达到最大值。As shown in Figure 3, when thespeed regulating mechanism 4 is in the natural state as shown in Figure 3(a), the slider of thelinear potentiometer 3 is at the lowest end, there is no voltage at both ends, and the trephine is in a static state; When thespeed mechanism 4 is turned on, the slider of thelinear potentiometer 3 moves upward, and the trephine begins to move as shown in Figure 3(b). Move to the topmost Figure 3(c), the trephine rotation speed reaches the maximum value.

由图4所示，环钻有两种运动模式，单向旋转图4(a)和交替旋转图4(b)，通过手柄中间部分的模式切换按钮12可以进行两种模式之间的切换。As shown in Fig. 4, the trephine has two motion modes, one-way rotation Fig. 4(a) and alternate rotation Fig. 4(b), and themode switching button 12 in the middle part of the handle can switch between the two modes.

由图5所示，弧形钻不同于环形钻，其结构是由一定弧度的刀片组成，同时结合两种运动模式可以实现不同眼科手术操作。As shown in FIG. 5 , the arc drill is different from the annular drill in that its structure is composed of a blade with a certain arc, and different ophthalmic surgical operations can be realized by combining two motion modes at the same time.

本发明不限于上述示范性实例的细节，并且在不背离本发明基本特征的情况下，能够以其他的具体形式实现本发明，均应将本发明看作是示范性的。本发明范围由所附权利要求限定，因此旨在将落在权利要求的等同条件的含义和范围内的所有变化涵盖在本发明内，不应将权利要求中任何附图标记视为限制所涉及的权利要求。同时，上述具体实施方式仅为清楚起见，本领域技术人员应将说明书视为整体，上述实施方法中的步骤可以适当组合改变，但不偏离本发明基本原理和特征，形成本领域技术人员可理解的其他实施方式。The invention is not limited to the details of the above-described exemplary examples, and the invention can be embodied in other specific forms without departing from the essential characteristics of the invention, all of which should be considered as exemplary. The scope of the invention is defined by the appended claims, all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims shall not be construed as limiting claims. Meanwhile, the above-mentioned specific embodiments are only for the sake of clarity, and those skilled in the art should take the description as a whole, and the steps in the above-mentioned implementation method can be appropriately combined and changed, but do not deviate from the basic principles and characteristics of the present invention, so that those skilled in the art can understand other implementations.

Claims

1. An ophthalmic surgical ring cutting device with force sensing, characterized in that: the method comprises the following steps: the device comprises a handle (1), an encoder (2), a linear potentiometer (3), a speed regulating mechanism (4), a six-dimensional force sensor (5), a cup-shaped connecting piece (6), a trephine (7), an umbrella-shaped connecting piece (8), a coupler I (9), a stepping motor (10), a coupler II (11) and a mode switching button (12); the circular cutting speed of the trephine (7) can be controlled through the speed regulating mechanism (4) arranged on the outer side of the handle (1), the two modes of unidirectional rotation and alternate rotation can be switched through the mode switching button (12), meanwhile, the six-dimensional force sensor is arranged between the trephine (7) and the handle (1), and the circular cutting force in the circular cutting process can be detected in real time.

2. An ophthalmic surgical ring cutting device with force sensing capability according to claim 1, characterized in that: a speed regulating mechanism (4) is installed on the outer side of the handle (1), the tail end of the speed regulating mechanism is connected with a linear potentiometer (3), the speed regulating mechanism (4) adopts a motion mode of a crank slider mechanism, and when a crank is pressed by a hand, the linear potentiometer (3) can move up and down along the axial direction of the handle to control the sliding of the linear potentiometer (3).

3. An ophthalmic surgical ring cutting device with force sensing capability according to claim 1, characterized in that: the linear potentiometer (3) is connected with an external circuit, the voltage at two ends of the linear potentiometer (3) can be changed by adjusting the slippage of the linear potentiometer, the voltage information at two ends is collected through a data acquisition card, the relation between the voltage and the number of pulses is established, and the rotating speed of the stepping motor (10) is controlled through the voltage.

4. An ophthalmic surgical ring cutting device with force sensing capability according to claim 1, characterized in that: handle (1) inside is divided into two space cavitys, and shaft coupling I (9) are installed to the antechamber, and step motor (10) are installed to the back chamber, and step motor (10) are fixed on middle splint, are connected with encoder (2) of handle (1) rear end through shaft coupling II (11) simultaneously, can real-time detection step motor (10) rotational speed.

5. An ophthalmic surgical ring cutting device with force sensing capability according to claim 1, characterized in that: the lower part of the six-dimensional force sensor (5) is connected with the trephine (7) through the cup-shaped connecting piece (6), the upper part of the six-dimensional force sensor is connected with the handle (1) through the umbrella-shaped connecting piece (8), and the size of the circular cutting force in the circular cutting process can be measured in real time.

6. An ophthalmic surgical ring cutting device with force sensing capability according to claim 1, characterized in that: when the speed regulating mechanism (4) is in a natural state, the slide block of the linear potentiometer (3) is at the lowest end, no voltage is applied to the two ends at the moment, the trephine is in a static state, when the speed regulating mechanism (4) is pressed downwards, the slide block of the linear potentiometer (3) moves upwards, the trephine starts to move, and the rotating speed of the trephine is gradually increased along with the upward movement of the slide block of the linear potentiometer (3).

7. An ophthalmic surgical ring cutting device with force sensing capability according to claim 1, characterized in that: the trephine (7) is set with two movement modes: unidirectional rotation and alternate rotation; the two modes are switched by a mode switching button (12) on the handle (1).

8. An ophthalmic surgical ring cutting device with force sensing capability according to claim 1, characterized in that: the trephine (7) is divided into an annular drill and an arc drill; the arc drill is composed of blades with certain radian, and different ophthalmic surgery operations can be realized by combining two motion modes simultaneously.