Ophthalmic robot end effector for vitreous body-retina surgery

The invention discloses an ophthalmic robot end effector for vitreous body-retina surgery. The end effector is composed of a linear motion portion, a rotating portion and a micro force sensing portion, and comprises a stepping motor I, a motor installing base I, a connecting block, a motor installing base II, a coupler, a microsurgery hook, fiber Bragg grating sensors, a stepping motor II, a baffle, a sliding rail, a sliding block, a lead screw nut and a sliding rail connecting base. By means of changes of wavelengths of three fiber Bragg grating sensors evenly distributed on the pipe diameterof the microsurgery hook, radial force can be measured, and axial torque can be measured. 本发明公开了种用于玻璃体-视网膜手术的眼科机器人末端器，该末端器由直线运动部分、旋转部分和微力传感部分组成，包括：步进电机Ⅰ，电机安装座Ⅰ，连接块，电机安装座Ⅱ，联轴器，显微手术钩，光纤光栅传感器，步进电机Ⅱ，挡板，滑轨，滑块，丝杠螺母，滑轨连接座。本发明利用均匀分布在显微手术钩管径上三根光纤光栅传感器波长的变化，不仅可以实现对径向力的测量，还可以实现对轴向力矩的测量。