Kinematic Analysis of Ophthalmic Surgical Robot

In ophthalmic surgery, doctors are faced with a series of problems, such as the poor accuracy of surgery, the loss of internal visual field of eyeball, and the damage of the internal pathological structure and function of eyeball caused by the slight non autonomous shaking of hands. With the advantages of tactile force feedback, high precision and good stability, the ophthalmic surgical robot can effectively solve these problems, which has great research and development value. According to the working environment of ophthalmic surgery and the operation requirements of doctors, this paper presents the design of an ophthalmic surgery robot with 6 degrees of freedom and double parallelogram structure, it has a `fixed point' to ensure the safe and smooth operation, and its end effector can have three degrees of freedom actions: shear, rotation and swing. Then, the coordinate system of ophthalmic surgery robot is established according to D-H method, and the forward and inverse kinematics are calculated and analyzed to determine the motion trajectory and pose transformation of the end effector of the robot. The spatial point distribution and trajectory of the robot end effector are simulated, and the change of motion parameters is analyzed. Finally, Omega. 7,an active manipulator with excellent performance and precision, is selected.and its inverse kinematics is solved. The angle information of the driving motor of each joint is calculated, which is used as the input of the controller of the end effector of the robot, which lays the foundation for the master-slave control of the ophthalmic surgery machine.