机器人辅助视网膜下注射系统的设计与实现

Subretinal injection of human embryonic stem cells is an effective procedure for treating retinal degeneration, which imposes high demands on the precision, stability, and safety of the surgical procedure. To address these challenges, a robot-assisted retinal surgery system based on a master-slave control approach is proposed. The system utilizes a master robot to control a slave robot during the subretinal injection operation. By constructing the direct and inverse kinematic models of the slave robot, the precise motion requirements for the subretinal injection are determined. Additionally, the system incorporates the concept of the remote center of motion (RCM) to adjust the position of the surgical instruments during remote motion. A velocity mapping model is derived to facilitate the adjustment of the RCM point, state transitions, and separation process during the procedure.The validation of the system’s accuracy and stability is conducted through ex vivo porcine eyeball subretinal puncture injection experiments, simulating the conditions of intraocular surgery. The results demonstrate that the robot-assisted system exhibits stable needle maintenance and precise motion, indicating its superiority over manual procedures in terms of reducing trauma to the retina and achieving more stable injections. This technology represents a advancement in microsurgery techniques, enhancing the precision and safety of subretinal injection procedures for the treatment of retinal degeneration.