面向眼内手术的主操作器设计与零力控制方法研究

Represented by intravitreal injection of retinal vessels, intraocular surgeries require doctors to achieve long-term, micron-level precision operations within the narrow space of the eye. Due to the physiological tremor and limited haptic perception of the human hand, this procedure is currently challenging to apply in clinical practice. Master-slave surgical robots provide a feasible solution to address this issue, where doctors control the slave robot through a master manipulator to perform the surgery, thereby avoiding the limitations mentioned above and their impact on surgical outcomes. However, the commonly used master manipulators are designed for general environments and their degrees of freedom and control methods are not suitable for intraocular surgeries, resulting in a high learning cost for doctors. To address this problem, a primary manipulator targeting intraocular surgery is proposed. The configuration and structural design, prototype fabrication and assembly were conducted, followed by the identification of dynamic parameters and the design and validation of a torque-based zero-force control algorithm for the primary manipulator.