Control member for robotic microsurgery

Abstract

Apparatus and methods are described that include a control component unit (30) that includes X, Y and Z linear motion axes of rotation (52X, 52Y, 52Z) and pitch, roll and yaw angle motion axes of rotation (70, 72, 74). The control component tool (32) is coupled to the X, Y and Z linear motion rotation axes (52X, 52Y, 52Z) and the angular motion rotation axes (70, 72, 74) and is configured such that when the operator moves the control component tool in the linear X, Y and Z directions, rotational motion is generated about the linear motion rotation axes (52X, 52Y, 52Z), and when the operator moves the control component tool by roll, pitch and yaw angular motion, the rotational motion is generated about the linear motion rotation axes (52X, 52Y, 52Z). A rotational movement is generated about a respective angular movement rotational axis (70, 72, 74). The control part tool is substantially balanced about the linear movement axis of rotation (52X, 52Y, 52Z) and the angular movement axis of rotation (70, 72, 74). Other applications are also described.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to U.S. Provisional Patent Application No. 63 / 447,260 filed by Sohn on February 21, 2023, entitled “Control component for robotic microsurgical procedures,” which is incorporated herein by reference.

[0003] Field of the Invention

[0004] Some applications of the present invention generally relate to medical devices and methods. In particular, some applications of the present invention relate to devices and methods for robotically performing microsurgical procedures.

[0005] background

[0006] Cataract surgery involves removing the eye's natural lens, which has developed clouding (called a cataract), and replacing it with an artificial lens. This surgery typically involves a number of standard steps that are performed in a sequence.

[0007] In the initial steps, the face around the patient's eyes is disinfected (usually with iodine solution) and their face is covered with a sterile drape so that only the eyes are exposed. When disinfection and draping are complete, the eyes are usually anesthetized using a local anesthetic, which is administered in the form of liquid eye drops. Then, the eyeball is exposed using a lid speculum that keeps the upper and lower eyelids open. One or more incisions (and usually two or three incisions) are made in the cornea of ​​the eye. The incisions are usually formed using a special blade called a keratome blade. At this stage, lidocaine is usually injected into the anterior chamber of the eye to further anesthetize the eye. After this step, a viscoelastic injection is applied through the corneal incision. The viscoelastic injection is performed to stabilize the anterior chamber and help maintain intraocular pressure during the remainder of the operation, and also to expand the lens capsule.

[0008] In a subsequent stage, called capsulotomy, a portion of the anterior lens capsule is removed. Various enhanced techniques have been developed for performing capsulotomy, such as laser-assisted capsulotomy, zepto-rhexis (utilizing precision nano-pulse technology), and marker-assisted capsulotomy (in which the cornea is marked with predefined markers to indicate the desired size of the capsule opening).

[0009] Subsequently, fluid waves are usually injected through a corneal incision to dissect the outer cortical layer of the cataract in a step called hydrodissection. In a subsequent step called hydrodelineation, the outer softer outer core (epi-nucleus) of the lens is separated from the harder inner core (endo-nucleus) by injecting fluid waves. In the next step, in a process called phacoemulsification, ultrasonic emulsification of the lens is performed. First, the nucleus of the lens is crushed using a chopper, and subsequently, the outer fragments of the lens are usually crushed and removed using an ultrasonic phacoemulsification probe. In addition, usually, a separate tool is used to perform attraction during phacoemulsification. When phacoemulsification is completed, remaining lens cortex (that is, the outer layer of the lens) material is aspirated from the capsule. In phacoemulsification and aspiration, the aspirated fluid is usually replaced with a balanced salt irrigating solution to maintain the fluid pressure in the anterior chamber. In some cases, if it is considered necessary, the capsule is polished. Subsequently, an intraocular lens (IOL) is inserted into the capsule. The IOL is typically foldable and is inserted in a folded configuration before being expanded inside the capsule. At this stage, the viscoelastic is typically removed using the same suction device previously used to aspirate fluid from the capsule. If necessary, the incision is sealed by increasing pressure inside the bulbus oculi (i.e., the globe of the eye), pressing the internal tissue against the external tissue of the incision to force it closed.

[0010] Overview

[0011] According to some applications of the present invention, a robotic system is configured for use in microsurgery (e.g., intraocular surgery). Typically, when used in intraocular surgery, the robotic system includes one or more robotic units (which are configured to hold tools), in addition to an imaging system, one or more displays, and control components (e.g., a control component comprising a pair of control component units) by which one or more operators (e.g., healthcare professionals, such as doctors and / or nurses) are able to control the robotic units. Typically, the robotic system includes one or more computer processors by which the components of the system and the operator can interact operatively with each other. The scope of this application includes mounting one or more robotic units in any of a variety of different positions relative to each other.

[0012] Typically, the movement of the robotic unit (and / or other aspects of the control of the robotic system) is at least partially controlled by one or more operators (e.g., healthcare professionals, such as doctors and / or nurses). For example, an operator may receive images of the patient's eye and the robotic unit and / or tools disposed therein via a display. Typically, such images are acquired by an imaging system. For some applications, the imaging system is a stereoscopic imaging device and the display is a stereoscopic display. The operator typically performs the surgical steps based on the received images. For some applications, the operator provides commands to the robotic unit via a control unit. Typically, such commands include commands controlling the position and / or orientation of tools disposed within the robotic unit and / or commands controlling the actions performed by the tools. For example, these commands may control the blade, the phacoemulsification tool (e.g., the operating mode and / or suction force of the phacoemulsification tool), the clamping forceps, and / or the injector tool (e.g., which fluid (e.g., viscoelastic fluid, saline, etc.) should be injected and / or at what flow rate). Alternatively or additionally, the operator may input commands to control the imaging system (e.g., zoom, focus, and / or xy positioning of the imaging system). For some applications, the commands include controlling an intraocular lens manipulator tool, eg, causing the tool to manipulate an intraocular lens within an eye to precisely position the intraocular lens within the eye.

[0013] Typically, the control component includes one or more control component units that are configured to correspond to corresponding robotic units of the robotic system. For example, the system may include a first robotic unit and a second robotic unit, and the control component may include the first control component unit and the second control component unit. For some applications, the control component unit includes a corresponding control component tool (so as to replicate the robotic unit). Typically, a computer processor determines the XYZ position and orientation of the tip of the control component tool and drives the robotic unit so that the tip of the actual tool used to perform the procedure tracks the movement of the tip of the control component tool.

[0014] For some applications, the control component unit includes a position sensor to detect the XYZ position and three-dimensional orientation of the end of the control component tool. The position sensor typically includes one or more rotary encoders and / or one or more inertial measurement units (which typically include a three-axis accelerometer, a three-axis gyroscope, and / or a three-axis magnetometer). The inertial measurement unit typically generates inertial measurement unit data related to the three-dimensional orientation of the control component tool. For some applications, a computer processor receives the rotary encoder data and / or the inertial measurement unit data and determines the XYZ position and three-dimensional orientation of the end of the control component tool from this.

[0015] For some applications, the control unit is configured to provide force feedback to the user. To perform non-robotic pre-ophthalmic surgery, the surgeon typically makes one or more incisions in the patient's cornea, which are then used as entry points for various surgical tools. The tools are inserted through the incisions and manipulated within the eye to achieve the surgical goal. When this manipulation occurs, it is medically preferred that the tools do not press excessively against the edges of the incision, lifting them upward or pressing them downward. Such movement can cause the edges of the incision to tear, thereby widening the incision and potentially negatively impacting the surgical outcome. Ideally, the surgeon would manipulate the tool so that at the point of entry through the incision, the tool rotates around the center of the incision rather than moving laterally, where this movement of the tool at the incision is described herein as maintaining a center of motion. For robotic surgeries, such as those described herein, the above-described movement of ophthalmic tools is described as maintaining a remote center of motion because the tools are typically controlled from a distance (via a control unit). In non-robotic surgery, it is difficult to manually maintain a center of motion, especially when the surgeon needs to focus on the end of the tool that is performing the current surgical action. According to some applications of the present invention, force feedback is provided to assist the operator in performing robotic-assisted ophthalmic surgery. Feedback typically provided by the control components (as described in further detail below) generally assists the operator in maintaining the remote center of motion of the ophthalmic tool.

[0016] For some applications, the computer processor is configured to drive the control component unit to provide feedback (e.g., force feedback) to the operator that indicates the position of the tool entering the patient's eye within the incision. For example, as the tool moves so that the position at which the tool enters the patient's eye is closer to the edge of the incision, the resistance to movement of the control component arm can increase, and / or the control component arm can vibrate, and / or a different output can be produced. For some applications, the computer processor is configured to apply a force that resists an attempted movement of the control component tool by the operator that may deviate from the remote center of motion. For some applications, to provide the above-mentioned force feedback, the control component unit includes one or more motors, as described in further detail below. For some applications, at least some of the motors are direct drive motors (i.e., motors that do not transmit motion via gears) and are typically linear motors, such as linear voice coil motors.

[0017] Thus, according to some embodiments of the present invention, there is provided an apparatus for use with a robotic unit configured to perform surgery on a part of a patient's body using one or more tools, the apparatus comprising:

[0018] A control component unit comprising:

[0019] X, Y, and Z axes of rotation for linear motion, and pitch, roll, and yaw axes of rotation for angular motion; and

[0020] A control component tool coupled to the X, Y, and Z linear motion rotation axes and the pitch, roll, and yaw angular motion rotation axes and configured to be moved by an operator so that:

[0021] When the operator moves the control component tool in the linear X, Y and Z directions, a rotational motion is generated about the X, Y and Z linear motion rotation axes, and

[0022] When the operator moves the control member tool through roll, pitch and yaw angular movements, a rotational movement is generated about the corresponding pitch, roll and yaw angular movement rotation axes,

[0023] The control component tool is substantially balanced about the X, Y and Z linear motion axes of rotation and the pitch, roll and yaw angular motion axes of rotation.

[0024] In some embodiments:

[0025] The control component tool is self-balancing in four degrees of freedom, and

[0026] In two degrees of freedom, the control member unit comprises a counterweight in order to balance the weight of the control member and / or other components of the control member unit about the corresponding axis of rotation.

[0027] In some embodiments, the control component tool is self-balancing about the roll and yaw angular motion rotation axes and about two of the X, Y and Z linear motion rotation axes, and the control component includes a first counterweight and a second counterweight to balance the weight of the control component tool and / or other components of the control component unit about the pitch angular motion rotation axis and about one of the linear motion rotation axes, respectively.

[0028] In some embodiments, the first counterweight does not completely balance the weight of the control component tool about the pitch angular motion rotational axis.

[0029] In some embodiments, the control component tool is configured to maintain its position and orientation in the absence of any forces acting on the control component tool.

[0030] In some embodiments, in response to the operator releasing the control component tool without exerting any force on the control component tool, the control component tool is configured to maintain its position and orientation.

[0031] In some embodiments, the control component unit includes one or more motors configured to provide force feedback to the operator by driving the control component tool to move.

[0032] In some embodiments, one or more motors are configured to provide force feedback substantially without overcoming inertial forces.

[0033] In some embodiments, the one or more motors include one or more direct drive motors.

[0034] In some embodiments, the one or more motors include one or more direct drive linear motors.

[0035] In some embodiments, the one or more motors include one or more direct drive linear voice coil motors.

[0036] According to some embodiments of the present invention, there is also provided an apparatus for use with a robotic unit configured to perform surgery on a part of a patient's body using one or more tools, the apparatus comprising:

[0037] A control component unit, comprising:

[0038] a plurality of connecting rods coupled to each other via a plurality of rotation axes; and

[0039] a control component tool coupled to the linkage and configured to be moved by an operator such that when the operator moves the control component tool in linear X, Y, and Z directions, the linkage rotates about the rotational axis, and:

[0040] Multiple links include an X-direction link, which realizes X-direction linear motion.

[0041] The plurality of rotation axes include a Z rotation axis about which movement in the Z direction is achieved, and

[0042] The X-direction link is aligned with the Z-axis of rotation so that the X-direction link does not exert any torque about the Z-axis of rotation.

[0043] In some embodiments, the plurality of rotation axes includes a Y rotation axis about which movement in the Y direction is achieved, and the Y rotation axis is aligned with the Z rotation axis along the Z direction.

[0044] In some embodiments, the X-direction link comprises a frame.

[0045] In some embodiments, because the X-direction link is aligned with the Z-axis of rotation, the X-direction link does not exert any torque about the Z-axis of rotation.

[0046] In some embodiments, as the X-link undergoes motion, the X-link remains aligned with the Z axis of rotation such that no compensating motion is required to balance the motion of the X-link.

[0047] In some embodiments, the control component tool is self-balancing in four degrees of freedom and the control component comprises counterweights in two degrees of freedom to balance the weight of the control component and / or other components of the control component unit about the corresponding rotation axis.

[0048] In some embodiments, the control component tool is configured to maintain its position and orientation in the absence of any forces acting on the control component tool.

[0049] In some embodiments, in response to the operator releasing the control component tool without exerting any force on the control component tool, the control component tool is configured to maintain its position and orientation.

[0050] In some embodiments, the control component unit includes one or more motors configured to provide force feedback to the operator by driving the control component tool to move.

[0051] In some embodiments, one or more motors are configured to provide force feedback substantially without overcoming inertial forces.

[0052] In some embodiments, the one or more motors include one or more direct drive motors.

[0053] In some embodiments, the one or more motors include one or more direct drive linear motors.

[0054] In some embodiments, the one or more motors include one or more direct drive linear voice coil motors.

[0055] According to some embodiments of the present invention, there is also provided an apparatus for use with a robotic unit configured to perform surgery on a part of a patient's body using one or more tools, the apparatus comprising:

[0056] A control component unit comprising:

[0057] X, Y, and Z axes of rotation for linear motion, and pitch, roll, and yaw axes of rotation for angular motion; and

[0058] A control component tool coupled to the X, Y, and Z linear motion rotation axes and the pitch, roll, and yaw angular motion rotation axes and configured to be moved by an operator so that:

[0059] When the operator moves the control component tool in the linear X, Y and Z directions, a rotational motion is generated about the X, Y and Z linear motion rotation axes, and

[0060] When the operator moves the control member tool through roll, pitch, and yaw angular motions, a rotational motion is generated about the corresponding pitch, roll, and yaw angular motion rotation axes;

[0061] a plurality of direct drive motors operably coupled to respective X, Y, and Z linear motion rotational axes; and

[0062] A computer processor configured as follows:

[0063] moving the tip of the selected ophthalmic tool within the patient's eye in a manner corresponding to the movement of the control member tool; and

[0064] Force feedback is provided to the operator by driving the control element arm using multiple direct drive motors.

[0065] In some embodiments, the plurality of direct drive motors includes a plurality of linear motors.

[0066] In some embodiments, the plurality of linear motors includes a plurality of linear voice coil motors.

[0067] In some embodiments, the direct drive motor is configured to avoid motor cogging.

[0068] In some embodiments, the direct drive motor is configured to provide more accurate force feedback to the operator than would be provided by a motor experiencing motor clogging.

[0069] According to some embodiments of the present invention, there is also provided an apparatus for use with a robotic unit configured to perform surgery on a part of a patient's body using one or more tools, the apparatus comprising:

[0070] A control component unit, comprising:

[0071] X, Y, and Z axes of rotation for linear motion, and pitch, roll, and yaw axes of rotation for angular motion; and

[0072] A control component tool coupled to the X, Y, and Z linear motion rotation axes and the pitch, roll, and yaw angular motion rotation axes and configured to be moved by an operator so that:

[0073] When the operator moves the control component tool in the linear X, Y and Z directions, a rotational motion is generated about the X, Y and Z linear motion rotation axes, and

[0074] When the operator moves the control member tool through roll, pitch, and yaw angular motions, a rotational motion is generated about the corresponding pitch, roll, and yaw angular motion rotation axes;

[0075] X-, Y-, and Z-direction motors operably coupled to the X, Y, and Z linear motion rotational axes, respectively; and

[0076] A computer processor configured as follows:

[0077] moving the tip of the selected ophthalmic tool within the patient's eye in a manner corresponding to the movement of the control member tool; and

[0078] By using the X-direction motor, Y-direction motor and Z-direction motor to drive the control unit arm to provide force feedback to the operator,

[0079] The first end of the Y-direction motor is aligned with the X-axis of rotation.

[0080] In some embodiments, the control component includes a frame, and the control component unit is configured such that when the operator moves the control component tool in a linear X direction, this causes the frame to rotate about an X linear motion rotation axis, and the Y direction motor is coupled to the frame such that the Y direction motor rotates with the frame.

[0081] In some embodiments, when the Y-direction motor extends or retracts, it does not apply any torque about the X-axis of rotation.

[0082] In some embodiments, the second end of the Y-direction motor is offset from the Y-axis of rotation so that when the Y-direction motor extends or contracts, it applies a torque about the Y-axis of rotation.

[0083] In some embodiments, the second end of the Y-direction motor is offset between 5 mm and 20 mm from the Y-axis of rotation.

[0084] In some embodiments, the second end of the Y-direction motor is offset between 5 mm and 20 mm from the Y-axis of rotation.

[0085] In some embodiments, the second end of the Y-direction motor is offset between 10 mm and 15 mm from the Y-axis of rotation.

[0086] In some embodiments, the X-direction motor, the Y-direction motor, and the Z-direction motor include direct drive motors.

[0087] In some embodiments, the direct drive motor comprises a linear motor.

[0088] In some embodiments, the linear motor comprises a linear voice coil motor.

[0089] In some embodiments, the direct drive motor is configured to avoid motor cogging.

[0090] In some embodiments, the direct drive motor is configured to provide more accurate force feedback to the operator than would be provided by a motor experiencing motor sticking.

[0091] In some embodiments, the center of mass of the Y-direction motor is substantially aligned with the X linear motion rotational axis.

[0092] In some embodiments, the Y-direction motor comprises a linear motor, and the center of mass of the Y-direction motor is within 10 mm of the X linear motion rotation axis when the Y-direction motor is fully extended and fully retracted.

[0093] In some embodiments, the Y-direction motor comprises a linear motor, and the center of mass of the Y-direction motor is within 5 mm of the X linear motion rotation axis when the Y-direction motor is fully extended and fully retracted.

[0094] According to some embodiments of the present invention, there is also provided an apparatus for use with a robotic unit configured to perform surgery on a part of a patient's body using one or more tools, the apparatus comprising:

[0095] A control component unit comprising:

[0096] X, Y, and Z axes of rotation for linear motion, and pitch, roll, and yaw axes of rotation for angular motion; and

[0097] A control component tool coupled to the X, Y, and Z linear motion rotation axes and the pitch, roll, and yaw angular motion rotation axes and configured to be moved by an operator so that:

[0098] When the operator moves the control component tool in the linear X, Y and Z directions, a rotational motion is generated about the X, Y and Z linear motion rotation axes, and

[0099] When the operator moves the control member tool through roll, pitch, and yaw angular motions, a rotational motion is generated about the corresponding pitch, roll, and yaw angular motion rotation axes;

[0100] at least one rotary encoder configured to detect rotational motion about a corresponding one of the rotational axes;

[0101] One or more wires extending from the rotary encoder; and

[0102] A ring magnet is disposed along a corresponding one of the rotation axes, and one or more wires pass through a hole defined by the ring magnet.

[0103] In some embodiments, the control component unit includes:

[0104] a plurality of rotary encoders, each of the plurality of rotary encoders being configured to detect rotational motion about a corresponding one of the X, Y, and Z linear motion rotational axes, and each of the plurality of rotary encoders having one or more wires extending therefrom, and

[0105] A ring magnet is disposed along the X, Y, and Z linear motion rotation axes, and one or more wires pass through an aperture defined by the ring magnet.

[0106] In some embodiments, the control component unit includes:

[0107] a plurality of rotary encoders, each of the plurality of rotary encoders being configured to detect rotational motion about a corresponding one of the pitch, roll, and yaw angular motion rotational axes, and each of the plurality of rotary encoders having one or more wires extending therefrom, and

[0108] A ring magnet is disposed along the pitch, roll, and yaw rotational axes, and one or more wires pass through an aperture defined by the ring magnet.

[0109] In some embodiments, the control component unit further comprises:

[0110] a plurality of rotary encoders, each of the plurality of rotary encoders being configured to detect rotational motion about a corresponding one of the X, Y, and Z linear motion rotational axes, and each of the plurality of rotary encoders having one or more wires extending therefrom, and

[0111] A ring magnet is disposed along the X, Y, and Z linear motion rotation axes, and one or more wires pass through an aperture defined by the ring magnet.

[0112] The present invention will be more fully understood from the following detailed description of embodiments of the present invention taken in conjunction with the accompanying drawings, in which: BRIEF DESCRIPTION OF THE DRAWINGS

[0114] Figure 1 is a schematic diagram of a robotic system according to some applications of the present invention, the robotic system being configured for use in microsurgery (e.g., intraocular surgery);

[0115] Figure 2A and Figure 2B are schematic diagrams of corresponding views of a control component unit according to some applications of the present invention.

[0116] Figure 3A 、 Figure 3B and Figure 3C is a schematic diagram of a portion of a control component unit according to some applications of the present invention.

[0117] Figure 4A and Figure 4B is a schematic diagram of controlling movement of a component tool in X and Y linear directions according to some applications of the present invention;

[0118] Figure 4C is a schematic diagram of a Y-direction motor of a control component unit according to some applications of the present invention;

[0119] Figure 5A and Figure 5B is a schematic diagram of controlling movement of a component tool in the Z linear direction according to some applications of the present invention;

[0120] Figure 6A and Figure 6B is a schematic diagram of a pitch angle motion of a control component tool according to some applications of the present invention;

[0121] Figure 7A and Figure 7B is a schematic diagram of a yaw angle motion of a control component tool according to some applications of the present invention;

[0122] Figure 8 is a schematic diagram of a portion of a control component tool according to some applications of the present invention; and

[0123] Figure 9A 、 Figure 9B 、 Figure 9C and Figure 9D is a schematic diagram of a control component unit according to some applications of the present invention. DETAILED DESCRIPTION

[0124] Now refer to Figure 1 , which is a schematic diagram of a robotic system 10 according to some applications of the present invention, the robotic system 10 being configured for use in microsurgery (e.g., intraocular surgery). Generally, when used in intraocular surgery, the robotic system 10 includes one or more robotic units 20 (which are configured to hold a tool 21), an imaging system 22, one or more displays 24, and a control component 26 (e.g., a control component including a pair of control component units 30, such as Figure 1 ), through which one or more operators 25 (e.g., healthcare professionals, such as doctors and / or nurses) can control the robotic unit 20. Typically, the robotic system 10 includes one or more computer processors 28 through which the components of the system and the operators 25 can operatively interact with each other. The scope of the present application includes mounting one or more robotic units in any of a variety of different positions relative to each other.

[0125] Typically, the movement of the robotic unit (and / or other aspects of the control of the robotic system) is at least partially controlled by one or more operators 25 (e.g., healthcare professionals, such as doctors and / or nurses). For example, an operator may receive images of the patient's eye and the robotic unit and / or the tools disposed therein via display 24. Typically, such images are acquired by imaging system 22. For some applications, imaging system 22 is a stereoscopic imaging device, and display 24 is a stereoscopic display. The operator typically performs the surgical steps based on the received images. For some applications, the operator provides commands to the robotic unit via control unit 26. Typically, such commands include commands controlling the position and / or orientation of tools disposed within the robotic unit and / or commands controlling the actions performed by the tools. For example, these commands may control the blade, the phacoemulsification tool (e.g., the operating mode and / or suction force of the phacoemulsification tool), the clamping forceps, and / or the injector tool (e.g., which fluid (e.g., viscoelastic fluid, saline, etc.) should be injected and / or at what flow rate). Alternatively or additionally, the operator may input commands to control the imaging system (e.g., zoom, focus, and / or xy positioning of the imaging system). For some applications, the commands include controlling an intraocular lens manipulator tool, eg, causing the tool to manipulate an intraocular lens within an eye to precisely position the intraocular lens within the eye.

[0126] Typically, the control component 26 includes one or more control component units 30 that are configured to correspond to the respective robot units 20 of the robot system. For example, as shown in the figure, the system may include a first robot unit and a second robot unit, and the control component may include a first control component unit 30 and a second control component unit 30 (as shown). For some applications, such as Figure 1 As shown, the control component unit includes a corresponding control component tool 32 therein (so as to replicate the robotic unit). Typically, the computer processor determines the XYZ position and orientation of the end 34 of the control component tool 32 and drives the robotic unit so that the end of the actual tool 21 used to perform the procedure tracks the movement of the end of the control component tool. In some cases, in this specification and claims, the tool 21 is described as an "ophthalmic tool". This term is used to distinguish between the tool 21 and the control component tool 32 and should not be interpreted as limiting in any way the type of tool that can be used as the tool 21. The term "ophthalmic tool" should be interpreted to include any of the tools described herein and / or any other type of tool that a person of ordinary skill in the art may conceive of upon reading this disclosure.

[0127] For some applications, the control component unit includes a position sensor to detect the XYZ position and three-dimensional orientation of the distal end 34 of the control component tool 32. The position sensor typically includes one or more rotary encoders and / or one or more inertial measurement units (which typically include a three-axis accelerometer, a three-axis gyroscope, and / or a three-axis magnetometer). The inertial measurement unit typically generates inertial measurement unit data related to the three-dimensional orientation of the control component tool. For some applications, the computer processor 28 receives the rotary encoder data and / or the inertial measurement unit data and determines the XYZ position and three-dimensional orientation of the distal end of the control component tool from this data.

[0128] For some applications, the control unit 30 is configured to provide force feedback to the user. To perform non-robotic pre-ophthalmic surgery, the surgeon typically makes one or more incisions in the patient's cornea, which are then used as entry points for various surgical tools. Tools are inserted through the incisions and manipulated within the eye to achieve the surgical goal. When this manipulation occurs, it is medically preferable that the tools not press excessively against the edges of the incision, lifting upward or pressing downward. Such movement can cause the edges of the incision to tear, thereby widening the incision and potentially negatively impacting the surgical outcome. Ideally, the surgeon would manipulate the tool so that at the point of entry through the incision, the tool rotates around the center of the incision rather than moving laterally, where this movement of the tool at the incision is described herein as maintaining a center of motion. For robotic surgeries, such as those described herein, the above-described movement of the tool 21 is described as maintaining a remote center of motion because the tool is typically controlled from a distance (via the control unit 30). In non-robotic surgery, manually maintaining a center of motion can be difficult, especially when the surgeon needs to focus on the end of the tool performing the current surgical action. According to some applications of the present invention, force feedback is provided to assist an operator in performing robotic-assisted ophthalmic surgery. Feedback typically provided by control unit 30 (described in further detail below) typically assists an operator in maintaining a remote center of motion of tool 21 .

[0129] For some applications, the computer processor is configured to drive the control component unit to provide feedback to the operator that indicates the position of the tool entering the patient's eye within the incision. For example, when the tool moves so that the position at which the tool enters the patient's eye is closer to the edge of the incision, the resistance to movement of the control component arm can increase, and / or the control component arm can vibrate, and / or a different output can be produced. For some applications, the computer processor is configured to apply a force that resists an attempted movement of the control component tool 32 by the operator that may deviate from the remote center of motion. For some applications, to provide the above-mentioned force feedback, the control component unit includes one or more motors, as described in further detail below. For some applications, at least some of the motors are direct drive motors (i.e., motors that do not transmit motion via gears) and are typically linear motors, such as linear voice coil motors.

[0130] Now refer to Figure 2A and Figure 2B , which are schematic diagrams of corresponding views of a control component unit 30 according to some applications of the present invention. For some applications, portions of the control component unit are housed within a housing 40. Typically, the control component tool 32 is disposed outside the housing so that the control component tool 32 can be moved by an operator. For example, a shaft 42 can extend outside the housing 40, with the control component tool mounted on the shaft. For some applications, the housing is shaped to define a surface 44 that is configured to support the palm and / or heel of the operator's hand as the operator operates the control component tool. As described above, typically, the computer processor determines the XYZ position and orientation of the distal end 34 of the control component tool 32 and drives the robotic unit so that the distal end of the ophthalmic tool tracks the movement of the distal end of the control component tool.

[0131] Now refer to Figure 3A 、 Figure 3B and Figure 3C , which are schematic diagrams of portions of a control component unit 30 according to some applications of the present invention. For some applications, the control component unit includes a plurality of links (at least some of which are typically configured as a frame) that are coupled to one another via rotational axes. Typically, when an operator moves the control component tool along the X, Y, and Z linear directions, this causes the links to rotate about the corresponding rotational axes. For example, when an operator moves the control component tool along the X linear direction, this causes the frame 50 to rotate about the rotational axis 52X (e.g., Figure 3B and Figure 3C As shown), when the operator moves the control component tool along the Y linear direction, this causes the link 54 to rotate about the rotation axis 52Y (as shown in FIG. Figure 3C and Figure 4C ), and when the operator moves the control component tool in the Z linear direction, this causes the link 54 to rotate about the rotation axis 52Z (as shown Figure 3C shown).

[0132] It should be noted that in the above description, it is assumed that the connecting rod 54 is arranged perpendicular to the frame 50. In fact, during most of the use of the control component unit, the connecting rod 54 is arranged at a certain angle to the frame 50 (for example, Figure 4A ). In such a configuration, movement of the control component tool within the XY plane (or even along the X linear direction or along the Y linear direction) will generally cause the frame 50 to rotate about the rotation axis 52X and the connecting rod 54 to rotate about the rotation axis 52Y. For this reason, the use of the terms X, Y, and Z as used herein with respect to the movement of parts of the control component unit should not be interpreted as strictly corresponding to movement along three linear axes that are perpendicular to each other. Instead, movement in the X and Y directions should be interpreted as relating to movement of the frame 50 or the connecting rod 54 within the XY plane (but not necessarily in directions perpendicular to each other), and movement in the Z direction should be interpreted as corresponding to movement of the connecting rod 54 in a direction perpendicular to the XY plane. Thus, the rotation axis 52X and the motor 56X are associated with movement of the frame 50 within the XY plane (regardless of whether the movement is in the X direction as shown in the figure), the rotation axis 52Y and the motor 56Y are associated with movement of the connecting rod within the XY plane (regardless of whether the movement is in the Y direction as shown in the figure), and the rotation axis 52Z and the motor 56Z are associated with movement of the connecting rod 54 perpendicular to the XY plane.

[0133] Typically, as shown, the Y rotation axis 52Y is aligned with the Z rotation axis 52Z along the Z direction. Further typically, both the Y linear motion and the Z linear motion are achieved by the connecting rod 54. It should be noted that for some applications, an additional support connecting rod 55 is arranged parallel to the connecting rod 54 and rotates with the connecting rod 54. For some applications, a rotary encoder is arranged along each of the rotation axes 52X, 52Y, and 52Z (or a parallel rotation axis (e.g., the rotation axis of the connecting rod 55)). The rotary encoder detects the rotation of the corresponding connecting rod about the rotation axis and generates a signal in response thereto. The computer processor derives the movement of the control component tool along the corresponding linear direction from the signal generated by the rotary encoder. For some applications, at least one additional rotary encoder is provided along each of the rotation axes 52X, 52Y, and 52Z to provide redundancy for the system (e.g., so that in the event of a failure of one of the rotary encoders, another rotary encoder is used).

[0134] Typically, the control component tool 32 is movable by an operator to undergo pitch, yaw, and roll angular rotations. The control component tool is typically rotated about a pitch rotation axis 70 (e.g., Figure 3A) undergoes pitch rotation and is rotated by the shaft 42 (on which the control component tool is mounted) about its own longitudinal axis 72 (which serves as the yaw rotation axis and as shown Figure 3A Typically, the control component tool is rotated about its own axis 74 (which serves as the roll rotation axis and Figure 3A ) rotation to experience roll angular rotation. For some applications, an inertial measurement unit 76 is housed within the control component tool. Typically, the inertial measurement unit includes a three-axis accelerometer, a three-axis gyroscope and / or a three-axis magnetometer. The inertial measurement unit typically generates inertial measurement unit data related to the three-dimensional orientation of the control component tool. Alternatively or additionally, the control component includes one or more rotary encoders to detect the roll, pitch and / or yaw orientation of the control component tool 32. Typically, the rotary encoders are arranged along axes around which roll, pitch and yaw angular rotations occur, respectively. For some applications, the control component includes the inertial measurement unit 76 and, in addition, one or more rotary encoders to detect the roll, pitch and / or yaw of the control component tool 32 for redundancy (e.g., so that in the event of a failure of the inertial measurement unit, the rotary encoders are used).

[0135] For some applications, the computer processor 28 receives the rotary encoder data and the inertial measurement unit data. Typically, the computer processor determines the XYZ position of the tip of the control component tool 32 based on the rotary encoder data, and determines the three-dimensional orientation (e.g., three Euler orientation angles and / or another representation of orientation) of the tip of the control component tool 32 based on the inertial measurement unit data or based on a combination of the rotary encoder data and the inertial measurement unit data. Thus, the computer processor is configured to determine the XYZ position and three-dimensional orientation of the tip of the control component tool based on the combination of the rotary encoder data and the inertial measurement unit data.

[0136] For some applications, direct drive motors 56X, 56Y, 56Z (i.e., motors that do not transmit motion via gears), typically linear motors (e.g., linear voice coil motors), are associated with motion in each of the X, Y, and Z linear directions. As described above, for some applications, the computer processor is configured to drive the control component unit to provide force feedback to the operator indicating the position of the ophthalmic tool within the incision entering the patient's eye. For some applications, the motor is configured to drive the tool linearly to provide the above-mentioned force feedback. For some applications, the computer processor is configured to apply a force that resists an operator's attempted movement of the control component tool 32 that would violate the remote center of motion. For example, in response to the operator moving the control component tool through a yaw angle that would result in a corresponding movement of the ophthalmic tool (which would violate the remote center of motion), the computer processor can move the control component tool linearly (via X, Y, and / or X linear motion) such that the remote center of motion of the ophthalmic tool is maintained. For some such applications, force is applied by moving the component tool in X, Y, and Z linear directions via motors 56X, 56Y, 56Z.

[0137] Typically, the robotic system 10 is used for procedures requiring delicate and precise movement of surgical tools, such as ophthalmic procedures as described above. Accordingly, the control component unit 30 is typically configured such that movement of the control component tool is performed by the operator without substantial reaction forces to the movement (other than reaction forces intentionally applied via the motors 56X, 56Y, 56Z). For some applications, the control component tool includes a counterweight 58 so that the weight of the control component tool is relatively evenly balanced about the pitch rotation axis 70. For some applications, the control component tool is not completely balanced about the pitch rotation axis 70 in order to give the surgeon a sense of the tool's weight (like a real surgical tool) and / or to reduce the overall mass of the control component tool. For some applications, the link 54 extends across both sides of the Z rotation axis 52Z, with the control component tool and additional components disposed on the link 54 (and / or parallel links 55) on a first side of the rotation axis 52Z. For some applications, a counterweight 62 is provided on the link 54 on the other side of the rotation axis 52Z to balance the weight of the control component tools and additional components provided on the first side. For some applications, the frame 50 (which serves as the link through which the X-direction linear motion is achieved) is aligned with the Z rotation axis 52Z (e.g., Figure 3C 52Z) so that the frame 50 does not exert any torque about the Z axis of rotation 52Z. Therefore, the frame 50 does not need to be balanced about the Z axis of rotation 52Z. For some applications, even when the frame 50 moves (due to motion in the X direction), the frame remains aligned with the Z axis of rotation 52Z so that no compensating motion is required to balance the frame's motion.

[0138] Note that, according to the above description, the control component unit is typically balanced in all six degrees of freedom (three axial translations and three angular rotations). For some applications, as described, the control component unit utilizes counterweights to provide balance in two degrees of freedom: Z-axis motion and pitch angular motion. The remaining four degrees of freedom (i.e., X and Y axial motions and roll and yaw angular motions) typically do not require counterweights for balancing because the control component unit is designed so that the control component tool and / or other elements of the control component unit are self-balancing in these degrees of freedom. Because the control component unit is designed to balance in all six degrees of freedom (e.g., by self-balancing in four degrees of freedom and balancing in the remaining two degrees of freedom by counterweights), the control component tool tends to maintain its position and orientation in the absence of any forces acting on the control component tool. Therefore, typically if the operator temporarily releases the control component tool (as she / he releases the tool without applying force on the control component tool), the control component tool maintains its position and orientation until the operator regains control of the control component tool. Furthermore, typically, the control component tool is able to provide force feedback to the operator at relatively low force levels because the control component tool provides relatively low inertial forces. That is, the motor configured to provide force feedback to the operator by driving the control component tool to move is configured to do so without substantially overcoming inertial forces.

[0139] As described above, direct-drive motors (i.e., motors that do not transmit motion via gears) are typically used for motors 56X, 56Y, 56Z. For some applications, linear motors (and typically linear voice coil motors) are used for motors 56X, 56Y, 56Z. For some applications, such motors are used for motors 56X, 56Y, 56Z to avoid motor cogging, which can provide resistance to the movement of the control component tool (and this is common for rotary motors and / or motors that transmit motion via gears). It should be noted that motor cogging can also cause inaccuracies in the force feedback provided by the movement of the motors, which is typically avoided by using direct-drive motors (and typically linear motors, such as linear voice coil motors) for motors 56X, 56Y, 56Z. Alternatively, for some applications, motors that include gears are used for one or more of motors 56X, 56Y, and 56Z.

[0140] refer to Figure 3C As described above, for some applications, a rotary encoder is provided along each of the rotational axes 52X, 52Y, and 52Z. The rotary encoder detects rotation of the corresponding link about the rotational axis and generates a signal in response thereto. Figure 3C, a rotary encoder 64X is shown for the X rotation axis 52X. Typically, a magnet 66X is disposed along the X rotation axis. For some applications, the magnet is annular with its north and south poles located on opposite sides of a line 68 that bisects the annular shape, as shown in FIG. Figure 3C The rotary encoder 64X detects changes in the magnetic flux produced by the magnet 66X and thereby detects rotation of the X rotation axis 52X. Typically, the magnet is annular so that an electrical wire (e.g., a wire extending from the rotary encoder 64X) passes through a hole 69 defined by the magnet. In this way, the wire remains stationary even when the magnet rotates, thereby avoiding the wire from becoming twisted. The inventors have found that even in the presence of a magnet having an annular shape, the magnetic flux produced by the magnet is strong enough to be detected by the rotary encoder. It should be noted that although in Figure 3C Shown and referenced in Figure 3C A rotary encoder 64X is described for the X axis of rotation 52X, but additional rotary encoders are typically configured in a similar manner (e.g., using ring magnets as described). Typically, similarly configured rotary encoders (and ring magnets) are used to detect rotation about the Y axis of rotation, the Z axis of rotation, the yaw axis of rotation, the pitch axis of rotation, and / or the roll axis of rotation.

[0141] Now refer to Figure 4A and Figure 4B , which are schematic diagrams of movement of the control component tool in the X linear direction and the Y linear direction according to some applications of the present invention. As described above, generally, when the operator moves the control component tool in the XY plane, this causes the connecting rod to rotate about the corresponding rotation axis. For example, when the operator moves the control component tool in the X linear direction, this causes the frame 50 to rotate about the rotation axis 52X (as shown in FIG. Figure 3B and Figure 3C As shown), when the operator moves the control component tool in the Y linear direction, this causes the link 54 to rotate about the rotation axis 52Y (as shown in FIG. Figure 4C It should be noted that for some applications, the additional support link 55 is arranged parallel to the link 54 and rotates with the link 54. Figures 4A to 4B The transition shows the movement in the XY plane, where Figure 4A Both the frame 50 and the connecting rod 54 are shown in a collapsed configuration, and Figure 4BBoth frame 50 and connecting rod 54 are shown in an extended configuration. For some applications, rotary encoders are provided along rotational axes 52X and 52Y. The rotary encoders detect rotation of the corresponding connecting rod about the rotational axis and generate signals in response thereto. A computer processor derives the motion of the control component tool in the XY plane from the signals generated by the rotary encoders. For some applications, at least one additional rotary encoder is provided along each of rotational axes 52X and 52Y to provide redundancy for the system (e.g., so that if one of the rotary encoders fails, the other rotary encoder can be used).

[0142] As also described above, for some applications, motors 56X, 56Y are positioned along each of an X linear direction and a Y linear direction. Typically, each of the motors is a direct drive motor, for example, a direct drive linear motor, such as a linear voice coil motor. For some applications, the motors are configured to drive the tool to move within the XY plane to provide force feedback. For some applications, the computer processor is configured to apply a force that resists an operator's attempted movement of the control component tool 32 that would deviate from the remote center of motion. For example, in response to an operator moving the control component tool through a yaw or pitch rotation that would result in a corresponding movement of the ophthalmic tool (which would deviate from the remote center of motion), the computer processor can move the control component tool linearly (via X, Y, and / or Z linear motion) such that the remote center of motion of the ophthalmic tool is maintained. For some such applications, the force is applied by driving the control component tool to move within the XY plane via motors 56X and 56Y.

[0143] refer to Figure 4A and Figure 4B Typically, the X-direction motor 56X (or its linear extension) is coupled to the frame 50 at a position 78 that is offset from the X-axis of rotation 52X. For some applications, the position 78 is offset from the X-axis of rotation 52X by between 3 mm and 30 mm, such as between 5 mm and 20 mm, such as between 10 mm and 15 mm. Thus, when the X-direction motor 56X is extended or retracted, the X-direction motor 56X applies torque about the X-axis of rotation (thereby causing the control component tool to move in the XY plane). For some applications, the motor 56X (or its linear extension) is coupled to the frame 50 at a position 78 that is located on an extension 57 of the frame 50 that is disposed within the footprint of the frame, such as Figure 3C shown.

[0144] Now refer to Figure 4C, which is a schematic diagram of a Y-direction motor 56Y of a control component unit 30 according to some applications of the present invention. As shown for some applications, the first end of the Y-direction motor (or a linear extension of the Y-direction motor) is aligned with the X-axis of rotation 52X. Typically, the second end of the Y-direction motor (or a linear extension of the Y-direction motor) is coupled to the connecting rod 54 at a position 80 offset from the Y-axis of rotation 52Y. For some applications, position 80 is offset from the Y-axis of rotation 52Y by between 3 mm and 30 mm, e.g., between 5 mm and 20 mm, e.g., between 10 mm and 15 mm. Thus, when the Y-direction motor 56Y is extended or retracted, it does not apply any torque about the X-axis of rotation 52X (which would require compensating torque and / or movement in the X-direction), but the Y-direction motor 56Y does apply torque about the Y-axis of rotation (thereby causing the control component tool to move within the XY plane). Typically, the motor 56Y is coupled to the frame 50 such that the motor 56Y is configured to rotate with the frame 50. By configuring in this manner, the motor does not apply any torque to the frame 50 even when the frame 50 rotates.

[0145] Now refer to Figure 5A and Figure 5B , which are schematic diagrams of the movement of the control component tool in the Z linear direction according to some applications of the present invention. As mentioned above, typically, when the operator moves the control component tool along the Z linear direction, this causes the link 54 to rotate about the Z rotation axis 52Z. It should be noted that for some applications, an additional support link 55 is provided parallel to the link 54 and rotates with the link 54. FIG5A to FIG5B The transition shows the movement along the Z direction, where Figure 5A The connecting rod 54 is shown in a retracted configuration (in the Z direction), and Figure 5B The connecting rod 54 is shown in its extended configuration (along the Z direction). For some applications, a rotary encoder is provided along the rotational axis 52Z (or a parallel rotational axis, such as the rotational axis passing through the connecting rod 55). The rotary encoder detects the rotation of the connecting rod 54 about the rotational axis 52Z and generates a signal in response thereto. The computer processor derives the control component tool movement in the Z direction from the signal generated by the rotary encoder. For some applications, at least one additional rotary encoder is provided along the Z rotational axis (or a parallel rotational axis, such as the rotational axis passing through the connecting rod 55) to provide redundancy for the system (e.g., so that in the event of a failure of one of the rotary encoders, the other rotary encoder can be used).

[0146] As also described above, for some applications, the motor 56Z is positioned along the Z linear direction. Typically, the motor is a direct-drive motor, such as a direct-drive linear motor, such as a linear voice coil motor. For some applications, the motor is configured to drive the tool in the Z linear direction to provide force feedback. For some applications, the computer processor is configured to apply a force that resists an operator's attempted movement of the control component tool 32 that would deviate from the remote center of motion. For example, in response to the operator moving the control component tool through a yaw or pitch rotation that would result in a corresponding movement of the ophthalmic tool (which would deviate from the remote center of motion), the computer processor may move the control component tool linearly (via X, Y, and / or Z linear motion) such that the remote center of motion of the ophthalmic tool is maintained. For some such applications, the force is applied by driving the control component tool in the Z linear direction via the motor 56Z. As shown, the motor is coupled to the connecting rod 54 at a position 82 offset from the Z rotation axis 52Z. For some applications, the position 82 is offset from the Z rotation axis 52Z by between 3 mm and 30 mm, such as between 5 mm and 20 mm, or between 10 mm and 15 mm. Thus, when the Z-direction motor 56Z extends or contracts, it applies torque about the Z axis of rotation (thereby causing movement of the control component tool in the Z direction).

[0147] Now refer to Figure 6A and Figure 6B , which are schematic diagrams of the pitch angle motion of the control component tool 32 according to some applications of the present invention. Figure 7A and Figure 7B , which are schematic diagrams of yaw motion of a control component tool according to some applications of the present invention. As mentioned above, the control component tool typically undergoes pitch rotation by rotating about the pitch rotation axis 70. This is in the FIG6A to FIG6B , where the pitch rotation is indicated by arrow 90. Further typically, the tool undergoes yaw rotation by rotating the shaft 42 (on which the control component tool is mounted) about its own axis 72 (which serves as the yaw rotation axis). FIG. 7A to FIG. 7B , where the rotation of the shaft is indicated by arrow 92 .

[0148] Now refer to Figure 8 , which is a schematic diagram of a portion of a control component tool according to some applications of the present invention. As mentioned above, the control component tool typically undergoes a roll angle rotation by rotating about its own axis 74, as shown by arrow 94.

[0149] refer to Figures 6A-8angular rotation schematically shown in , as described above, for some applications, an inertial measurement unit 76 is housed within the control component tool. Typically, the inertial measurement unit includes a three-axis accelerometer, a three-axis gyroscope and / or a three-axis magnetometer. The inertial measurement unit typically generates inertial measurement unit data related to the three-dimensional orientation of the control component tool. Alternatively or additionally, the control component includes one or more rotary encoders to detect the roll, pitch and / or yaw orientation of the control component tool 32. Typically, the rotary encoders are arranged along axes about which roll, pitch and yaw angular rotations occur, respectively. For some applications, the control component includes the inertial measurement unit 76 and, in addition, one or more rotary encoders to detect the roll, pitch and / or yaw of the control component tool 32 for redundancy (e.g., so that in the event of a failure of the inertial measurement unit, the rotary encoders are used).

[0150] As described above, for some applications, an operator provides commands to the robotic unit via the control component 26. Typically, such commands include commands that control the actions performed by the tool. For example, these commands can control a blade, a phacoemulsification tool (e.g., the operating mode and / or suction of the phacoemulsification tool), a clamping forceps and / or an injector tool (e.g., which fluid (e.g., viscoelastic fluid, saline, etc.) should be injected and / or what the flow rate is). Alternatively or additionally, the operator can input commands that control the imaging system (e.g., the zoom, focus, and / or xy positioning of the imaging system). For some applications, the commands include controlling an intraocular lens manipulator tool, for example, so that the tool manipulates an intraocular lens in the eye to precisely position the intraocular lens in the eye. For some applications, the control component tool (and / or different parts of the control component unit) include one or more components that are configured to receive such inputs from the operator. For example, as Figure 8 As shown, the control component means may include a scroll wheel 96. Alternatively or additionally, the control component means may include a different type of component configured to receive such input from an operator, such as a button or the like.

[0151] Now refer to Figure 9A 、 Figure 9B 、 Figure 9C and Figure 9D , these figures are schematic diagrams of a control component unit 30 according to some applications of the present invention. Figure 9A and Figure 9B shows a corresponding oblique view of the control component unit, Figure 9C A side view is shown, and Figure 9D A top view is shown. Figure 9A-9B The structure and function of the control component unit 30 shown in FIG are generally similar to those shown in FIG. Figure 2A-Figure 8 The structure and function of the control component unit 30 are shown in FIG. 1 , except for the differences described below.

[0152] like Figure 9A-9B The control unit 30 shown is generally similar in several respects to the control unit 30 shown in FIG. Figure 2A-Figure 8 The control component unit 30 is shown. The control component unit generally includes a frame 50 that rotates about a first rotation axis 52X and a link 54 that rotates about a second rotation axis 52Y and about a third rotation axis 52Z. Generally, the operator moves the control component tool along the X, Y, and Z linear directions, causing the link to rotate about the corresponding rotation axes. For example, when the operator moves the control component tool along the X linear direction, this causes the frame 50 to rotate about the rotation axis 52X, and when the operator moves the control component tool along the Y linear direction, this causes the link 54 to rotate about the rotation axis 52Y (as shown in FIG. 1 ). Figure 3C and Figure 4C ), and when the operator moves the control component tool in the Z linear direction, this causes the link 54 to rotate about the rotation axis 52Z (as shown Figure 3C shown).

[0153] As mentioned above, in the above description, it is assumed that the connecting rod 54 is arranged perpendicular to the frame 50. In fact, during most of the use of the control component unit, the connecting rod 54 is arranged at a certain angle to the frame 50 (for example, Figure 4A ). In such a configuration, movement of the control component tool within the XY plane (or even along the X linear direction or along the Y linear direction) will generally cause the frame 50 to rotate about the rotation axis 52X and the connecting rod 54 to rotate about the rotation axis 52Y. For this reason, the use of the terms X, Y, and Z as used herein with respect to the movement of parts of the control component unit should not be interpreted as strictly corresponding to movement along three linear axes that are perpendicular to each other. Instead, movement in the X and Y directions should be interpreted as relating to movement of the frame 50 or the connecting rod 54 within the XY plane (but not necessarily in directions perpendicular to each other), and movement in the Z direction should be interpreted as corresponding to movement of the connecting rod 54 in a direction perpendicular to the XY plane. Thus, the rotation axis 52X and the motor 56X are associated with movement of the frame 50 within the XY plane (regardless of whether the movement is in the X direction as shown in the figure), the rotation axis 52Y and the motor 56Y are associated with movement of the connecting rod within the XY plane (regardless of whether the movement is in the Y direction as shown in the figure), and the rotation axis 52Z and the motor 56Z are associated with movement of the connecting rod 54 perpendicular to the XY plane.

[0154] Typically, as shown, the Y rotation axis 52Y is aligned with the Z rotation axis 52Z along the Z direction. Further typically, both the Y linear motion and the Z linear motion are achieved by the link 54. It should be noted that for some applications, an additional supporting link 55 is provided parallel to the link 54 and rotates with the link 54. For some applications, the link 54 and / or the link 55 are made of two or more parts rigidly connected to each other. For example, Figure 9A As shown, links 54 and 55 each include a first portion disposed to the left of Z axis of rotation 52Z and a second portion disposed to the right of Z axis of rotation 52Z. For some applications, a rotary encoder is disposed along each of the rotation axes 52X, 52Y, and 52Z (or a parallel rotation axis (e.g., the rotation axis of link 55)). The rotary encoder detects rotation of the corresponding link about the rotation axis and generates a signal in response thereto. A computer processor derives the control component tool's motion along the corresponding linear direction from the signal generated by the rotary encoder. For some applications, at least one additional rotary encoder is disposed along each of the rotation axes 52X, 52Y, and 52Z to provide redundancy for the system (e.g., so that in the event of a failure of one of the rotary encoders, another rotary encoder is used).

[0155] As reference Figure 2A-Figure 8 As described with reference to the control unit 30 shown in FIG, typically, the control unit tool 32 is movable by an operator to undergo pitch, yaw, and roll rotations. The control unit tool typically undergoes pitch rotation by rotating about a pitch rotation axis 70, and undergoes yaw rotation by rotating the shaft 42 (on which the control unit tool is mounted) about its own axis 72 (which serves as the yaw rotation axis). Typically, the control unit tool undergoes roll rotation by rotating about its own axis 74 (which serves as the roll rotation axis). For some applications, an inertial measurement unit 76 is housed within the control unit tool. Typically, the inertial measurement unit includes a three-axis accelerometer, a three-axis gyroscope, and / or a three-axis magnetometer. The inertial measurement unit typically generates inertial measurement unit data related to the three-dimensional orientation of the control unit tool. Alternatively or additionally, the control unit includes one or more rotary encoders to detect the roll, pitch, and / or yaw orientation of the control unit tool 32. Typically, the rotary encoders are positioned along the axes about which the roll, pitch, and yaw rotations occur, respectively. For some applications, the control component includes an inertial measurement unit 76 and also includes one or more rotary encoders to detect roll, pitch, and / or yaw of the control component tool 32 for redundancy (e.g., such that the rotary encoders are used in the event of an inertial measurement unit failure).

[0156] As reference Figure 2A-Figure 8As described with respect to the control component unit 30 shown in FIG, generally, the computer processor 28 receives the rotary encoder data and the inertial measurement unit data. Generally, the computer processor determines the XYZ position of the end of the control component tool 32 based on the rotary encoder data, and determines the three-dimensional orientation (e.g., three Euler orientation angles and / or another representation of orientation) of the end of the control component tool 32 based on the inertial measurement unit data or based on a combination of the rotary encoder data and the inertial measurement unit data. Thus, the computer processor is configured to determine the XYZ position and three-dimensional orientation of the end of the control component tool based on the combination of the rotary encoder data and the inertial measurement unit data.

[0157] As reference Figure 2A-Figure 8 As depicted in the control unit 30 shown in FIG, typically, direct drive motors 56X, 56Y, 56Z (i.e., motors that do not transmit motion via gears), and typically linear motors (e.g., linear voice coil motors), are associated with motion along the X, Y, and Z linear directions. As described above, for some applications, the computer processor is configured to drive the control unit to provide force feedback to the operator indicating the position of the ophthalmic tool within the incision entering the patient's eye. For some applications, the motors are configured to drive the tool linearly to provide the aforementioned force feedback. For some applications, the computer processor is configured to apply a force that resists an operator's attempted movement of the control unit tool 32 that would deviate from the remote center of motion. For example, in response to the operator rotating the control unit tool through a yaw angle that would result in a corresponding movement of the ophthalmic tool (which would deviate from the remote center of motion), the computer processor may move the control unit tool linearly (via X, Y, and / or X linear motion) such that the remote center of motion of the ophthalmic tool is maintained. For some such applications, force is applied by moving the component tool in X, Y, and Z linear directions via motors 56X, 56Y, 56Z.

[0158] Typically, the robotic system 10 is used for procedures requiring delicate and precise movement of surgical tools, such as ophthalmic procedures as described above. Accordingly, the control component unit 30 is typically configured such that movement of the control component tool is performed by the operator without substantial reaction forces to the movement (other than reaction forces intentionally applied via the motors 56X, 56Y, 56Z). For some applications, the control component tool includes a counterweight 58 so that the weight of the control component tool is relatively evenly balanced about the pitch rotation axis 70. For some applications, the control component tool is not completely balanced about the pitch rotation axis 70 in order to give the surgeon a sense of the tool's weight (like a real surgical tool) and / or to reduce the overall mass of the control component tool. For some applications, the link 54 extends across both sides of the Z rotation axis 52Z, with the control component tool and additional components disposed on the link 54 (and / or parallel links 55) on a first side of the rotation axis 52Z. For some applications, a motor 56Z arranged along the Z linear direction is arranged on the connecting rod 54 on the other side of the rotation axis 52Z in order to balance the weight of the control component tool and additional components arranged on the first side. For some such applications, the control component unit does not include an additional counterweight for this purpose (unlike, for example, Figure 2A-Figure 8 , which comprises a dedicated counterweight 62 for this purpose). Alternatively, the control unit may comprise a counterweight for this purpose in addition to the motor 56Z.

[0159] For some applications, frame 50 (which serves as a link through which linear motion in the X direction is achieved) includes two curved arms, and motor 56Y (and optionally its extension 56YE) passes along a straight line between the two curved arms. For some applications, the end of frame 50 adjacent to Z rotation axis 52Z is ​​aligned with Z rotation axis 52Z (e.g., Figure 9A 52Z) so that the frame 50 does not exert any torque about the Z axis of rotation 52Z. Therefore, the frame 50 does not need to be balanced about the Z axis of rotation 52Z. For some applications, even when the frame 50 moves (due to motion in the X direction), the frame remains aligned with the Z axis of rotation 52Z so that no compensating motion is required to balance the frame's motion.

[0160] Note that, according to the above description, the control unit is typically balanced in all six degrees of freedom (three axial translations and three angular rotations). For some applications, as described, the control unit utilizes a counterweight to provide balance in two degrees of freedom: Z-axis motion and pitch motion. (In Figures 9A-9DIn the illustrated embodiment, motor 56Z acts as a counterweight for the Z-axis degree of freedom of motion. The remaining four degrees of freedom (i.e., X and Y axial motions and roll and yaw angular motions) typically do not require counterweights for balancing because the control component unit is designed so that the control component tool and / or other elements of the control component unit are self-balancing within these degrees of freedom. Because the control component unit is designed to balance within all six degrees of freedom (e.g., by being self-balancing within four degrees of freedom and having counterweights provide balance in the remaining two degrees of freedom), the control component tool tends to maintain its position and orientation in the absence of any forces acting on the control component tool. Therefore, typically, if the operator temporarily releases the control component tool (as she / he releases the tool without applying force on the control component tool), the control component tool maintains its position and orientation until the operator regains control of the control component tool. In addition, typically, the control component tool is able to provide force feedback to the operator at relatively low force levels because the control component tool provides relatively low inertial forces. That is, a motor configured to provide force feedback to an operator by driving movement of a control component tool is configured to do so without substantially overcoming inertial forces.

[0161] In addition to the differences described above, such as Figure 9A-9B The structure and function of the control component unit 30 shown are similar to those shown in FIG. Figure 2A-Figure 8 The structure and function of the control component unit 30 shown differ in the following respects.

[0162] For some applications, such as Figure 9A-9B As shown, motor 56Y is arranged in the XY plane so that its center of mass is substantially aligned with the X rotation axis 52X when motor 56Y is extended and when motor 56Y is retracted. Typically, this prevents the movement of motor 56Y from applying any torque to the connecting rod 54 in the Z direction as motor 56Y is extended and retracted. It is worth noting that as the motor extends and retracts, its center of mass moves slightly. Typically, the motor is positioned so that at least one position within its fully extended and fully retracted states, the center of mass of the motor is aligned with the X rotation axis 52X. Further typically, the center of mass of the motor is aligned with the X rotation axis 52X when the motor is in its center position relative to its fully extended and fully retracted states. For some applications, when the motor is fully extended and fully retracted, its center of mass is within 10 mm, for example, within 5 mm, of the X rotation axis 52X. It should also be noted that with respect to Figure 2A-Figure 8 Like the control component unit described above, the motor 56Y is coupled to the frame 50 so that the motor 56Y is configured to rotate together with the frame 50. By configuring in this manner, the motor does not apply any torque to the frame 50 even when the frame 50 rotates.

[0163] For some applications, the frame 50 includes an angled extension 50E to which the motor 56X (and optionally, an extension 56XE thereof) is coupled. The motor 56X rotates the frame 50 about the axis 52X by the motor (or its extension) pushing or pulling the angled extension 50E. Typically, by incorporating a control component unit with the angled extension 50E, the size of the control component unit (and the total footprint of the control component) is reduced relative to a situation where the motor 56X (or its extension 56XE) is coupled to a non-angled continuation of the frame 50 on the side of the axis 52X opposite the main portion of the frame 50. For some applications, the motor 56X rotates the frame 50 about the axis 52X by means of the motor (or its extension) by pushing or pulling the non-angled extension 57 disposed within the footprint of the frame, for example, as Figure 3B shown.

[0164] Similarly, for some applications, the link 54 includes an angled extension 54E to which the motor 56Y (and optionally, its extension 56YE) is coupled. The motor 56Y rotates the link 54 about the axis 52Y by pushing or pulling the angled extension 54E by the motor (or its extension). Typically, by incorporating a control component unit with the angled extension 54E, the size of the control component unit (and the total footprint of the control component) is reduced relative to a case where the motor 56Y (or its extension 56YE) is coupled to a non-angled continuation of the link 54 on the side of the axis 52Y opposite the main portion of the link 54. For some applications, the motor 56Y rotates the frame 50 about the axis 52Y by means of the motor (or its extension) by pushing or pulling the link 54 at a position 80 offset from the Y rotation axis 52Y, for example, as Figure 4C shown.

[0165] For some applications, the longitudinal axis 72 of shaft 42 (which serves as the yaw rotation axis) is aligned with the ends of links 54 and 55. Figure 2A-Figure 8 In contrast to the embodiment shown, Figure 2A-Figure 8 In the illustrated embodiment, shaft 42 is supported within extensions of links 54 and 56. Generally, by aligning the longitudinal axis 72 of shaft 42 with the ends of parallel links 54 and 55, the size of the control unit (and the overall footprint of the control) is reduced relative to if shaft 42 were supported within extensions of links 54 and 56.

[0166] Although some applications of the present invention are described with reference to cataract surgery, the scope of the present application includes the application of the devices and methods described herein, mutatis mutandis, to other medical procedures. Specifically, the devices and methods described herein for use in other medical procedures can be applied to other microsurgical procedures, such as general surgery, orthopedic surgery, gynecological surgery, otolaryngology surgery, neurosurgery, oral and maxillofacial surgery, plastic surgery, podiatric surgery, vascular surgery, and / or pediatric surgery performed using microsurgical techniques. For some such applications, the imaging system includes one or more microscopic imaging units.

[0167] It should be noted that the scope of the present application includes the application of the devices and methods described herein, mutatis mutandis, to intraocular procedures other than cataract surgery. Such procedures may include collagen cross-linking, endothelial keratoplasty (e.g., DSEK, DMEK, and / or PDEK), DSO (Descemet's membrane stripping without transplant), laser-assisted keratoplasty, keratoplasty, LASIK / PRK, SMILE, pterygium, ocular surface cancer treatment, secondary IOL implantation (secondary IOL implantation after suturing, secondary IOL implantation through the conjunctiva, etc.), iris repair, IOL repositioning, IOL exchange, superficial keratectomy, minimally invasive glaucoma surgery (MIGS), limbal stem cell transplantation, astigmatic keratotomy, limbal relaxing incision (LRI), amniotic membrane transplantation (AMT), glaucoma surgery (e.g., trabeculectomy (trabs), tubes, minimally invasive glaucoma surgery), automated lamellar keratoplasty (ALK), anterior vitrectomy, and / or pars plana anterior vitrectomy.

[0168] Applications of the inventions described herein may take the form of a computer program product accessible from a computer-usable or computer-readable medium (e.g., a non-transitory computer-readable medium) that provides program code for use by or in conjunction with a computer or any instruction execution system (e.g., a computer processor 28). For the purposes of this description, a computer-usable or computer-readable medium can be any device that can contain, store, transmit, propagate, or convey a program for use by or in conjunction with an instruction execution system, device, or apparatus. The medium can be an electronic medium, a magnetic medium, an optical medium, an electromagnetic medium, an infrared medium, or a semiconductor system (or apparatus or device) or a propagation medium. Typically, a computer-usable or computer-readable medium is a non-transitory computer-usable or computer-readable medium.

[0169] Examples of computer-readable media include semiconductor or solid-state memory, magnetic tape, removable computer diskette, random access memory (RAM), read-only memory (ROM), rigid magnetic disks, and optical disks. Current examples of optical disks include compact disk-read only memory (CD-ROM), compact disk-read / write (CD-R / W), DVD, and USB drives.

[0170] A data processing system suitable for storing and / or executing program code will include at least one processor (e.g., computer processor 28) coupled directly or indirectly to a memory element via a system bus. The memory element may include local memory, bulk storage, and cache memories used during the actual execution of the program code, with the cache memories providing temporary storage of at least some program code to reduce the number of times the code must be retrieved from bulk storage during execution. The system can read the present invention's instructions on the program storage device and follow these instructions to perform the methods of embodiments of the present invention.

[0171] A network adapter may be coupled to a processor to enable the processor to become coupled to other processors or remote printers or storage devices through intervening private or public networks. Modems, cable modem and Ethernet cards are just a few of the currently available types of network adapters.

[0172] Computer program code for carrying out operations of the present invention may be written in any combination of one or more programming languages ​​including object oriented programming languages ​​such as Java, Smalltalk, C++, etc., as well as traditional procedural programming languages ​​such as the C programming language or similar programming languages.

[0173] It will be understood that the algorithms described herein can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a processor of a special-purpose computer, or a processor of other programmable data processing devices for producing a machine, so that the instructions executed by the processor of the computer (e.g., computer processor 28) or the processor of other programmable data processing devices produce means for implementing the functions / actions specified in the algorithms described in this application. These computer program instructions can also be stored in a computer-readable medium (e.g., a non-transitory computer-readable medium), which can guide a computer or other programmable data processing device to act in a particular manner, so that the instructions stored in the computer-readable medium produce an article of manufacture, which includes instruction means for implementing the functions / actions specified in the algorithms. Computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on a computer or other programmable device to produce a computer-implemented process, so that the instructions executed on a computer or other programmable device provide a process for implementing the functions / actions specified in the algorithms described in this application.

[0174] Computer processor 28 is typically a hardware device that is programmed with computer program instructions to create a special-purpose computer. For example, when computer processor 28 is programmed to execute the algorithms described with reference to the accompanying figures, computer processor 28 typically functions as a special-purpose robotic system computer processor. Generally, the operations described herein as being performed by computer processor 28 convert the physical state of a memory (which is a real physical object) into different magnetic polarities, charges, etc., depending on the memory technology used. For some applications, the operations described as being performed by a computer processor are performed by multiple computer processors in combination with one another.

[0175] Those skilled in the art will recognize that the present invention is not limited to what has been particularly shown and described hereinabove. Rather, the scope of the present invention includes combinations and subcombinations of the various features described hereinabove, as well as variations and modifications of these features that would occur to those skilled in the art upon reading the foregoing description and that are not in the prior art.

Claims

1. An apparatus for use with a robotic unit configured to perform surgery on a part of a patient's body using one or more tools, the apparatus comprising: A control component unit, the control component unit comprising: X, Y, and Z linear motion rotation axes, and pitch, roll, and yaw angular motion rotation axes; and a control component tool coupled to the X, Y, and Z linear motion rotation axes and the pitch, roll, and yaw angular motion rotation axes and configured to be moved by an operator such that: When the operator moves the control member tool along the linear X, Y and Z directions, a rotational motion is generated about the X, Y and Z linear motion rotation axes, and When the operator moves the control member tool by roll, pitch and yaw angular movements, a rotational movement is generated about the corresponding pitch angular movement rotation axis, roll angular movement rotation axis and yaw angular movement rotation axis, Wherein, the control component tool is substantially balanced around the X linear motion rotation axis, the Y linear motion rotation axis, the Z linear motion rotation axis, and the pitch angular motion rotation axis, the roll angular motion rotation axis, and the yaw angular motion rotation axis.

2. The device according to claim 1, wherein: The control component tool is self-balancing in four degrees of freedom, and In two degrees of freedom, the control component unit comprises counterweights in order to balance the weight of the control component and / or other components of the control component unit about the corresponding axis of rotation.

3. The device according to claim 2, wherein The control component tool is self-balancing around the roll motion rotation axis and the yaw motion rotation axis and around two of the X linear motion rotation axis, the Y linear motion rotation axis and the Z linear motion rotation axis, and wherein the control component includes a first counterweight and a second counterweight to balance the weight of the control component tool and / or other components of the control component unit around the pitch motion rotation axis and around one of the linear motion rotation axes, respectively.

4. The device according to claim 3, wherein The first counterweight does not fully balance the weight of the control member tool about the rotational axis of the pitch motion.

5. The device according to claim 1, wherein The control component tool is configured to maintain the position and orientation of the control component tool in the absence of any force acting on the control component tool.

6. The device according to claim 5, wherein In response to the operator releasing the control component tool without applying any force on the control component tool, the control component tool is configured to maintain its position and orientation.

7. The device according to claim 1, wherein The control component unit includes one or more motors configured to provide force feedback to an operator by driving the control component tool to move.

8. The device according to claim 7, wherein The one or more motors are configured to provide the force feedback substantially without overcoming inertial forces.

9. The device according to claim 7, wherein The one or more motors include one or more direct drive motors.

10. The device according to claim 9, wherein The one or more motors include one or more direct drive linear motors.

11. The device according to claim 10, wherein The one or more motors include one or more direct drive linear voice coil motors.

12. An apparatus for use with a robotic unit configured to perform surgery on a part of a patient's body using one or more tools, the apparatus comprising: A control component unit, the control component unit comprising: a plurality of connecting rods coupled to each other via a plurality of rotation axes; and a control component tool coupled to the link and configured to be moved by an operator such that the link rotates about the rotational axis when the operator moves the control component tool in linear X, Y, and Z directions, in: The multiple connecting rods include an X-direction connecting rod, through which the X-direction linear motion is achieved. The plurality of rotation axes include a Z rotation axis about which movement in the Z direction is achieved, and The X-direction link is aligned with the Z-axis of rotation such that the X-direction link does not exert any torque about the Z-axis of rotation.

13. The device according to claim 12, wherein The plurality of rotation axes include a Y rotation axis about which movement in the Y direction is achieved, and wherein the Y rotation axis is aligned with the Z rotation axis along the Z direction.

14. The device according to claim 12, wherein The X-direction link includes a frame.

15. The device according to claim 12, wherein Since the X-direction link is aligned with the Z-axis of rotation, the X-direction link does not exert any torque about the Z-axis of rotation.

16. The device according to claim 12, wherein As the X-link undergoes motion, the X-link remains aligned with the Z axis of rotation such that no compensating motion is required to balance the motion of the X-link.

17. The device according to claim 12, wherein In four degrees of freedom, the control component tool is self-balancing, and in two degrees of freedom, the control component comprises counterweights in order to balance the weight of the control component and / or other components of the control component unit about the corresponding axis of rotation.

18. The device according to any one of claims 12 to 17, wherein: The control component tool is configured to maintain the position and orientation of the control component tool in the absence of any force acting on the control component tool.

19. The device according to claim 18, wherein In response to the operator releasing the control component tool without applying any force on the control component tool, the control component tool is configured to maintain its position and orientation.

20. The device according to any one of claims 12 to 17, wherein The control component unit includes one or more motors configured to provide force feedback to an operator by driving the control component tool to move.

21. The device according to claim 20, wherein The one or more motors are configured to provide the force feedback substantially without overcoming inertial forces.

22. The device according to claim 20, wherein The one or more motors include one or more direct drive motors.

23. The device according to claim 22, wherein The one or more motors include one or more direct drive linear motors.

24. The device according to claim 23, wherein The one or more motors include one or more direct drive linear voice coil motors.

25. An apparatus for use with a robotic unit configured to perform surgery on a part of a patient's body using one or more tools, the apparatus comprising: A control component unit, the control component unit comprising: X, Y, and Z linear motion rotation axes, and pitch, roll, and yaw angular motion rotation axes; and a control component tool coupled to the X, Y, and Z linear motion rotation axes and the pitch, roll, and yaw angular motion rotation axes and configured to be moved by an operator such that: When the operator moves the control member tool along the linear X, Y and Z directions, a rotational motion is generated about the X linear motion rotation axis, the Y linear motion rotation axis and the Z linear motion rotation axis, and When the operator moves the control member tool through roll, pitch, and yaw movements, a rotational movement is generated about the corresponding pitch, roll, and yaw movement rotation axes; a plurality of direct drive motors operably coupled to respective X, Y, and Z linear motion axes of rotation; and A computer processor, the computer processor being configured to: moving the tip of the selected ophthalmic tool within the patient's eye in a manner corresponding to the movement of the control member tool; and Force feedback is provided to an operator by driving the control member arm using the plurality of direct drive motors.

26. The device according to claim 25, wherein The plurality of direct drive motors includes a plurality of linear motors.

27. The device according to claim 26, wherein The plurality of linear motors include a plurality of linear voice coil motors.

28. The apparatus according to claim 25, wherein The direct drive motor is configured to avoid motor cogging.

29. The apparatus according to claim 28, wherein The direct drive motor is configured to provide force feedback to an operator that is more accurate than would be provided by a motor experiencing motor sticking.

30. An apparatus for use with a robotic unit configured to perform surgery on a part of a patient's body using one or more tools, the apparatus comprising: A control component unit, the control component unit comprising: X, Y, and Z linear motion rotation axes, and pitch, roll, and yaw angular motion rotation axes; and a control component tool coupled to the X, Y, and Z linear motion rotation axes and the pitch, roll, and yaw angular motion rotation axes and configured to be moved by an operator such that: When the operator moves the control member tool along the linear X, Y and Z directions, a rotational motion is generated about the X linear motion rotation axis, the Y linear motion rotation axis and the Z linear motion rotation axis, and When the operator moves the control member tool through roll, pitch and yaw angular movements, a rotational movement is generated about the corresponding pitch, roll and yaw angular movement rotation axes; an X-direction motor, a Y-direction motor, and a Z-direction motor, the X-direction motor, the Y-direction motor, and the Z-direction motor being operably coupled to the X linear motion rotation axis, the Y linear motion rotation axis, and the Z linear motion rotation axis, respectively; and A computer processor, the computer processor being configured to: moving the tip of the selected ophthalmic tool within the patient's eye in a manner corresponding to the movement of the control member tool; and providing force feedback to the operator by driving the control member arm using the X-direction motor, the Y-direction motor, and the Z-direction motor, Wherein, the first end of the Y-direction motor is aligned with the X-rotation axis.

31. The apparatus according to claim 30, wherein The control component includes a frame, and the control component unit is configured such that when an operator moves the control component tool along the linear X direction, this causes the frame to rotate about the X linear motion rotation axis, and wherein the Y direction motor is coupled to the frame such that the Y direction motor rotates with the frame.

32. The apparatus according to claim 30, wherein When the Y-direction motor is extended or retracted, the Y-direction motor does not apply any torque about the X-axis of rotation.

33. The device according to any one of claims 30 to 32, wherein: The second end of the Y-direction motor is offset from the Y-rotation axis such that when the Y-direction motor is extended or retracted, the Y-direction motor applies torque about the Y-rotation axis.

34. The apparatus according to claim 33, wherein The second end of the Y-direction motor is offset from the Y-rotation axis by between 5 mm and 20 mm.

35. The apparatus of claim 34, wherein: The second end of the Y-direction motor is offset from the Y-rotation axis by between 5 mm and 20 mm.

36. The apparatus of claim 35, wherein: The second end of the Y-direction motor is offset from the Y-rotation axis by between 10 mm and 15 mm.

37. The device according to any one of claims 30 to 32, wherein: The X-direction motor, the Y-direction motor, and the Z-direction motor include direct drive motors.

38. The apparatus according to claim 37, wherein The direct drive motor includes a linear motor.

39. The apparatus according to claim 38, wherein The linear motor includes a linear voice coil motor.

40. The apparatus of claim 37, wherein: The direct drive motor is configured to avoid motor cogging.

41. The apparatus according to claim 40, wherein The direct drive motor is configured to provide force feedback to an operator that is more accurate than would be provided by a motor experiencing motor sticking.

42. The device according to one of claims 30-32, wherein The center of mass of the Y-direction motor is substantially aligned with the X-linear motion rotation axis.

43. The apparatus according to claim 42, wherein The Y-direction motor comprises a linear motor, and wherein the center of mass of the Y-direction motor is within 10 mm of the X linear motion rotation axis when the Y-direction motor is fully extended and fully retracted.

44. The apparatus of claim 43, wherein: The Y-direction motor comprises a linear motor, and wherein the center of mass of the Y-direction motor is within 5 mm of the X linear motion rotation axis when the Y-direction motor is fully extended and fully retracted.

45. An apparatus for use with a robotic unit configured to perform surgery on a part of a patient's body using one or more tools, the apparatus comprising: A control component unit, the control component unit comprising: X, Y, and Z linear motion rotation axes, and pitch, roll, and yaw angular motion rotation axes; and a control component tool coupled to the X, Y, and Z linear motion rotation axes and the pitch, roll, and yaw angular motion rotation axes and configured to be moved by an operator such that: When the operator moves the control member tool along the linear X, Y and Z directions, a rotational motion is generated about the X linear motion rotation axis, the Y linear motion rotation axis and the Z linear motion rotation axis, and When the operator moves the control member tool through roll, pitch and yaw angular movements, a rotational movement is generated about the corresponding pitch angular movement rotation axis, roll angular movement rotation axis and yaw angular movement rotation axis; at least one rotary encoder configured to detect rotational motion about a corresponding one of the rotation axes; one or more wires extending from the rotary encoder; and An annular magnet is disposed along a corresponding one of the rotational axes, wherein the one or more wires pass through an aperture defined by the annular magnet.

46. ​​The apparatus of claim 45, wherein The control component unit includes: a plurality of rotary encoders, each of the plurality of rotary encoders being configured to detect rotational motion about a corresponding one of the X linear motion rotation axis, the Y linear motion rotation axis, and the Z linear motion rotation axis, and each of the plurality of rotary encoders having one or more wires extending therefrom, and A ring magnet is disposed along the X, Y, and Z linear motion rotation axes, wherein the one or more wires pass through a hole defined by the ring magnet.

47. The apparatus of claim 45, wherein: The control component unit includes: a plurality of rotary encoders, each of the plurality of rotary encoders being configured to detect rotational motion about a corresponding one of the pitch, roll, and yaw angular motion rotation axes, and each of the plurality of rotary encoders having one or more wires extending therefrom, and An annular magnet is disposed along the pitch, roll, and yaw rotational axes, wherein the one or more wires pass through a hole defined by the annular magnet.

48. The apparatus of claim 47, wherein The control component unit also includes: a plurality of rotary encoders, each of the plurality of rotary encoders being configured to detect rotational motion about a corresponding one of the X linear motion rotation axis, the Y linear motion rotation axis, and the Z linear motion rotation axis, and each of the plurality of rotary encoders having one or more wires extending therefrom, and A ring magnet is disposed along the X, Y, and Z linear motion rotation axes, wherein the one or more wires pass through a hole defined by the ring magnet.

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