眼科手术微振动操作模块的设计与研究

In surgical operation such as ophthalmic surgery, the micro vibration of the end of the surgical instrument can potentially reduce the required operation force. Therefore, a micro vibration module is proposed that can be integrated into the end-effector of the ophthalmic surgical robot to drive the surgical instrument to generate micro vibration. The micro vibration module is a kind of parallel compliant mechanism. The micro vibration module is composed of three parallel branch chains and a constrained central column. Each parallel branch chain contained two series-driven units, and the micro-vibration operation is performed through the flexible deformation of the drive unit and the central column. Then, the pseudo-rigid body model is used to describe the bending deformation of the driving unit and the center column, and the kinematics model of the micro vibration module is derived. Based on the analysis of the influence of the branch structure parameters on the performance of the micro vibration module, the branch structure parameters are determined. Finally, the performance of the micro vibration module is verified through experiments. Experimental results show that the micro vibration module can perform micro-vibrations at 30 Hz, 14 μm and 30 Hz, 18 μm in the direction of two degrees of freedom. At the same time, the experimental results verify the effectiveness of the proposed method.