CN105286778A

CN105286778A - Cornea location system and location method

Info

Publication number: CN105286778A
Application number: CN201510646206.6A
Authority: CN
Inventors: 王维博; 张斌
Original assignee: SHENZHEN AINIER CORNEA ENGINEERING Co Ltd
Current assignee: SHENZHEN AINIER CORNEA ENGINEERING Co Ltd
Priority date: 2015-09-30
Filing date: 2015-09-30
Publication date: 2016-02-03
Anticipated expiration: 2035-09-30
Also published as: CN105286778B

Abstract

The invention discloses a cornea location system and a location method, and relates to the field of a medical instrument, in order to improve the accuracy in cornea location and to reduce labor amount. The cornea location system comprises a mechanical arm component, an image recognition system, a background component and a calculation and location system, wherein the background component is arranged in a mode of being relative to the image recognition system, and the calculation and location system is connected to the image recognition system; the background component is used for providing background light; the image recognition system is used for acquiring an image formed by the background light of the background component penetrating through a cornea packaging body which is clamped by the mechanical arm component; and the calculation and location system is used for analyzing and calculating the image acquired by the image recognition system so as to acquire the positional information of the cornea. The cornea location system disclosed by the invention is applicable to cornea location.

Description

A kind of cornea navigation system and localization method

Technical field

The present invention relates to medical instruments field, particularly relate to a kind of cornea navigation system and localization method.

Background technology

Keratopathy is the second diseases causing blindness in global range, and with the speed increase of annual 150-200 ten thousand case.The unique effective method of corneal blindness is treated in corneal transplantation at present, and the source of corneal transplantation materials mainly cornea donation and cornea succedaneum, as cell-eliminating coanea matrix etc.Although the success rate of corneal transplantation is quite high, rate of rejection is very low, and after corneal transplantation, the recovery of eye eyesight is but very not as people's will, and main performance is exactly irregular astigmatism, because corneal transplantation cannot overcome the existence of irregular astigmatism.How namely a difficult problem in current corneal transplantation locate cornea.

In prior art, the location of cornea is before corneal graft, do corneal curvature and corneal topography inspection, obtain the positional information of cornea, auxiliary positioning is carried out owing to needing to place cornea locating ring when carrying out cornea location in prior art, this positioning step is more loaded down with trivial details, and the error probability of system is higher.

Summary of the invention

Embodiments of the invention provide a kind of cornea navigation system and localization method, to improve the accuracy in cornea location, reduce the amount of labour.

For achieving the above object, on the one hand, The embodiment provides a kind of cornea navigation system, comprise: robot assemblies, image identification system, the background assemblies be oppositely arranged with described image identification system, and the compute location system be connected with described image identification system; Wherein, described robot assemblies is used for the cornea package body that cornea to be positioned is housed to move between described image identification system and described background assemblies;

Described background assemblies is used for providing bias light;

Described image identification system is used for, and obtains the image that described cornea package body is formed under the effect of described bias light;

Described compute location system is used for, and carries out analytical calculation, obtain the positional information of described cornea to the image that described image identification system obtains.

The cornea navigation system that the embodiment of the present invention provides, cornea package body is for holding cornea to be positioned, when needing the cornea in corneal package body to position, by robot assemblies, cornea package body is moved between image identification system and background assemblies, background assemblies is utilized to provide background illumination firing angle film package body, by the image that the bias light obtaining the cornea package body that described background assemblies clamps through described robot assemblies in image identification system is formed, further, by compute location system, analytical calculation is carried out to the image that described image identification system obtains, obtain the positional information of described cornea.The cornea navigation system that the embodiment of the present invention provides not only can improve efficiency and the accuracy of cornea location, and reduces workman's amount of labour.

Second aspect, embodiments of the invention additionally provide a kind of localization method of cornea, comprise the following steps: clamped the cornea package body that cornea to be positioned is housed by robot assemblies at initial position;

By robot assemblies, described cornea package body is moved between image identification system and background assemblies;

There is provided bias light by described background assemblies, and obtain by image identification system the image that described cornea package body formed under the effect of described bias light;

Utilize compute location system to carry out analytical calculation to the image that described image identification system obtains, obtain the positional information of described cornea.

The localization method of the cornea that the embodiment of the present invention provides, when needs corneal is located, can cornea to be positioned be contained in cornea package body, by robot assemblies, the cornea package body that cornea to be positioned is housed is moved between image identification system and background assemblies, bias light is provided by background assemblies, the image that described cornea package body formed under the effect of described bias light is obtained by image identification system, now, utilize compute location system to carry out analytical calculation to the image that image identification system obtains, just can obtain the positional information of cornea.The cornea navigation system that the embodiment of the present invention provides not only can improve the accuracy in cornea location, and reduces workman's amount of labour.

Accompanying drawing explanation

In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.

The axonometric chart of the cornea navigation system that Fig. 1 provides for the embodiment of the present invention one;

The top view of the cornea navigation system that Fig. 2 provides for the embodiment of the present invention one;

The structural representation of the background assemblies that Fig. 3 provides for the embodiment of the present invention one;

The structural representation when background assemblies that Fig. 4 provides for the embodiment of the present invention one and image identification system are located;

The structural representation of the clamp assemblies that Fig. 5 provides for the embodiment of the present invention one;

The structural representation of the sample stage that Fig. 6 provides for the embodiment of the present invention one;

The structural representation of the compute location system that Fig. 7 provides for the embodiment of the present invention one;

The flow chart one of the cornea navigation system that Fig. 8 provides for the embodiment of the present invention two;

The flowchart 2 of the cornea navigation system that Fig. 9 provides for the embodiment of the present invention two;

The flow chart 3 of the cornea navigation system that Figure 10 provides for the embodiment of the present invention two;

The flow chart one of the cornea navigation system that Figure 11 provides for the embodiment of the present invention three;

The flowchart 2 of the cornea navigation system that Figure 12 provides for the embodiment of the present invention three;

The flow chart 3 of the cornea navigation system that Figure 13 provides for the embodiment of the present invention three;

The flow chart four of the cornea navigation system that Figure 14 provides for the embodiment of the present invention three;

The flow chart five of the cornea navigation system that Figure 15 provides for the embodiment of the present invention three;

The flow chart six of the cornea navigation system that Figure 16 provides for the embodiment of the present invention three.

Detailed description of the invention

Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.

In describing the invention, it will be appreciated that, orientation or the position relationship of the instruction such as term " " center ", " on ", D score, " afterwards ", "left", "right", " vertically ", " level ", " top ", " end ", " interior ", " outward " they be based on orientation shown in the drawings or position relationship; be only the present invention for convenience of description and simplified characterization; instead of instruction or imply the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore can not be interpreted as limitation of the present invention.In describing the invention, except as otherwise noted, the implication of " multiple " is two or more.X, Y-axis both direction are defined as in the present invention: X-horizontal cross shaft; The vertical pivot of Y-vertical.

Embodiment one

On the one hand, see Fig. 1 and Fig. 2, see a kind of cornea navigation system that Fig. 1 and Fig. 2 provides for the embodiment of the present invention, comprise: robot assemblies 5, image identification system 7, the background assemblies 1 be oppositely arranged with image identification system, and the compute location system 8 be connected with image identification system 7; Wherein, robot assemblies 5 for, the cornea package body (in Fig. 1, non-figure goes out) that cornea to be positioned is housed is moved between image identification system 7 and background assemblies 1; Background assemblies 1, for providing bias light; Image identification system 7 for, obtain the image that described acquisition cornea package body is formed under the effect of described bias light; Compute location system 8 (not shown in FIG.), carries out analytical calculation for the image obtained image identification system 7, obtains the positional information of cornea.

The cornea navigation system that the embodiment of the present invention provides, when needs corneal is located, cornea can be loaded in cornea package body, by robot assemblies, the cornea package body that cornea to be positioned is housed is moved between image identification system and background assemblies, bias light is provided, the image formed under the effect of described bias light by cornea package body described in image identification system by background assemblies; Then, utilize compute location system to carry out analytical calculation to the image that image identification system obtains, just can obtain the positional information of cornea.The cornea navigation system that the embodiment of the present invention provides not only can improve the accuracy in cornea location, and reduces workman's amount of labour.

Wherein, the embodiment of the present invention does not do concrete restriction to the material of described cornea package body, shape and size, preferably, conveniently the bias light that provides of background assemblies forms image through when being equipped with the described cornea package body of cornea to be positioned, preferably, the cornea package body of the embodiment of the present invention adopts ganoid transparent homogeneous materials, makes the bias light provided when background assemblies 1 directly can penetrate the cornea being arranged in cornea package body and makes it form image at described location screen 11;

Wherein, when being in clamped condition to make described robot assemblies 5, described cornea package body can be clamped, preferably, the shape of this cornea package body described can design according to the clamping shape of the clamp assemblies 53 of described robot assemblies 5, exemplary, the shape that the clamp assemblies 53 that described cornea package body can be designed to described robot assemblies 5 easily clamps, the embodiment of the present invention is not restricted this.As long as when described robot assemblies 5 is in clamped condition, described cornea package body can be clamped and drive described cornea package body to move.

Wherein, the thickness of described cornea package body, should be less than or equal to when described robot assemblies 5 clamp assemblies 53 be in open mode time maximumly open distance, the embodiment of the present invention does not limit this.

Wherein, the cornea in corneal package body does not limit, and all corneas of location that needs all can as cornea of the present invention.

Wherein, the concrete structure of described image identification system 7 is not construed as limiting, as long as described image identification system 7 can the image that formed of the bias light of cornea package body that clamps through robot assemblies 5 of background extraction assembly.Preferably, the image identification system 7 of the embodiment of the present invention is photographic head, the image that the bias light that this photographic head is used for the cornea package body that scanning background assembly 1 clamps through robot assemblies 5 is formed, to obtain the image that cornea is formed through bias light.

As shown in Figure 3, further, background assemblies 1 comprises location screen 11 and light source 12, and described light source 12 is arranged on the rear relative to described image identification system 7 of described location screen 11.

Wherein, the material of the embodiment of the present invention to described location screen 11 is not construed as limiting, can select as required, in order to the cornea in corneal package body is accurately located, exemplary, in actual applications, a two-dimensional coordinate system can be set on described location screen 11, the X-axis of coordinate system is the left edge that 11 lower frames are shielded in this location, Y-axis is the described location screen 11 adjacent with lower frame, optional position on this location screen 11 can utilize the coordinate (x, y) in this coordinate system to identify.Such as, in actual applications, when bias light forms image through the cornea package body that robot assemblies 5 clamps on this location screen 11, record each pixel in this image and be in position A (x1, y1) in coordinate system, B (x2, y2) ... N (xn, yn).

Wherein, the concrete color of light source 12 of the embodiment of the present invention to the rear of location screen 11 is not construed as limiting, if described light source 12 can provide bias light that this bias light clamp through robot assemblies 5 cornea package body time locating on screen 11 and can form image.

Preferred further, in order to obtain location cornea positioning image more accurately, the center of described photographic head is arranged on the vertical center line of described location screen 11.See Fig. 4, exemplary, can adopt same cross template 2, whether calibrate the center of the image identification system 7 i.e. center of photographic head and described location screen 11 just to setting, preferably, this cross template 2 prints with acetate ink.

Conveniently cornea package body moves with vertical direction in the horizontal direction, robot assemblies 5 comprises and moves horizontally assembly 52, vertically moving assembly 51 and clamp assemblies 53, moving horizontally assembly 52 can drive vertical moving assembly 51 and clamp assemblies 53 to move back and forth along the horizontal direction being parallel to screen 11 surface, described location, and vertical moving assembly 51 can drive clamp assemblies 53 to move back and forth along the vertical direction being parallel to screen 11 surface, described location.

The embodiment of the present invention is to moving horizontally assembly 52, the concrete structure of vertical moving assembly 51 and clamp assemblies 53 does not limit, preferred further, the described assembly 52 that moves horizontally comprises the first actuator (not shown in FIG.), horizontal guide rail 521, be arranged at the horizontal screw lead in described horizontal guide rail 521, and the first nut 522 to coordinate with described horizontal screw lead, described first nut 522 is slidably connected with described horizontal guide rail 521, described first actuator can drive described horizontal screw lead to rotate, described vertical moving assembly 51 is fixedly connected with described first nut 522,

Described vertical moving assembly 51 comprises the second actuator, upright guide rail, the second nut of being arranged at the vertical leading screw in described upright guide rail and coordinating with described vertical leading screw, described second nut and described upright guide rail are slidably connected, and described second actuator can drive described vertical screw turns.

Wherein, the embodiment of the present invention does not limit the first driven unit and the second driven unit, exemplary, vertical moving assembly 51 and clamp assemblies 53 is driven to move back and forth in the horizontal direction in order to make to move horizontally assembly 52, preferably, the first driven unit of the embodiment of the present invention and the second driven unit can adopt motor.Described first nut 522 drives described horizontal screw lead rotate thus slide in described horizontal guide rail by the first actuator, and drive vertical moving assembly 51 and cornea package body to move in the horizontal direction, when second nut slides along upright guide rail, cornea package body can be driven to move up and down, therefore, under the effect moving horizontally assembly 52, cornea package body can realize moving horizontally, under the effect of vertical moving assembly 51, cornea package body can realize moving up and down, thus realizes the movement of cornea package body.

Exemplary, manual adjustments can be realized to make robot assemblies 5, preferably, one end of horizontal guide rail 521 is provided with rotary switch, when rotating described rotary switch, described horizontal screw lead can be driven to rotate, vertical moving assembly 51 and clamp assemblies 53 are moved in the horizontal direction, thus realize needing fine setting at robot assemblies 5 or when breaking down, manually rotating this rotary switch and can realize this robot assemblies 5 and move in the horizontal direction along vertical moving assembly 51 and clamp assemblies 53.

It should be noted that, can robot assemblies 5, image identification system 7, background assemblies 1 and compute location system be placed in frame 3 as shown in Figure 1 in actual mechanical process, this frame 3 is provided with stop button 10 for controlling the running status of whole navigation system, control this navigation system when navigation system breaks down and be in halted state, button 11 returns back to initial position for controlling robot assemblies.

See Fig. 4 and Fig. 5, cornea package body can be clamped in order to make robot assemblies 5 thus drive its in the horizontal direction or vertical direction move, preferably, clamp assemblies 53 comprises: support component, first hold assembly 531, second hold assembly 533, reset components and driver part 15;

Wherein, the centre of the first hold assembly 531 and the second hold assembly 533 is respectively arranged with location window 532; Described first hold assembly 531 is fixed on described support component, and described first hold assembly 531 and described second hold assembly 533 are oppositely arranged, and are connected by reset components between described first hold assembly 531 and described second hold assembly 533.

Described clamp assemblies 53 can be driven to clamp described cornea package body to make driver part 15, preferably, described driven unit 15 comprises motor 151, swing arm 152 is connected with at the output shaft of described motor 151, described swing arm 152 away from one end of described motor 151 output shaft and described second hold assembly 533 against, when described motor 151 is energized, the output shaft of described motor 151 drives described swing arm 152 to swing near the direction of described second hold assembly 533, described swing arm 152 can promote described second hold assembly 533 and rotate to the direction of described first hold assembly 531, until described first hold assembly 531 and the second hold assembly 533 fit, and then make described clamp assemblies 53 be in clamped condition, when the output shaft of described motor stops driving described swing arm 152 to swing, described second hold assembly 533 rotates to the direction away from described first hold assembly 531 under the effect of described return unit, and then makes described clamp assemblies 53 be in open mode.

It should be noted that, during normality, namely this clamp assemblies 53 is not in duty, this hold assembly 53 is in open mode, state as shown in Figure 4, the reset components being positioned at the first hold assembly 531 and the second hold assembly 533 is not subject to External Force Acting and is in original state, time in working order, swing arm 152 is driven to apply external force to described second hold assembly 533 by motor 151, described second hold assembly 533 is rotated to described first hold assembly 531 under the extruding of swing arm 152 externally applied forces, the reset components between the first hold assembly 531 and the second hold assembly 533 is made to be subject to the axial compressive force of the second hold assembly 533 and the applying of the first hold assembly 531, and there is deformation, and then make the first hold assembly 533 and the second hold assembly 533 be in clamped condition, when the external force putting on the second hold assembly 533 disappears, namely motor 151 quits work, swing arm 152 is not driven to apply external force to the second hold assembly 533, first hold assembly 531 and the second hold assembly 533 return to normality under the effect of reset components.

Described swing arm 152 is driven to apply external force to described second hold assembly 533 in order to make driver part 15, preferably, the driver part 15 of the embodiment of the present invention is driven by motor (not shown in FIG.), when described motor 151 is energized, motor 151 drives described driver part 15 to rotate, described driver part 15 drives described swing arm 152 to apply external force to described second hold assembly 533, when described motor 151 power-off, driver part 15 stops operating, the external force being applied to the second hold assembly 533 disappears, clamp assemblies 53 returns to normality under the effect of reset components.

It should be noted that, in actual applications, the driver part 15 of the embodiment of the present invention also can apply external force by described swing arm 152 and to the first hold assembly 531, first hold assembly 531 be rotated to the second hold assembly 533 under the effect being subject to external force, the embodiment of the present invention does not limit this, can clamp cornea package body when can only make the first hold assembly 531 and the second hold assembly 533 in working order.

Example, when needs clamping cornea package body, when clamp assemblies 53 is in the normal state, the cornea package body that cornea to be positioned is housed is positioned between the first hold assembly 531 and the second hold assembly 533 and keeps; Be energized to described motor 151, described in described driven by motor, driver part 151 rotates, thus drive described swing arm 152 to rotate, make one end away from described motor 151 output shaft of described swing arm 152 extrude described second hold assembly 533 to rotate towards described first hold assembly 531, and then the cornea package body that cornea to be positioned is housed is clamped by the first hold assembly 531 and the second hold assembly 533 pressed home parts under the effect of external force.

Need illustrate time, in order to obtain better cornea positioning image, when described clamp assemblies 53 clamp described cornea package body between described image identification system 7 and described background assemblies 1 time, the center of described location window 532 and the center of described location screen 11 are just to setting.

Wherein, the concrete shape of the embodiment of the present invention to the first hold assembly 531 and the second hold assembly 533 does not limit, exemplary, can design according to the shape of described cornea package body, such as, described first hold assembly 531 and described second hold assembly 533 described first hold assembly 531 and the second hold assembly 533 can be designed to lamellar, as long as can clamp described cornea package body.

Wherein, the embodiment of the present invention does not limit described reset components, exemplary, and described reset components can adopt elastomeric element, the coefficient of elasticity of the embodiment of the present invention to described elastomeric element is not specifically limited, as long as when described elastomeric element can make the first hold assembly 531 be in open mode with described second hold assembly 533, the maximum thickness opening distance and be more than or equal to described cornea package body between first hold assembly 531 and described second hold assembly 533, or when motor 151 drives described second hold assembly 533 of described swing arm 152 rotation extruding to rotate towards described first hold assembly 531, the elastomeric element being positioned at the first hold assembly 531 and the second hold assembly 533 can make the first hold assembly 531 and the second hold assembly 533 can clamp described cornea package body when deformation occurs in external force extruding, preferably, described elastomeric element is spring.

See Fig. 6, conveniently cornea package body is moved to the below of hold assembly, the embodiment of the present invention also comprises sample stage 4, this sample stage 4 is for placing cornea package body (not shown in FIG.), the concrete structure of described sample stage 4 is not limited, this sample stage 4 is arranged at the below of clamp assemblies 53 initial position, sample stage 4 is provided with stopper slot 41, stopper slot 41 is positioned at the first hold assembly 531 when being in clamped condition with described second hold assembly 533, between the first hold assembly 531 and described second hold assembly 533 immediately below crack.

Example, in actual applications cornea package body is moved to the below of described hold assembly 53 initial position along the stopper slot 41 of described sample stage 4.The width of this stopper slot 41 is identical with the thickness of described cornea package body.Also can be moved to below clamp assemblies 53 initial position by cornea package body along stopper slot 41 by master control system by manually being moved along stopper slot 41 by cornea package body, the embodiment of the present invention is not restricted this.

Wherein, described initial position is the init state that described clamp assemblies 53 is preset on described robot assemblies 5.Described default original state can, according to systemic presupposition, also can be after last cornea has been located, the optional position that clamp assemblies 53 is residing on described robot assemblies 5.

Wherein, compute location system is centered by computer, adopts mathematical technique method, processes accordingly according to specific purpose the image that a system front end obtains.The digital image processing system comprising various input, output and display device carries out, after continuous print analog image is become discrete digital picture, with being based upon the programme-control that specific physical model and mathematical model basis are worked out, running and realizing the process of all requirements.This compute location system can adopt prior art to realize, and the embodiment of the present invention is not restricted this.

See Fig. 7, exemplary, the compute location system 100 of the embodiment of the present invention comprises:

Image capture module 1011, obtains the parameter information of each pixel in described image for gathering image identification system;

Image analysis module 1012, for the parameter threshold scope according to setting, obtains parameter information described in described image and meets the pixel of described threshold range;

Framing module 1013, for being defined as the position of described cornea by the described coordinate meeting the pixel of described threshold range.

Exemplary, example is orientated as with described cornea, the image be positioned on the screen of location formed by bias light that photographic head gets is collected by image capture module, described image is converted to 24 RGB images, namely obtain the parameter information of each pixel in image, described parameter information at least comprises the width B w of image in units of pixel, height B h, image resolution ratio Bf and coordinate; Preferably, the present invention is described for the coordinate of each pixel in image, the coordinate position being arranged in each image slices vegetarian refreshments of coordinate system is obtained by acquisition module, by comparing being arranged in coordinate position corresponding to each pixel of coordinate system with the coordinate position pre-set, choose the coordinate position of each pixel meeting default coordinate position threshold range, by the position of cornea described in the coordinate setting of satisfactory pixel.

Wherein, the coordinate position pre-set can for compute location system pre-set also can for get according to the mutual relation between the coordinate of each image slices vegetarian refreshments in coordinate system.

Exemplary, for the parameter threshold scope according to setting, obtain parameter information described in described image and meet the pixel of described threshold range, also comprise:

The pixel of described image is classified by the coordinate position according to being arranged in each pixel of coordinate system corresponding, pixel coordinate position being met certain constraints divides a class into, such as, some pixel being arranged in coordinate system meets certain Linear Constraints, this is met Linear Constraints and the pixel near Linear Constraints side-play amount divides a class into, choose and meet Linear Constraints and the pixel near Linear Constraints side-play amount coordinate position corresponding in a coordinate system, by the position of cornea described in the coordinate setting of satisfactory pixel.

It should be noted that, this Linear Constraints also can be obtained according to each pixel Dispersion rules in a coordinate system by systemic presupposition.

Or in coordinate system a certain the best pixel centered by and a certain threshold value preset draw border circular areas for side-play amount, divide the pixel dropped in this border circular areas into a class, choose the coordinate position of the pixel dropped in this border circular areas, by the position of cornea described in the coordinate setting of satisfactory pixel.

It should be noted that, the pixel of this best also can be able to be the most satisfactory pixel that the position relationship corresponding in a coordinate system according to each pixel be chosen for presetting the pixel arranged, for side-play amount, the present invention is not restricted, in actual applications, user according to the demand of oneself by systemic presupposition, also can choose according to the distribution in a coordinate system of each pixel.

In a preferred embodiment of the present invention, in order in corneal position fixing process, Automated condtrol is carried out in each operating process, reduce the manual intervention in cornea position fixing process, the Machinery Control System that the cornea navigation system of the embodiment of the present invention also comprises master control system and is connected with described master control system, described Machinery Control System is electrically connected with described robot assemblies, for controlling described robot assemblies by transparent and the cornea package body filling cornea moves between described image identification system and described background assemblies;

Described master control system is electrically connected with described image identification system and compute location system respectively, for controlling described image identification system and compute location system, when described cornea package body moves between described image identification system and described background assemblies by described robot assemblies, obtain the image that described cornea package body is formed under the effect of described bias light; And, analytical calculation is carried out to the image that described image identification system obtains, obtains the positional information of described cornea.

It should be noted that, the embodiment of the present invention is in actual application, Machinery Control System controls described robot assemblies 5 according to the control signal that master control system sends and moves between described image identification system 7 and described background assemblies 1 by described cornea package body, when described cornea package body moves between described image identification system 7 and described background assemblies 1, described cornea package body is moved to signal feedback between described image identification system 7 and described background assemblies 1 to described master control system by Machinery Control System, now, background assemblies 1 can be controlled by described master control system and bias light is provided, the background assemblies 1 that also can make manually provides bias light, the embodiment of the present invention is not restricted this.

Preferably, the embodiment of the present invention can provide the bias light of solid colour by background assemblies, so that the cornea package body that described bias light clamps through described clamp assemblies 53 forms image in described location screen 11.

In sum, in the whole operating process of cornea navigation system, by described Machinery Control System, Automated condtrol is carried out to each operating process, decrease the manual intervention in cornea navigation system, the accuracy that cornea is located can be submitted to.

Wherein, described Machinery Control System adopts Embedded A rcus controller, this Arcus controller has 8 digital input ports and 8 digital output ports, input port is used for obtaining instruction from master control system and is moved between background assemblies 1 and image identification system 7 and when the center position coordinates that described image identification system 7 detects described location window 532 is not mated with described default centre coordinate by cornea package body, when namely there is deviation, adjusted according to the center of described deviation to described location window 532 by Arcus controller.The instruction that output port is used for sending according to described master control system is to described master control system feedback completion status.

Wherein, described master control system 14 can comprise one or more microprocessor 13, memorizer, user interface, network interface and communication bus.

Communication bus is for controlling the communication in cornea navigation system between each building block.User interface is used for grafting external equipment, such as touch screen, mouse and keyboard etc., to receive the information of user's input.Network interface is used for described controller and intercommunication is carried out in outside, and this network interface mainly includes line interface and wave point.

Memorizer can be used for storing software program and module, data base, programmed instruction/module that the cornea localization method as described in the embodiment of the present invention is corresponding and Machinery Control System control described robot assemblies drive as described in cornea package body moves in the horizontal direction or programmed instruction/module vertically corresponding to movement or background assemblies provide bias light corresponding programmed instruction/module or compute location system to as described in the image that obtains of image identification system carry out the programmed instruction/module of analytical calculation.Memorizer can comprise high speed random access memory, also can comprise nonvolatile memory, as one or more magnetic storage device, flash memory or other non-volatile solid state memories.In some instances, memorizer can comprise the memorizer relative to the long-range setting of microprocessor further, and these remote memories can be connected to described control appliance by network.The example of above-mentioned network includes but not limited to the Internet, intranet, LAN, mobile radio communication and combination thereof.

Microprocessor 13 is by running the software program instructions and module that are stored in memorizer, thus perform the application of various function and date processing, such as, processor takes off the application program of location by the cornea called in memorizer, to realize realizing cornea position fixing process fast and accurately, control described robot assemblies by the Machinery Control System called in memorizer and move corresponding programmed instruction/module, to realize driving described cornea package body to move in the horizontal direction or the process of vertically movement.

Preferably, microprocessor of the present invention adopts the output of Arduinopro, this Arduinopro to connect the digital input port of Arcus controller, and the input of Arduinopro connects master control system.

In sum, above-mentioned master control system is in control procedure, can to realizing Automated condtrol in each operating procedure, only the operation sequence set is inputed to described master control system 14, called the application program be stored in described master control system 14 in actual applications by microprocessor 13, just can complete whole operating process.

Embodiment two:

See Fig. 8, on the other hand, the embodiment of the present invention additionally provides a kind of cornea localization method, is applied to the cornea navigation system described in above-described embodiment, comprises the following steps:

S101, clamped the cornea package body that cornea to be positioned is housed by robot assemblies 5 at initial position;

S102, by robot assemblies, described cornea package body is moved between image identification system 7 and background assemblies 1;

S103, provide bias light by described background assemblies 1, and obtain by image identification system the image that described cornea package body formed under the effect of described bias light;

S104, utilize compute location system to carry out analytical calculation to the image that described image identification system obtains, obtain the positional information of described cornea.

The cornea localization method that the embodiment of the present invention provides, when need to transparent and fill in the cornea package body of cornea to be positioned cornea location time, first clamp transparent by robot assemblies at initial position and fill the cornea package body of cornea to be positioned, then by robot assemblies, cornea package body is moved between image identification system and background assemblies, then the bias light of solid colour is provided by background assemblies, and the image that the bias light passing through the cornea package body that image identification system background extraction assembly clamps through robot assemblies is formed; Finally, utilize compute location system to carry out analytical calculation to the image that image identification system obtains, obtain the positional information of cornea.This cornea localization method not only can improve the hole accuracy of cornea location, and reduces workman's amount of labour.

Wherein, described robot assemblies comprises and moves horizontally assembly 52, vertically moving assembly 51 and clamp assemblies 53, the described assembly 52 that moves horizontally can drive vertical moving assembly 51 and clamp assemblies 53 to move back and forth along the horizontal direction being parallel to screen 11 surface, described location, and described vertical moving assembly 51 can drive clamp assemblies 53 to move back and forth along the vertical direction being parallel to screen 11 surface, described location; The described assembly 52 that moves horizontally comprises the first actuator, horizontal guide rail, the first nut of being arranged at the horizontal screw lead in described horizontal guide rail and coordinating with described horizontal screw lead, described first nut and described horizontal guide rail are slidably connected, described first actuator can drive described horizontal screw lead to rotate, and described vertical moving assembly is fixedly connected with described first nut; Described vertical moving assembly comprises the second actuator, upright guide rail, the second nut of being arranged at the vertical leading screw in described upright guide rail and coordinating with described vertical leading screw, described second nut and described upright guide rail are slidably connected, and described second actuator can drive described vertical screw turns;

See Fig. 9, exemplary, specifically can be realized by following steps for step S102:

S1021, open described second actuator, described second actuator drives described vertical screw turns, drive described clamp assemblies from described initial position along the vertical movement being parallel to described location screen surfaces, described cornea package body and described image identification system and described background assemblies be in phase co-altitude time, close described second actuator;

S1022, open described first actuator, described first actuator drives described horizontal screw lead to rotate, described vertical moving assembly and described clamp assemblies is driven to move along the horizontal direction being parallel to described location screen surfaces, when described cornea package body is between described image identification system and described background assemblies, close described first actuator.

Further, conveniently robot assemblies drive cornea package body in the horizontal direction or vertical direction move, preferably, support component, the first hold assembly, the second hold assembly, reset components and driver part;

Wherein, the centre of described first hold assembly and the second hold assembly is respectively arranged with location window; Described first hold assembly is fixed on described support component, described first hold assembly and described second hold assembly are oppositely arranged, and connected by reset components between described first hold assembly and described second hold assembly, described driver part comprises motor, the output shaft of described motor is connected with swing arm, described swing arm away from one end of described motor output shaft and described second hold assembly against;

Exemplary, step S101 can realize especially by following steps:

S1011, to close at described motor, when described second hold assembly and described first hold assembly present open mode under the effect of described reset components, the described cornea package body that cornea to be positioned is housed to be positioned between described first hold assembly and described second hold assembly and to keep;

Wherein, when described motor cuts out, the external force be applied on described second hold assembly and described first hold assembly disappears, described second hold assembly and described first hold assembly return to initial position under the effect of reset components, the first hold assembly now and the second hold assembly rely on the elastic force of reset components self to be in open mode, when described first hold assembly and described second hold assembly are in open mode, the distance between the first hold assembly and described second hold assembly should be more than or equal to the thickness of described cornea package body.

S1012, open described motor, the output shaft of described motor drives described swing arm to swing near the direction of described second hold assembly, described swing arm promotes described second hold assembly and rotates, until described first hold assembly and the second hold assembly fit to the direction of described first hold assembly.

Wherein, by opening described motor, external force is applied to described swing arm, swing arm is rotated thus is driven swing arm to extrude described second hold assembly and rotates towards described first hold assembly under the drive of described motor, and then the reset components between described first hold assembly and described second hold assembly is extruded thus the described transparent and cornea package body filling cornea to be positioned clamps by described first hold assembly and described second hold assembly.

Further, described cornea package body refers between described image identification system and described background assemblies: center and the described center of shielding of locating of the location window of described clamp assemblies are just right.In order to better obtain the accuracy of cornea location, the size and location of described location window are not construed as limiting, as long as when cornea package body is between described image identification system and described background assemblies, by move horizontally center that assembly 52 and vertical moving assembly 51 make the center of the location window 532 of described clamp assemblies 53 and described location screen 11 just to, namely

See Figure 10, exemplary, step S104 specifically can be realized by following steps:

S1041, described image identification system obtain the parameter information of each pixel in described image;

S1042, according to setting parameter threshold scope, obtain parameter information described in described image and meet the pixel of described threshold range;

S1043, the described coordinate meeting the pixel of described threshold range is defined as the position of described cornea.

Embodiment three

See Figure 11, the embodiment of the present invention provides a kind of preferred cornea localization method, the preferred cornea navigation system that this cornea localization method provides based on the embodiment of the present invention, and described method comprises:

S201, described Machinery Control System control described robot assemblies and clamp the cornea package body that cornea to be positioned is housed at initial position;

S202, described Machinery Control System control described robot assemblies and move between image identification system and background assemblies by described cornea package body;

S203, described master control system controls described background assemblies provides bias light, and controls described image identification system and obtain the image that described cornea package body formed under the effect of described bias light;

S204, described master control system control described compute location system and carry out analytical calculation to the image that described image identification system obtains, and obtain the positional information of described cornea.

See Figure 12, exemplary, can specifically comprise the following steps for step S201:

S2011, described Machinery Control System receive the sign on of user's input;

Concrete, user in the instruction of the operation interface input uncapping machine mechanical arm component operation of Machinery Control System, such as, can start the operation button being arranged on the operation interface of Machinery Control System sends instruction from uncapping machine mechanical arm component operation to mechanical arm control system.Wherein, the operation interface of Machinery Control System can with reference to operation interface shown in Figure 13.Operation interface left part 1001 is for the running state information of display machines mechanical arm component integration, as the initial position of robot assemblies, current location, predeterminated position, distance etc. between current location and initial position, interface right part 1002 is for controlling the running status of mechanical arm control system, as run button 10021 for inputting the sign on of uncapping machine mechanical arm component operation, navigation button 10022, for robot assemblies being moved to predeterminated position by limit sensors, initial button 10023 is returned to original position for making robot assemblies in operation, emergency stop push button 10024 is for stopping the kinestate of robot assemblies and Machinery Control System, button 10025 is set, for arranging the operational factor moving to predeterminated position of robot assemblies, return push-button 10026 is for exiting the operation interface of mechanical arm control system.

It should be noted that, Figure 13 is only the exemplary operation interface schematic diagram providing a kind of Machinery Control System, and certainly, also may there is other possible operation interface, the embodiment of the present invention does not do concrete restriction to this.

The sign on that described user inputs is transferred to described master control system by S2012, described Machinery Control System;

S2013, described Machinery Control System receive the positioning instruction that described master control system sends according to described sign on;

S2014, described Machinery Control System control described robot assemblies according to described positioning instruction and return back to initial position;

S2015, described Machinery Control System send the first signal to described master control system, and described first signal is used to indicate described robot assemblies and returns back to initial position;

S2016, described Machinery Control System receive the first control signal that described master control system sends, and clamp the cornea package body that cornea to be positioned is housed at initial position according to described first control signal.

Further, conveniently controller controls described cornea package body and moves with vertical direction in the horizontal direction, move horizontally assembly 52, vertically moving assembly 51 and clamp assemblies 53, the described assembly 52 that moves horizontally can drive vertical moving assembly 51 and clamp assemblies 53 to move back and forth along the horizontal direction being parallel to screen 11 surface, described location, and described vertical moving assembly 51 can drive clamp assemblies 53 to move back and forth along the vertical direction being parallel to screen 11 surface, described location; The described assembly 52 that moves horizontally comprises the first actuator, horizontal guide rail, the first nut of being arranged at the horizontal screw lead in described horizontal guide rail and coordinating with described horizontal screw lead, described first nut and described horizontal guide rail are slidably connected, described first actuator can drive described horizontal screw lead to rotate, and described vertical moving assembly is fixedly connected with described first nut; Described vertical moving assembly 51 comprises the second actuator, upright guide rail, the second nut of being arranged at the vertical leading screw in described upright guide rail and coordinating with described vertical leading screw, described second nut and described upright guide rail are slidably connected, and described second actuator can drive described vertical screw turns;

Described initial position comprises the coordinate that described second nut is formed at the second initial value of described horizontal guide rail at the first initial value and described first nut 522 of described upright guide rail;

Exemplary, step S2014 specifically can be realized by following steps:

S20141, described Machinery Control System detect described first nut at the currency of described horizontal guide rail and the described second nut currency at described upright guide rail;

If described second nut of S20142 is the first initial value at the currency of described upright guide rail, described first nut is not the second initial value at the currency of described horizontal guide rail, then described Machinery Control System controls described first actuator unlatching, drives described vertical moving assembly and described clamp assemblies to move to described second initial value along described horizontal guide rail;

If described second nut of S20143 is not the first initial value at the currency of described upright guide rail, described first nut is the second initial value at the currency of described horizontal guide rail, then described second nut of described Machinery Control System control drives described clamp assemblies to move to described first initial value along described upright guide rail;

If described second nut of S20144 is not the first initial value at the currency of described upright guide rail, described first nut is not the second initial value at the currency of described horizontal guide rail, described Machinery Control System controls described first nut and drives described clamp assemblies to move to move to described second initial value along described horizontal guide rail, and controls described first nut and drive described clamp assemblies to move to described first initial value along described upright guide rail.

Wherein, described first initial value preset by master control system or by master control system according to described second nut at the currency of described upright guide rail and described first nut at the currency of horizontal guide rail and the position acquisition between described first initial value and the second initial value.

Conveniently Machinery Control System controls robot assemblies clamping cornea package body,

Exemplary, described Machinery Control System controls described robot assemblies and clamps transparent at initial position and fill the cornea package body of cornea to be positioned, comprising:

Described Machinery Control System controls described motor and closes, and described second hold assembly and described first hold assembly present open mode under the effect of described return unit;

The described cornea package body that cornea to be positioned is housed to be positioned between described first hold assembly and described second hold assembly and to keep;

Described Machinery Control System is through preset duration, described motor is opened in the second moment, the output shaft of described motor drives described swing arm to swing near the direction of described second hold assembly, described swing arm promotes described second hold assembly and rotates, until described first hold assembly and the second hold assembly fit to the direction of described first hold assembly.

Wherein, the Time dependent that the described cornea package body that cornea is housed clamps to described first hold assembly and described second hold assembly by the distance of described preset duration by systemic presupposition or when being in open mode by master control system according to described first hold assembly and described second hold assembly, described second moment makes described first hold assembly and described second hold assembly be in the Time dependent of open mode by systemic presupposition or by master control system according to described elastomeric element, when this clamp assemblies is in open mode, distance between first hold assembly and the second hold assembly should be more than or equal to the thickness of described cornea package body, namely the rate calculations that makes described first hold assembly and described second hold assembly be in open mode by the distance between described first hold assembly and described second hold assembly and described elastomeric element obtains described second moment.

Exemplary, described Machinery Control System controls described robot assemblies and moves between image identification system and background assemblies by described cornea package body, comprising:

Described Machinery Control System controls described second actuator and opens, and drives described clamp assemblies from described first initial value along described upright guide rail slide downward first distance;

Described upright guide rail slide downward first apart from after, described Machinery Control System controls described second actuator and closes, and what make described cornea package body and described image identification system and described background assemblies is in phase co-altitude;

Described Machinery Control System controls described first actuator and opens, described vertical moving assembly and described clamp assemblies is driven to move second distance from the second initial position to first direction along described horizontal guide rail, wherein, described first direction is the direction of described horizontal guide rail towards position between described image identification system and background assemblies;

After described first nut moves second distance along described horizontal guide rail to first direction, described Machinery Control System controls described first actuator and closes, and makes described cornea package body between described image identification system and described background assemblies.

See Figure 14, be the operation interface schematic diagram of embodiment of the present invention Machinery Control System as shown in figure 14, left-hand operation interface 1101 is for showing this robot assemblies 5 at Y-axis (upright guide rail), positional information in X-axis (horizontal guide rail), such as, first initial position, second initial position and the first distance, second distance, east side operation interface 1102 is for controlling the parameter of robot assemblies 5, such as, navigation button 11021A, for driving described clamp assemblies 53 from described first initial value along described upright guide rail slide downward first distance on the second nut by limit sensors, navigation button 11021B, for driving described vertical moving assembly 51 and described clamp assemblies 53 to move second distance from the second initial position to first direction along described horizontal guide rail on the first nut by limit sensors, initial button 110022 is returned to the first initial position and the second initial position for making robot assemblies 5 in operation, stop button 110023A makes the stop motion on vertical rail of the second nut after moving to the first distance when clamp assemblies 53 along upright guide rail, stop button 11023B for making the stop motion on horizontal slide rail of the first nut when clamp assemblies 53 after horizontal rail moves to second distance, button 11024 is set, for arranging the parameter at vertical rail and horizontal rail predeterminated position of robot assemblies, return push-button 11025 is for exiting the operation interface of mechanical arm control system.

It should be noted that, Figure 14 is only the exemplary operation interface schematic diagram providing a kind of Machinery Control System, and certainly, also may there is other possible operation interface, the embodiment of the present invention does not do concrete restriction to this.

Wherein, described first distance is preset according to the second nut difference in height residing for the first initial position of vertical rail and image identification system 7 and described background assemblies 1 by master control system, and second distance is preset according to second initial position of the first nut in horizontal rail and image identification system 7 and described background assemblies 1 alternate position spike in the horizontal direction by master control system.

In order to make locating effect more accurate, control described robot assemblies 5 at described Machinery Control System described cornea package body is moved to after between image identification system 7 and background assemblies 1, described master control system controls described compute location system and carries out analytical calculation to the image that described image identification system 7 obtains, before obtaining the positional information of described cornea, described method also comprises:

Described master control system controls described image identification system and described Machinery Control System makes the center of the location window of described clamp assemblies be positioned on the vertical center line of described location screen.

See Figure 15, exemplary, described master control system controls described image identification system and described Machinery Control System makes the center of the location window of described clamp assemblies be positioned on the vertical center line of described location screen, comprising:

S2021, control described robot assemblies at described Machinery Control System described cornea package body is moved to after between image identification system and background assemblies, described Machinery Control System sends secondary signal to described master control system, moves between image identification system and background assemblies to indicate described cornea package body;

S2022, described master control system send the second control signal according to described secondary signal to described image identification system;

S2023, described image identification system detect the center position coordinates of described location window according to described second control signal;

The center position coordinates of described location window is mated with the centre coordinate preset by S2024, described image identification system;

If the center position coordinates of the described location window of S2025 is not mated with the centre coordinate preset, then the deviation information between the center position coordinates of described location window and default centre coordinate is sent to described master control system by described image identification system;

Described deviation information is sent to described Machinery Control System by S2026, described master control system;

S2027, described Machinery Control System adjust according to the center of described deviation information to described location window.

It should be noted that, when cornea package body moves between image identification system and 7 background assemblies 1 by robot assemblies 5, factor due to each side can make the center of location window there are differences with the centre coordinate preset, such as, can be the difference that Operation system setting deviation causes, therefore master control system will check whether the center position coordinates of described location window 532 there are differences with the centre coordinate preset after getting secondary signal, when a discrepancy exists, make it consistent with predeterminated position by Machinery Control System according to the center of deviation information adjustment location window 532, the center facilitating photographic head in follow-up position fixing process like this can be just right with the center of location window, thus improve the degree of accuracy of whole navigation system.

See Figure 16, exemplary, embodiments of the invention also comprise:

If S301 described compute location system carries out analytical calculation to the image that described image identification system obtains, determine the relevant information that there is not cornea in described image, then send the 3rd signal to described master control system;

S302, described master control system send the 3rd control signal according to described 3rd signal to described Machinery Control System;

S303, described Machinery Control System control described robot assemblies according to described 3rd control signal and return back to initial position.

It should be noted that, in actual mechanical process, owing to not limiting the cornea of needs location, therefore when positioning, the information that there is not cornea in the image of bias light formation may be appeared at, at this moment, in order to improve the Accuracy and high efficiency of location, by master control system, the information not getting cornea can be sent to control system, control Machinery Control System and robot assemblies is returned back to the location that initial position carries out next cornea.

A kind of cornea localization method that the embodiment of the present invention provides, when needing the cornea location to be positioned in corneal package body, Machinery Control System is firmly equipped with the cornea package body of cornea to be positioned at initial position first controller mechanical arm clamp, then cornea package body moves between image identification system and background assemblies by Machinery Control System control robot assemblies, then master control system controls the bias light that background assemblies provides solid colour, and the image that the bias light controlling the cornea package body that image identification system background extraction assembly clamps through robot assemblies is formed, finally, master control system controls described compute location system and carries out analytical calculation to the image that described image identification system obtains, and obtains the positional information of described cornea.This cornea localization method not only can improve the hole accuracy of cornea location, and reduces workman's amount of labour.

The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; change can be expected easily or replace, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of described claim.

Claims

1. a cornea navigation system, is characterized in that, comprising:

Robot assemblies, image identification system, the background assemblies be oppositely arranged with described image identification system, and the compute location system be connected with described image identification system; Wherein, described robot assemblies is used for the cornea package body that cornea to be positioned is housed to move between described image identification system and described background assemblies;

Described background assemblies is used for providing bias light;

2. cornea navigation system according to claim 1, is characterized in that, described image identification system comprises photographic head, and described background assemblies comprises location screen and light source, and described light source is arranged on the rear relative to described image identification system of described location screen.

3. cornea navigation system according to claim 2, is characterized in that, the center of described photographic head is arranged on the vertical center line of described location screen.

4. cornea navigation system according to claim 2, it is characterized in that, described robot assemblies comprises and moves horizontally assembly, vertically moving assembly and clamp assemblies, the described assembly that moves horizontally can drive vertical moving assembly and clamp assemblies to move back and forth along the horizontal direction being parallel to described location screen surfaces, and described vertical moving assembly can drive clamp assemblies to move back and forth along the vertical direction being parallel to described location screen surfaces.

5. cornea navigation system according to claim 4, it is characterized in that, the described assembly that moves horizontally comprises the first actuator, horizontal guide rail, the first nut of being arranged at the horizontal screw lead in described horizontal guide rail and coordinating with described horizontal screw lead, described first nut and described horizontal guide rail are slidably connected, described first actuator can drive described horizontal screw lead to rotate, and described vertical moving assembly is fixedly connected with described first nut;

Described vertical moving assembly comprises the second actuator, upright guide rail, the second nut of being arranged at the vertical leading screw in described upright guide rail and coordinating with described vertical leading screw, described second nut and described upright guide rail are slidably connected, and described second actuator can drive described vertical screw turns.

6. cornea navigation system according to claim 5, is characterized in that, described clamp assemblies comprises:

Support component, the first hold assembly, the second hold assembly, reset components and driver part;

Wherein, the centre of described first hold assembly and the second hold assembly is respectively arranged with location window, described first hold assembly is fixed on described support component, described first hold assembly and described second hold assembly are oppositely arranged, and connected by reset components between described first hold assembly and described second hold assembly, described driver part comprises motor, the output shaft of described motor is connected with swing arm, described swing arm away from one end of described motor output shaft and described second hold assembly against, when the output shaft of described motor drives described swing arm to when swinging near the direction of described second hold assembly, described swing arm can promote described second hold assembly and rotate to the direction of described first hold assembly, until described first hold assembly and the second hold assembly fit, when the output shaft of described motor stops driving described swing arm to swing, described second hold assembly rotates to the direction away from described first hold assembly under the effect of described return unit.

7. cornea navigation system according to claim 6, is characterized in that:

When described clamp assemblies clamp described cornea package body between described image identification system and described background assemblies time, the center of described location window is positioned on the vertical center line of described location screen.

8. cornea navigation system according to claim 5, it is characterized in that, one end of described horizontal screw lead is provided with rotary switch, when rotating described rotary switch, described horizontal screw lead can be driven to rotate, described vertical moving assembly and clamp assemblies are moved in the horizontal direction.

9. cornea navigation system according to claim 6, it is characterized in that, also comprise sample stage, described sample stage is arranged at the below of described clamp assemblies initial position, described sample stage is provided with stopper slot, described stopper slot is positioned at described first hold assembly and described second hold assembly when being in clamped condition, between described first hold assembly and described second hold assembly immediately below crack;

Wherein, described initial position is the init state that described clamp assemblies is preset on described robot assemblies.

10. a cornea localization method, is characterized in that, be applied to cornea navigation system according to claim 1, described method comprises:

Clamped the cornea package body that cornea to be positioned is housed by robot assemblies at initial position;

11. methods according to claim 10, it is characterized in that: described robot assemblies comprises and moves horizontally assembly, vertically moving assembly and clamp assemblies, the described assembly that moves horizontally can drive vertical moving assembly and clamp assemblies to move back and forth along the horizontal direction being parallel to described location screen surfaces, and described vertical moving assembly can drive clamp assemblies to move back and forth along the vertical direction being parallel to described location screen surfaces; The described assembly that moves horizontally comprises the first actuator, horizontal guide rail, the first nut of being arranged at the horizontal screw lead in described horizontal guide rail and coordinating with described horizontal screw lead, described first nut and described horizontal guide rail are slidably connected, described first actuator can drive described horizontal screw lead to rotate, and described vertical moving assembly is fixedly connected with described first nut; Described vertical moving assembly comprises the second actuator, upright guide rail, the second nut of being arranged at the vertical leading screw in described upright guide rail and coordinating with described vertical leading screw, described second nut and described upright guide rail are slidably connected, and described second actuator can drive described vertical screw turns;

Describedly by robot assemblies, described cornea package body is moved between image identification system and background assemblies, comprising:

Open described second actuator, described second actuator drives described vertical screw turns, drive described clamp assemblies from described initial position along the vertical movement being parallel to described location screen surfaces, described cornea package body and described image identification system and described background assemblies be in phase co-altitude time, close described second actuator;

Open described first actuator, described first actuator drives described horizontal screw lead to rotate, described vertical moving assembly and described clamp assemblies is driven to move along the horizontal direction being parallel to described location screen surfaces, when described cornea package body is between described image identification system and described background assemblies, close described first actuator.

12. methods according to claim 11, is characterized in that, described clamp assemblies comprises: support component, the first hold assembly, the second hold assembly, reset components and driver part;

Describedly clamped the cornea package body that cornea to be positioned is housed by robot assemblies at initial position, comprising:

Close at described motor, when described second hold assembly and described first hold assembly present open mode under the effect of described reset components, the described cornea package body that cornea to be positioned is housed to be positioned between described first hold assembly and described second hold assembly and to keep;

Open described motor, the output shaft of described motor drives described swing arm to swing near the direction of described second hold assembly, described swing arm promotes described second hold assembly and rotates, until described first hold assembly and the second hold assembly fit to the direction of described first hold assembly.