Method and apparatus for automated transfer of intraocular lenses

Abstract

A method for automating the transfer of an intraocular lens (1) is disclosed, the intraocular lens comprising an optical lens body (10) and two loops (11) attached to and extending outward from the peripheral edge of the optical lens body (10). The method includes the steps of: picking up the intraocular lens (1) at a starting position; moving the intraocular lens (1) to a destination position; and releasing the intraocular lens (1) at the destination position, wherein picking up the intraocular lens (1) at the starting position comprises: grasping the intraocular lens (1) only at the loops (11) of the intraocular lens (1).

Description

[0001] Priority Statement

[0002] This application claims priority to U.S. Provisional Patent Application Serial No. 63 / 233,420, filed August 16, 2021, entitled “METHOD AND APPARATUS FOR THE AUTOMATED TRANSFEROF AN INTRAOCULAR LENS”, by inventors David Heemyung, Christoph Ludwig, and Gerhard Klokow, the entire contents of which are incorporated herein by reference as if fully and completely set forth herein. Technical Field

[0003] This invention relates to the field of transporting intraocular lenses (IOLs), and more particularly to methods and apparatus for automatically transferring an IOL from a starting position to a destination position. Background Technology

[0004] An intraocular lens (IOL), as the name suggests, is implanted into a patient's eye, and in most cases, it replaces the eye's natural lens (e.g., in the treatment of cataracts). An IOL typically consists of an optical lens body (providing the required refractive power) and two loops attached to and extending outward from the peripheral edge of the optical lens body. The purpose of the loops is to properly position the IOL, including the optical lens body, within the capsular bag of the patient's eye. Therefore, it is clear that an IOL is a delicate medical device that must be handled with utmost care during manufacturing and transport, because once implanted in a patient's eye, the optical lens body providing the required refractive power must be free of any defects that could negatively impact the patient's vision.

[0005] During manufacturing and subsequent packaging, intraocular lenses (IOLs) must be transferred between different stations / locations. For example, an IOL must be transferred from one carrier or fixation device that holds the IOL during a first manufacturing step to another carrier or fixation device that holds the IOL in a later manufacturing step (e.g., from a carrier or fixation device used during IOL cleaning to one used during IOL inspection). Currently, many transfer / relocation processes are performed more or less manually by an operator using specific tools, such as tweezers, which allow the operator to carefully grasp the outer edge of the IOL's optical lens body to avoid scratching or other damage to the optical lens body, as this could lead to the IOL being discarded during inspection. However, these manual transfer / relocation processes are cumbersome for the operator, and even with extreme care, it is impossible to always place each IOL in the same position on the carrier or fixation device, as this is simply not possible in a manual process. Accordingly, manual processes are disadvantageous from the perspectives of repeatability and reliability, as well as efficiency.

[0006] Another issue with intraocular lenses (IOLs) made of flexible materials is that the loops may slightly flex or bend during the manufacturing process. However, during inspection, it is essential not only to check the integrity and conformity to specifications of the lens body itself, but also to measure the overall dimensions of the IOL, including the loops, and determine if these dimensions meet predefined specifications. If the loops flex or bend during manufacturing, resulting in a lack of their regular orientation, this may lead to the IOL being rejected during inspection (due to non-compliance with the overall dimensional specifications). However, if the loops are properly oriented, the IOL will meet the specifications.

[0007] Therefore, the object of the present invention is to provide a method and apparatus that overcome the above-mentioned disadvantages. Summary of the Invention

[0008] The present invention overcomes the aforementioned disadvantages by providing a method and apparatus specified by the features of the respective independent claims. Advantages of the method and apparatus are described in detail in the respective dependent claims.

[0009] Specifically, the method for automating the transfer of an intraocular lens (which includes an optical lens body and two loops attached to and extending outward from the peripheral edge of the optical lens body) includes the following steps:

[0010] - Pick up the intraocular lens at the starting position;

[0011] -Move the intraocular lens to the destination location;

[0012] - Release the artificial lens at the destination location.

[0013] Picking up the intraocular lens at the starting position includes

[0014] - Grasp the intraocular lens only at the loop of the intraocular lens.

[0015] According to one aspect of the method of the invention, grasping the intraocular lens only at the loop is performed using a gripper including a suction port to attach the intraocular lens to the gripper only at the loop by positioning the suction port of the gripper adjacent to the loop of the intraocular lens and applying a vacuum to the suction port. Releasing the intraocular lens from the gripper at the destination location is performed by applying overpressure to the suction port to disengage the loop of the intraocular lens from the suction port.

[0016] According to another aspect of the method of the invention, the suction port of the gripper includes two suction ports disposed at the distal end of the gripper and projecting distally away from the gripper. Each of the two suction ports includes, at its distal end, a suction opening surrounded by a lens attachment surface. According to this aspect, the method further includes...

[0017] - Position the distal end of one of the two suction ports as a loop adjacent to one of the two loops of the intraocular lens, such that the suction opening of this suction port is covered by a portion of the loop that is arranged adjacent to it.

[0018] - Position the other of the two suction ports adjacent to the other of the two loops of the intraocular lens, such that the suction opening of the other suction port is covered by a portion of the other of the two loops; and

[0019] - Apply a vacuum to the suction openings of the two suction ports so that one of the two loops is attached to the lens attachment surface of one suction port and the other of the two loops is attached to the lens attachment surface of the other suction port.

[0020] In one aspect of the method according to the invention, the gripper is a gripper in which the two suction ports are fixedly arranged at the distal end of the gripper.

[0021] In another aspect of the method according to the invention, the gripper is one in which the two suction ports are rotatably arranged at the distal end of the gripper. Each of the two suction ports is arranged to be rotatable about a respective predetermined axis of rotation, which is orthogonal to a plane defined by the lens attachment surfaces of the two suction ports.

[0022] According to another aspect of the method of the invention, the method further includes

[0023] - Determine the actual rotational orientation of each of the two loops of the intraocular lens before applying a vacuum to the suction openings of the two suction ports;

[0024] - Rotate each of the two suction ports about its respective predetermined axis of rotation until the rotational orientation of one suction port corresponds to the determined actual rotational orientation of one of the two loops and the rotational orientation of the other suction port corresponds to the determined actual rotational orientation of the other of the two loops; and thereafter

[0025] - Apply a vacuum to the suction openings of the two suction ports so that one of the two loops is attached to the lens attachment surface of one suction port and the other of the two loops is attached to the lens attachment surface of the other suction port.

[0026] Still according to another aspect of the method of the invention, the method further includes

[0027] -In cases where the actual rotational orientation of one or the other of the two loops of the intraocular lens deviates from the corresponding predetermined rotational orientation:

[0028] The lens attachment surface of the lens, which is attached to one of the two loops, is used to attach a suction port to the other suction port of the two loops. The lens attachment surface of the lens is then rotated about the corresponding predetermined rotation axis until each of the two loops has a predetermined rotational orientation.

[0029] At the destination location, with each of the two loops having the predetermined rotational orientation, overpressure is applied to the suction openings of the two suction ports.

[0030] The device for automating the transfer of an intraocular lens (the intraocular lens including an optical lens body having a peripheral edge and two loops attached to and extending outward from the peripheral edge of the optical lens body) includes a gripper, and the gripper includes:

[0031] - Pressure supply connectors for supplying vacuum or overpressure;

[0032] - Two suction ports are located at the distal end of the gripper and protrude distally away from the gripper, each of the two suction ports including a suction opening at its distal end, the suction opening being surrounded by a lens attachment surface.

[0033] - Two separate fluid channels, each of which fluidly connects a corresponding one of the two suction ports to the pressure supply connector for supplying vacuum or overpressure, thereby forming two separate fluid connections between the pressure supply connector and the suction opening of the suction port.

[0034] The two suction ports are spaced apart from each other by a distance ranging from 5 mm to 17 mm, so as to grasp the intraocular lens only at the loop by attaching the loop of the intraocular lens to the lens attachment surface of the suction port, and to release the intraocular lens by removing the loop of the intraocular lens from the lens attachment surface, the distance being measured in the plane defined by the lens attachment surface.

[0035] According to one aspect of the device of the invention, the two suction ports are fixedly arranged at the distal end of the gripper.

[0036] According to another aspect of the device of the invention, the two suction ports are rotatably arranged at the distal end of the gripper. Each of the two suction ports is arranged to be rotatable about a respective predetermined axis of rotation, which is orthogonal to the plane defined by the lens attachment surface.

[0037] According to another aspect of the device of the invention, the gripper further includes two independent rotary motors, each having a rotary drive shaft, namely, a first rotary motor and a second rotary motor. The rotary drive shaft of the first rotary motor is connected to a first gripper finger via an anti-torsion connector, the first gripper finger having one of the two suction ports arranged at its distal end, and the rotary drive shaft of the second rotary motor is connected to a second gripper finger via another anti-torsion connector, the second gripper finger having the other of the two suction ports arranged at its distal end.

[0038] According to another aspect of the device of the invention, each of the anti-torsion connector and the other anti-torsion connector includes a magnetic clutch comprising a permanent magnet and two pins made of a magnetically sensitive material. The permanent magnet is mounted to the distal end of the rotary drive shaft in an anti-torsion manner and faces the proximal end of a corresponding one of the first or second gripper fingers. The two pins are arranged at the proximal end of a corresponding one of the first or second gripper fingers and face the permanent magnet. The distal ends of the two pins are fixedly connected to a corresponding one of the first or second gripper fingers, and the proximal ends of the two pins are magnetically coupled to the permanent magnet.

[0039] According to another aspect of the device of the invention, the first gripper finger includes an abutment flange arranged adjacent to a suction port, and the second gripper finger includes another abutment flange arranged adjacent to a other suction port. The gripper includes, at its distal end, a first abutment protrusion and a second abutment protrusion projecting distally from the distal end of the gripper on the opposite side of the gripper. The first abutment protrusion forms a stop for the abutment flange of the first gripper finger to define a predetermined rotational orientation of the one suction port when the abutment flange abuts against the first abutment protrusion, and the second abutment protrusion forms a stop for the other abutment flange of the second gripper finger to define a predetermined rotational orientation of the other suction port when the other abutment flange abuts against the second abutment protrusion.

[0040] According to another aspect of the device of the invention, the device further includes an illumination source and a camera, the illumination source for illuminating an intraocular lens carried by a lens carrier, and the camera for capturing an image of the illuminated intraocular lens carried by the lens carrier to determine the position of the intraocular lens and the rotational orientation of the loops of the intraocular lens carried by the lens carrier. The device further includes a control unit coupled to the camera and the gripper for moving the gripper having the two suction ports to a position where the two suction ports are arranged adjacent to the loops of the intraocular lens, such that the rotational orientation of the two suction ports corresponds to the determined actual rotational orientation of the two loops of the intraocular lens.

[0041] According to another aspect of the device of the invention, the device further includes a support plate having a plurality of mounting positions for mounting different types of lens carriers thereon. The device further includes at least two different types of lens carriers mounted to these mounting positions. The support plate, the mounting positions, and the at least two different types of lens carriers are configured such that an artificial lens disposed on the lens carrier, regardless of the type of lens carrier, is arranged in the same plane parallel to the plane defined by the lens attachment surfaces of the aspiration ports.

[0042] The method according to the invention is advantageous because it is an automated method that can be performed with high repeatability and reliability. Specifically, the IOL can be picked up by grasping it only at both loops and repeatedly placed at the destination location (e.g., on a carrier) in the same manner and at the same position. Therefore, the optical lens body of the IOL is not grasped at all (not even its peripheral edges), thus completely avoiding scratches or any damage to the optical lens body of the IOL.

[0043] When gripping the IOL using a gripper that includes a suction port, the suction port can be positioned adjacent to the loop of the IOL, and a vacuum can be applied to the suction port to attach the IOL to the suction port only at the loop (more precisely: the lens attachment surface of the suction port). Releasing the IOL from the gripper at the destination location can be done by applying overpressure to the suction port to dislodge the IOL loop from the suction port (more precisely: from the lens attachment surface of the suction port). This allows for very careful transport of the IOL without any contact between the gripper and the optical lens body.

[0044] For example, a gripper with two suction ports can be used, each suction port including a suction opening at its distal end surrounded by a lens attachment surface. The distal end of one suction port is then positioned adjacent to one of the two loops, and the distal end of the other suction port is positioned adjacent to the other of the two loops. The suction ports are positioned such that the suction opening of each suction port is partially covered by the corresponding loop. In this respect, the term "cover" does not mean that the IOL is attached to the lens attachment surface surrounding the suction opening, nor does it mean that the suction opening is completely covered by the loop portion. Rather, the term "cover" is intended to describe that a portion of the corresponding loop overlaps with the corresponding suction opening to a degree of at least 50%.

[0045] A vacuum is then applied to the suction opening to attach the loop to the lens attachment surface surrounding the lens attachment opening. While this may result in the suction opening not being fully covered by the corresponding loop after the gripping action, the loop remains firmly attached to the corresponding lens attachment surface despite minor leakage. Ideally, however, the suction opening should be completely covered by the corresponding loop, so that once the IOL is attached to the gripper, there is no leakage, thus ensuring a secure attachment of the loop to the lens attachment surface.

[0046] Typically, the loop is attached to the lens body at a well-defined location and with a well-defined (desired) orientation. Accordingly, a gripper with its suction port fixedly arranged at the distal end of the gripper can be used (in such a position that the suction port has a distance and orientation corresponding to the well-defined location and orientation of the loop). Thus, IOL can be reliably picked up with a gripper that is relatively simple from a construction point of view.

[0047] Alternatively, a gripper can be used with both suction ports rotatably arranged at the distal end of the gripper. Each suction port is rotatable about a corresponding predetermined axis of rotation, which is orthogonal to a plane defined by the lens attachment surface of the suction port. While such a gripper is more complex from a construction point of view, it allows for consideration of deviations between the actual position and orientation of the loop and the stated well-defined (desired) position and orientation.

[0048] When using this gripper, the actual position and orientation of each of the two loops of the IOL can be determined first. Then, each suction port is rotated about a predetermined axis of rotation such that the suction opening overlaps with the corresponding portion of the loop to the maximum possible extent. Only then is a vacuum applied to the suction opening so that the IOL loops attach to the lens attachment surface of the suction port with the greatest possible overlap, ideally with the loops completely covering the suction opening.

[0049] The device according to the invention is advantageous because it can grip the IOL by attaching it to the gripper only at the loop by applying a vacuum to the suction opening of the suction port. To achieve this, a vacuum is supplied to the pressure supply connector, and the vacuum from the pressure supply connector is further supplied to the suction openings of the two suction ports located at the distal end of the gripper by means of two separate fluid channels. The loop of the IOL (or more precisely: a portion of the loop) is then attached to the lens attachment surface surrounding the suction opening of the suction port. When it is time to release the IOL from the gripper, an overpressure is supplied to the pressure supply connector, and the overpressure from the pressure supply connector is further supplied to the suction opening of the suction port, thereby releasing the IOL from the gripper (carefully blowing the IOL off). The suction ports are spaced apart from each other by a distance ranging from 5 mm to 17 mm, and typically from 9 mm to 10 mm.

[0050] These two suction ports can be fixedly positioned at the distal end of the gripper, i.e., with a fixed distance between them. As previously mentioned, the loop is typically attached to the lens body at a well-defined location and with a well-defined (desired) orientation. The fixedly positioned suction ports are then arranged at a fixed distance corresponding to the distance between portions of the IOL loop on the lens attachment surface to which the IOL will be suctioned. Therefore, the IOL can be reliably picked up using a gripper that is relatively simple in construction.

[0051] Alternatively, the two suction ports can be rotatably arranged at the distal end of the gripper, wherein each suction port is arranged to be rotatable about a corresponding predetermined axis of rotation orthogonal to the plane defined by the lens attachment surface. Such a gripper (although more complex from a construction standpoint) can take into account deviations of the actual position and orientation of the loops from the explicitly defined (desired) position and orientation. The actual position and orientation of each of the two loops of the IOL can then be determined first, and each suction port is then rotated about the predetermined axis of rotation to the actual position and orientation of the loop, such that there is maximum possible overlap between the suction opening and the corresponding portion of the loop to be suctioned onto the lens attachment surface. Only thereafter, a vacuum is applied to the suction opening to attach the loops of the IOL to the lens attachment surface of the suction port with the greatest possible overlap, ideally with the loops completely covering the suction opening.

[0052] To determine the actual position and orientation of the two loops of the IOL, the device may include an illumination source (e.g., configured for dark-field illumination) to illuminate the IOL carried by the lens carrier. The device may further include a camera to capture an image of the illuminated IOL. Based on this image of the IOL, the actual position and orientation of the two loops of the IOL carried by the lens carrier can be determined (e.g., through image analysis). The device may further include a control unit coupled to the camera and a gripper. Based on the position and orientation determined from the image of the IOL captured by the camera, the control unit moves the gripper, which has two suction ports, to a position where the two suction ports are arranged adjacent to the loops of the IOL. If the gripper includes the aforementioned rotatably arranged suction ports, the suction ports can be rotated to the actual position and orientation of the loops such that there is maximum possible overlap between the suction opening and the corresponding portion of the loop, ideally with the loop completely covering the suction opening. If the gripper includes a fixedly arranged suction port, the gripper is moved to a position where there is maximum possible overlap between the suction port and the corresponding portion of the loop. As already mentioned, it is possible that the suction opening of the suction port is not completely covered by the corresponding loop after the grasping action. However, even with a small leakage flow, the corresponding loop remains firmly attached to the corresponding lens attachment surface.

[0053] To further improve repeatability and reliability, the device may further include a support plate with multiple mounting positions thereon for mounting different types of lens carriers (e.g., lens carriers for cleaning IOLs and lens carriers for examining IOLs). Two (or more) different types of lens carriers may be mounted to the mounting positions on the support plate, for example, to transfer IOLs from one type of lens carrier (e.g., from a lens carrier for cleaning IOLs) to a different type of lens carrier (e.g., a lens carrier for examining IOLs). The support plate, these mounting positions, and these different types of lens carriers are configured such that IOLs disposed on the lens carriers, regardless of the type of lens carrier, are always disposed in the same plane parallel to the plane defined by the lens attachment surfaces of these suction ports. This allows a gripper to be securely attached to a robot for movement in a z-direction orthogonal to the plane (i.e., toward and away from the mounting plate) and in a plane parallel to the plane. At least in the z-direction, the robot can then be taught not to move the gripper beyond a specific position in the z-direction to avoid collisions between the gripper and the IOL or any lens carrier arranged on the support plate. Furthermore, the optimal position for picking up the IOL in the z-direction can be taught to the robot. Even if the gripper must be replaced, as long as the new gripper to be installed has the same dimensions as the one being replaced, these positions only need to be taught to the robot once.

[0054] To rotate the two rotatably arranged suction ports, the gripper may include two independent rotary motors, namely, first and second rotary motors. Each of these first and second motors has a rotary drive shaft. The rotary drive shaft of the first motor is connected to a first gripper finger via an anti-torsion connector. The first gripper finger has a first suction port located at its distal end. Similarly, the rotary drive shaft of the second motor is connected to a second gripper finger via an anti-torsion connector. The second gripper finger has a second suction port located at its distal end. This allows the first and second gripper fingers to be rotated independently, thereby rotating the respective suction ports to a position where the suction opening of the respective suction port has the maximum possible overlap with the corresponding portion of the corresponding loop of the IOL. The anti-torsion connection of the respective drive shafts of the first and second rotary motors allows for very precise adjustment of the respective rotational position of the respective suction ports located at the distal ends of the first or second gripper fingers.

[0055] While many anti-torsion connections are generally conceivable (including shape-locking connections), an advantageous example of such an anti-torsion connection includes a magnetic clutch comprising a permanent magnet and two pins made of a magnetically sensitive material (magnetizable material). The permanent magnet can be mounted in an anti-torsion manner to the distal end of the rotary drive shaft of a corresponding rotary motor and facing the proximal end of a corresponding one of the first or second gripper fingers. The two pins, also made of the magnetically sensitive material, are also arranged at the proximal end of a corresponding one of the first or second gripper fingers and facing the permanent magnet. The distal ends of the two pins are fixedly connected to a corresponding one of the first or second gripper fingers (e.g., the distal ends of the two pins are press-fitted into corresponding holes), while the proximal ends of the two pins are magnetically coupled to the permanent magnet (e.g., the proximal faces of the two pins can abut against the distal face of the permanent magnet). This magnetic clutch is structurally simple while forming a reliable anti-torsion connection. When the rotary drive shaft of the corresponding motor rotates, these two pins also rotate, and because they are fixedly connected to the corresponding first or second gripper finger, they cause the corresponding first or second gripper finger to rotate at an angle exactly the same as the angle rotated by the rotary drive shaft. This allows for very precise adjustment of the corresponding rotational position of the corresponding suction port located at the distal end of the first or second gripper finger.

[0056] The first gripper finger may additionally include an abutment flange arranged adjacent to one of the two suction ports, and the second gripper finger may include another abutment flange arranged adjacent to the other suction port. The gripper may include, at its distal end, a first abutment protrusion and a second abutment protrusion projecting distally from opposite sides of the distal end of the gripper. The first abutment protrusion forms a stop for the abutment flange of the first gripper finger to define a predetermined rotational orientation of one of the two suction ports when the abutment flange abuts against the first abutment protrusion. Similarly, the second abutment protrusion forms a stop for the other abutment flange of the second gripper finger to define a predetermined rotational orientation of the other suction port when the other abutment flange abuts against the second abutment protrusion.

[0057] This represents a constructive measure for individually defining the predetermined rotational orientation of the two suction ports. For example, each gripper finger can be rotated to a position where its abutment flange abuts against the corresponding abutment protrusion. The corresponding suction port can then be rotated from this predetermined orientation to a desired rotational orientation in which the overlap between the suction opening of the corresponding suction port and the portion to be gripped of the corresponding loop of the IOL is maximized. For example, these precisely defined predetermined orientations can be stored in a control unit such that after capturing an image of the IOL and determining the actual rotational orientation of the corresponding loop of the IOL, each of the first and second gripper fingers can be rotated to the actual rotational orientation of the corresponding loop (starting from the precisely defined predetermined orientation). This allows for very precise adjustment of the desired orientation of the two suction ports.

[0058] Other advantageous aspects of the method and apparatus according to the invention will become apparent from the following description of embodiments of the invention with the aid of illustrative drawings. Attached Figure Description

[0059] Figure 1 The process of transferring an intraocular lens (IOL) from a lens carrier used during IOL manufacturing to a lens carrier used during IOL inspection is demonstrated.

[0060] Figure 2 A perspective view of an embodiment of a device for automated transfer of an intraocular lens according to the present invention is shown;

[0061] Figure 3 The diagram illustrates a scheme for transferring an IOL from its corresponding starting position to its corresponding destination position.

[0062] Figure 4 It shows Figure 2 A perspective view of some components of an embodiment of the device;

[0063] Figure 5 An exploded perspective view of a first embodiment of the gripper of the device according to the present invention is shown;

[0064] Figure 6 It shows crossing Figure 5 The longitudinal section of the assembled gripper;

[0065] Figure 7 It shows Figure 6 A magnified view of detail VII;

[0066] Figure 8 It shows Figure 5 A three-dimensional top view of the end piece of the gripper;

[0067] Figure 9 It shows Figure 5 A three-dimensional bottom view of the end piece of the gripper;

[0068] Figure 10 It shows Figure 5 A bottom view of the end piece of the gripper;

[0069] Figure 11 It shows Figure 5 A cross-sectional view of the end piece of the gripper;

[0070] Figure 12 It shows Figure 8 A partial cross-sectional view of a portion of the end piece;

[0071] Figure 13 It shows Figure 11 Details XIII;

[0072] Figure 14 The first embodiment of the IOL is shown being gripped at its loop by a gripper;

[0073] Figure 15 A perspective top view is shown of inspecting a portion of the carrier during IOL placement in the first embodiment of the gripper;

[0074] Figure 16 A perspective view of a second embodiment of the gripper of the device according to the present invention is shown;

[0075] Figure 17 It shows Figure 16 A side view of an embodiment of the gripper shown;

[0076] Figure 18 It shows along Figure 17 The longitudinal section of the gripper taken from line XVIII-XVIII;

[0077] Figure 19 It shows along Figure 18 The longitudinal section of the gripper is taken by line XIX-XIX;

[0078] Figure 20 It shows Figure 16 A three-dimensional view of the gripper's finger-shaped components;

[0079] Figure 21 It shows Figure 19 A side view of the gripper's finger-shaped component;

[0080] Figure 22 It shows along Figure 21 The longitudinal section of the gripper finger-shaped component cut by line XXII-XXII;

[0081] Figure 23 It shows Figure 22 Details XXIII;

[0082] Figure 24 It shows Figure 20 A top view of the gripper's finger-shaped component;

[0083] Figure 25 It shows Figure 20 A bottom view of the gripper's finger-shaped component is shown;

[0084] Figure 26 It shows Figure 25 A magnified view of the details of XXVI;

[0085] Figure 27 It shows Figure 16 A bottom view of a gripper to which an IOL is attached, the IOL having a regular loop orientation; and

[0086] Figure 28 It shows Figure 16 A bottom view of a gripper to which an IOL is attached, the IOL having an irregular loop orientation. Detailed Implementation

[0087] As used in the specification and appended claims, the singular forms “an,” “a,” and “the” include the plural, unless the context explicitly specifies otherwise. When the word “about” is used in conjunction with a specific numerical value or range of values, it should be understood that, unless the context explicitly indicates otherwise, the specific numerical value mentioned in the term “about” is included and explicitly disclosed. For example, if the range of “about” values ​​a to “about” values ​​b is disclosed, it should be understood that the range of values ​​a to b is included and explicitly disclosed. Furthermore, whenever the word “or” is used to combine multiple features, the word “or” should be understood to also include “and,” unless it is clearly understood from the specification that the word “or” must be understood as exclusive.

[0088] Figure 1The process of transferring an intraocular lens 1 (hereinafter referred to as "IOL") from a first type of lens carrier 2, which can be used during the manufacture of IOL 1, to a second type (which may or may not be different from the first type) of lens carrier 3, which can be used during the examination of IOL 1. (As shown in...) Figure 1 As can be seen, the IOL 1 includes an optical lens body 10 and two loops 11 extending outward from the peripheral edge of the optical lens body 10, as is conventional and well known to those skilled in the art. The optical lens body 10 is a particularly delicate component of the IOL 1 because it is the part of the IOL 1 used to generate an image on the retina of the eye after the IOL 1 is implanted in the capsular bag of the patient's eye, and the two loops 11 are used to properly position the IOL 1 as a whole, especially the optical lens body 10, within the capsular bag.

[0089] As further mentioned above, it is necessary not only to check the integrity and compliance with specifications of the optical lens body 10 of the IOL 1, but also to measure the overall dimensions of the intraocular lens, including the loops. For example, the diameter of the optical lens body 10 has a predetermined value ranging from 4.9 mm to 7.1 mm, and the overall diameter of the IOL 1 (the distance between the ends of the two loops 11) typically ranges from 10.5 mm to 14.5 mm, but can even be larger. For example only, the diameter of the optical lens body 10 can be 6.0 mm or 6.3 mm, and the overall diameter of the IOL 1 (including the loops) can be 13.3 mm.

[0090] IOLs are typically made of highly flexible materials (such as silicone hydrogel) because during the surgical procedure, it is desirable to temporarily reduce the size of the IOL 1 to the smallest possible size so that only a small incision is needed inside the eye to insert the IOL 1 through the incision (scleral tunnel) into the capsular bag.

[0091] Due to the flexibility of the material used to make IOL 1, loop 11 may slightly flex or bend during the manufacturing process. To demonstrate this, Figure 1 Two such first-type lens carriers 2 are shown. The first-type lens carrier 2 includes a number of small pins 21 (or short posts) for holding the IOL 1 in the proper position on the lens carrier 2.

[0092] Figure 1 As shown on the left side, the loops 11 of the IOL 1 on the lens carrier 2 are arranged in a regular orientation relative to the optical lens body 10, while... Figure 1As shown on the right side, one of the two loops 11 of the IOL 1 on the lens carrier 2 is flexed or bent away from the optical lens body 10, while the other of the two loops 11 is flexed or bent toward the optical lens body 10. Typically, this flexion or bending of the loop 11 means that the corresponding loop 11 is slightly pivoted about the portion of the corresponding loop 11 attached to the lens body 10. And, although Figure 1 The optical lens body 10 of the IOL 1 shown on the lens carrier 2 on the right side of the middle lens is displaced and the loop 11 is bent away from its regular orientation relative to the optical lens body 10. However, if the loop 11 is arranged in its regular orientation relative to the optical lens body 10, the size of the IOL 1 is fully compliant with the specifications.

[0093] Accordingly, although IOL 1 was moved from Figure 1 The first type of lens carrier 2 shown on the left can be simply transferred to the second type of lens carrier 3 for examining IOL 1, which allows for a "pass" (i.e., a positive result) during examination (assuming IOL 1 has no defects). However, transferring IOL 1 from... Figure 1 The simple transfer of lens carrier 2 to lens carrier 3 shown on the right may result in "rejection" (i.e., a negative result) during examination because the total diameter of the IOL is outside the specification. The latter examination result is undesirable (because if the loop is properly oriented, the IOL 1 has the appropriate size) and such a result can be avoided.

[0094] The second type of lens carrier 3 includes a number of small pins 31 (or short posts) for holding the IOL 1 in a proper position on the lens carrier 3. The lens carrier 3 further includes an examination opening 30, and the IOL 1 is arranged on the lens carrier 3 such that the lens body 10 of the IOL 1 is positioned above the examination opening 30 to allow examination of the lens body 10 of the IOL 1 through the examination opening 30. Removing the IOL 1 from... Figure 1 The first type of lens carrier 2 shown on the left side of the middle image or from... Figure 1 The process of transferring the first type of lens carrier 2 to the second type of lens carrier 3, shown on the right side of the image, is illustrated by the corresponding arrow 4.

[0095] Figure 2 A perspective view of an embodiment of a device 5 for automated transfer of IOL 1 is shown. This embodiment of device 5 includes a support plate 50 comprising a plurality of independent mounting positions 500 for mounting different types of lens carriers thereon. These mounting positions 500 are arranged in a matrix of multiple rows and columns, as shown in the reference numerals. Figure 3 To be discussed in more detail. Figure 2In the diagram, a second type of lens carrier 3 is shown mounted at one of the mounting positions of the support plate 5, while a first type of lens carrier 2 ( Figure 2 Not shown in the image, see [link / reference]. Figure 1 It can be installed at the installation position 500 indicated by the arrow. In the illustrated embodiment, these independent installation positions and different types of lens carriers are configured such that, regardless of the type of lens carrier, the IOL 1 placed on such a lens carrier is always arranged in the same plane (parallel to the plane of the support plate 50).

[0096] Device 5 further includes a light source 51 and a camera 52. Figure 2 Not visible in the middle, see also Figure 4 The device 5 also includes a control valve 53 for controlling the supply of vacuum or overpressure. The device 5 further includes grippers 6 for gripping the IOL 1 only at both loops 11 and for transferring the IOL 1 from one type of lens carrier arranged on the support plate 50 to another type of lens carrier arranged on the support plate 50, as will be explained in more detail below. For example, the IOL 1 can be transferred from... Figure 1 The first type of lens carrier 2 (used during the manufacture of IOL 1) shown is transferred to the second type of lens carrier 3 (used during the inspection of IOL 1).

[0097] Device 5 may further include an additional camera 59 (in Figure 2 (Illustrated by dashed lines) This camera is used to confirm that the gripper 6 has properly grasped the IOL 1 and how the IOL 1 and loop 11 are actually attached to the gripper 6 before placing the IOL 1 on the second type of lens carrier 3. The camera has a view from below, that is, a view from below towards the distal end of the attached IOL 1 of the gripper 6. Therefore, the additional camera 59 can help confirm that the loop 11 is in the proper rotational orientation so that the IOL 1 can be reliably and successfully placed on the lens carrier 3.

[0098] Figure 3 The diagram illustrates a scheme for transferring IOL 1 from its corresponding starting position to its corresponding destination position, and the illustrated scheme corresponds to... Figure 2 The individual mounting positions 500 on the support plate 50 are shown. These individual mounting positions 500 are arranged along rows indicated by rA, rB, rC, rD, and rE, and columns indicated by c1, c2, c3, and c4. Thus, in the bottom row of this arrangement, these individual mounting positions are designated A1 (row A, column 1), A2, A3, and A4, while in the top row of this arrangement, these individual mounting positions are designated E1, E2, E3, and E4, with the center of the corresponding mounting position 500 indicated by a crosshair.

[0099] For example, in rA row, solid arrow 4 indicates that IOL 1 (see Figure 1 From the first type of lens carrier 2 arranged at the installation position A3 (see Figure 1 ) transferred to the second type of lens carrier 3 arranged at the installation position A4 (see Figure 1 After a successful inspection, the IOL can be transferred from the second type of lens carrier 3 at installation position A4 to the third type of lens carrier (storage carrier, not shown) arranged at installation position A2, as indicated by dashed arrow 40.

[0100] return Figure 2 In the illustrated device 5, for movement along the corresponding row, a gripper 6 and other components (light source 51, camera 52, control valve 53) are mounted to a slider 54, which can move along a fixed arm 55 of the device 5. For movement along the column direction, a support plate 50 is mounted on another slider 56 that can move along a track 57. The gripper 6 can move independently toward and away from the support plate 50 in a direction orthogonal to the plane defined by the support plate 50 (i.e., without other components), on which the IOL 1 is arranged on a corresponding lens carrier 2 of the first type, or on a lens carrier 3 of the second type (or on any other lens carrier).

[0101] Figure 4 It shows Figure 2 This is a perspective view of some components (particularly the illumination source 51, camera 52, control valve 53, and gripper 6) mounted to the slider 54 in an embodiment of the device. The illumination source 51 is an annular illumination source for emitting light downward toward the support plate 5 and has a central through-hole 510 extending longitudinally along axis 511 and allowing the camera 52 to capture the IOL 1 to be inspected through the through-hole 510. Figure 4 (Image not shown). Therefore, the IOL 1 to be inspected can be illuminated in a dark field lighting configuration.

[0102] As described above, the gripper 6 can move in a direction toward and away from the support plate 50 (the z-direction orthogonal to the xy-directions of the rows and columns), which in... Figure 4The double-headed arrows indicate this. For this purpose, the gripper 6 is mounted to the mounting shaft 58 in a manner described in more detail below. The mounting shaft 58 is positioned at a predetermined lateral displacement (position in the xy-plane) fixed relative to the axis 511. Thus, once the position of the IOL 1 to be picked up (in the xy-plane) is determined by means of the camera 52, the device 5 knows precisely, due to the known lateral displacement of the mounting shaft 58 relative to the axis 511, that the gripper 6 (mounted to the mounting shaft 58) must be moved to the position to pick up the IOL 1. The gripper 6 mounted to the mounting shaft 58 has a predetermined total length such that, once mounted to the mounting shaft 58, it is only necessary to determine the lowest position (position along the z-direction) that the distal end of the gripper 6 can move at once. At this lowest position, the distal end of the gripper 6 (for grasping the suction port of the IOL 1, as explained below) is positioned not far above the IOL 1 resting on the corresponding lens carrier. IOL 1 is always positioned in the same plane, regardless of the type of lens carrier used, as mentioned above. At this lowest position, gripper 6 can pick up IOL 1 from the corresponding lens carrier, as described in more detail below. When gripper 6 needs to be replaced, it can be simply removed from mounting shaft 58 and a new gripper 6 installed onto the mounting shaft. Since the new gripper 6 has the same dimensions as the old gripper 6, it is not necessary to re-teach the device the lowest position of gripper 6; instead, the already established lowest position can be maintained, preventing damage to IOL 1 during pickup. Although in Figure 2 and Figure 4 In the accompanying drawings, reference numeral 6 is assigned to the gripper. However, in the following description of embodiments of the gripper, reference numerals other than 6 may be assigned to the gripper in order to better distinguish embodiments of the gripper.

[0103] The following text uses Figures 5 to 15 The first embodiment of the gripper 7 of the device 5 according to the present invention will be described. Figure 5 The first embodiment of the gripper 7 shown in the exploded view includes a mounting post 70 having a through hole 700 that extends laterally through the mounting post 70, allowing the gripper 7 to be integrally mounted to the mounting shaft 58 of the device 5 by means of a mounting screw 581 that extends through the through hole 580 provided in the mounting shaft 58 of the device 5 and through the through hole 700 of the mounting post 70 of the gripper 7 (see [link]). Figure 6The gripper 7 further includes a gripper body 71 having two pressure supply connectors 72, such as small hose rods, mounted to the gripper body 71. Vacuum or overpressure can be alternately supplied to each supply connector 72. The gripper 7 further includes a gripper end piece 73 having two suction ports 730, which is mounted to the distal end of the gripper body 71. To achieve proper positioning of the end piece 73 relative to the gripper body 71 during installation, two locating pins 710 are arranged at the distal end of the gripper body 71 and project distally away from the gripper body. The gripper end piece 73 is mounted to the gripper body 71 by means of a small tensioning bolt 74 having a tapered notch 740 arranged at the proximal end of the tensioning bolt 74 for engaging a retaining screw 75 with a tapered end. The retaining screw 75 is screwed into the threaded through hole 711 of the gripper body 71 to engage with the tapered recess 740 of the tensioning bolt 74, thereby properly positioning the tensioning bolt 74, which in turn pulls the gripper end piece 73 against the gripper body 71. Two separate supply channels (i.e., supply channels that are not fluidly connected to each other) are provided inside the gripper body 71. Figure 5 One such supply channel 712 is shown in dashed line. Figure 6 The assembled gripper 7 is shown mounted to the mounting shaft 58, while Figure 7 The diagram shows in detail how the retaining screw 75 engages in the tapered recess 740 of the tensioning bolt 74, thereby pulling the tensioning bolt 74 upward to the desired position and thus pulling the gripper end piece 73 against the gripper body 71.

[0104] Figures 8 to 13 The gripper end piece 73 is shown in more detail. The gripper end piece 73 includes two (hollow) suction ports 730, each suction port having a suction opening 731 that is shaped like a curved slot and surrounded by a lens attachment surface 732. From Figure 8 As can be seen in the three-dimensional top view shown, the gripper end piece 73 includes two blind holes 737 (see also...). Figure 12 Two locating pins 710 protruding distally from the gripper body 71 are included to properly position the gripper end piece 73 relative to the gripper body 71. The gripper end piece 73 further includes two recesses 734 and a central stepped through-hole 733 for receiving a tension bolt 74 (see also...). Figure 11 The supply hole 735 extends downward from the bottom of each recess 734 to the corresponding suction port 730 and opens into the suction opening 731 of the corresponding suction port 730. Figure 10 It can already be seen in the text, but... Figure 11 and Figure 13 It can be seen, even better, that the supply hole 735 has a circular cross-section and terminates at a certain axial distance away from the suction opening 731. Furthermore, as... Figure 11As shown, O-rings 736 are arranged in each recess 734, and the corresponding O-rings 736 have an axial height such that they protrude upward beyond the upper surface of the gripper end piece 73.

[0105] During the installation of the gripper end piece 73 onto the gripper body 71, the two locating pins 710, projecting distally away from the gripper body 71, enter the blind holes 737 of the gripper end piece 73. Once the retaining screw 75 begins to engage the tapered notch 740 of the tensioning bolt 74, the tensioning bolt 74 is pulled upward, thereby pulling the gripper end piece 73 against the gripper body 71. This pulling action compresses the two O-rings 736, creating two separate pressure-free fluid channels. Each pressure-free fluid channel fluidly connects one of the pressure supply connectors 72 to the suction opening 731 of a corresponding suction port 730 to supply vacuum to that corresponding suction port 730 (for picking up IOL 1) or to supply overpressure to that corresponding suction port 730 (for releasing IOL 1). Each pressure-free fluid channel is formed by a supply channel 712 extending through the gripper body 71 and a supply hole 735 formed by a recess 734 and a suction opening 731 extending downward from the bottom of the recess 734 to the suction port 730.

[0106] from Figures 8 to 13 As can be seen, the two suction ports 730 are fixedly arranged at the distal end of the gripper 7, or more precisely, at the distal end of the gripper end piece 73 of the gripper 7. The term "fixedly arranged" refers to the two suction ports 730 (see...). Figure 10 The distance d between the two suction ports and their rotational orientation relative to each other remain unchanged. The distance d between the two suction ports has a value ranging from 5 mm to 17 mm, which in any case is greater than the diameter of the optical body 10 of the IOL 1 to be gripped, so that the IOL 1 can be gripped only at the loop 11. More preferably, the value of the distance d is in the range of 8 mm to 12 mm, and for example, the value of the distance d can be 9.8 mm. The distance d is measured in a plane defined by the attachment surface 732 of the suction port 730, which is in Figure 11 The dashed lines in the middle extend orthogonally to the plane of the figure.

[0107] In order to capture IOL 1 (its loop 11 is regularly arranged in such a way as Figure 1On the lens carrier 2 of the first type shown on the left), the gripper 7 is moved toward the IOL 1 until the lens attachment surface 732 of the suction port 730 is positioned adjacent to the loop 11 of the IOL 1, i.e., a small distance above the loop 11 (e.g., in the range of 0.05 to 0.5 mm, preferably about 0.15 mm). Then, a vacuum is supplied to the suction opening 731 of the suction port 730 through the pressure supply connector 72 and a pressure-free fluid channel, thereby gripping (picking up) the IOL 1 from the lens carrier 2 by sucking the loop 11 of the IOL 1 onto the lens attachment surface 732 of the suction port 730. Figure 14 This state is shown when the loop 11 of IOL 1 is attached to the lens attachment surface 732 (where only the gripper end 73 of the gripper 7 is shown). This can be detected when IOL 1 is gripped because the actual vacuum applied increases compared to when IOL 1 is not gripped.

[0108] Then the gripper 7 with IOL 1 attached is moved to the destination location, for example... Figure 1 The position above the second type of lens carrier 3 is shown. Both the starting position and the destination position have been determined by camera 52 (see [reference]). Figure 4 This allows the device 54 to precisely determine the location of the IOL 1 to be picked up (and in particular, the exact location of the loop 11 of the IOL 1) and the location for releasing the IOL 1 from the gripper 7 (i.e., the location of the lens carrier 3 and pin 31, and the inspection opening 30). This is in Figure 15 The figure schematically illustrates the two suction ports 730 of the gripper 7, the portion of the carrier 3 on which the IOL 1 rests, and the pin 31 for holding the IOL 1 in place. To release the IOL 1 from the gripper, overpressure is supplied to the suction openings 731 of the suction ports 730 via a pressure supply connector 72 and a pressure-free fluid passage. Alternating supply of vacuum (during gripping and conveying of the IOL 1) or overpressure (during release of the IOL 1) is controlled by a control valve 53 (see [reference]). Figure 4 ).

[0109] See below Figures 16 to 28 To describe a second embodiment of the gripper 8 of the device 5 according to the present invention. Compared with the first embodiment of the gripper 7 (see... Figures 5 to 15 Compared to the previous embodiment, a key difference in this second embodiment of the gripper 8 is that, in this second embodiment of the gripper 8, the (hollow) suction ports 860 and 870 are arranged to be rotatable about a predetermined axis of rotation, as will be described in more detail below. Figure 16 The three-dimensional view of gripper 8 shown and Figure 17As can be seen in the side view of the gripper 8 shown, the gripper 8 includes a mounting post 80 having a through hole 800 that extends laterally through the mounting post 80, allowing the gripper 8 to be integrally mounted to the mounting shaft 58 of the device 5 by means of a mounting screw 581 that extends through the mounting shaft of the device 5 (see [reference]). Figure 6 The through-hole 580 in the gripper 8 and the through-hole 800 passing through the mounting post 80 of the gripper 8. The gripper 8 further includes a gripper body 81 having an upper body portion 810 and a lower body portion 811, both of which are secured by screws 812 (see See...). Figure 18 They are attached to each other. The gripper 8 further includes two pressure supply connectors 82, each for alternately supplying vacuum or overpressure to the suction port (similar to the first embodiment of the gripper).

[0110] Furthermore, the gripper 8 includes two independent rotary motors, namely a first rotary motor 84 and a second rotary motor 85. (As in...) Figure 18 As can be best seen in the image, the first rotary motor 84 includes a rotary drive shaft 840, and the second rotary motor 85 includes a rotary drive shaft 850. The rotary drive shaft 840 of the first rotary motor 84 is connected to the first gripper finger 86 via an anti-torsion connector, while the rotary drive shaft 850 of the second rotary motor 85 is connected to the second gripper finger 87 via another anti-torsion connector.

[0111] The anti-torsion connector connecting the rotary drive shaft 840 of the first rotary motor 84 to the first gripper finger 86 includes a magnetic clutch. This magnetic clutch includes a permanent magnet 841 and two pins 842 and 843 (see...). Figure 19 The permanent magnet is mounted to the distal end of the rotary drive shaft 840 in an anti-torsion manner (e.g., adhesive bonding), and the two pins are made of a magnetically sensitive material, such as magnetically sensitive stainless steel. The permanent magnet 841 is arranged in a drive bushing 844, which is mounted to a sleeve 845 in an anti-torsion manner, which in turn is mounted to the drive shaft 840 of the first rotary motor 84 in an anti-torsion manner. The two pins 842, 843 extend through corresponding openings in the distal end face of the drive bushing 844 and are press-fitted into corresponding blind holes 862, 863 in the proximal end face of the first gripper finger 86 (see also...). Figure 22 In order to ensure proper installation, the two pins 842 and 843 can have different diameters. For example, the gripper finger 86 can be made of a rigid, durable plastic material. Therefore, the anti-torsion connector ensures that once the first rotary motor 84 drives the rotary drive shaft 840, the first gripper finger 86 also rotates.

[0112] Similarly, another anti-torsion connector connecting the second rotary drive shaft 850 of the second rotary motor 85 to the second gripper finger 87 includes a magnetic clutch. This magnetic clutch also includes a permanent magnet 851 and two pins 852, 853 (in... Figure 18 In the first part (only pin 852 is visible), the permanent magnet is mounted to the distal end of the second drive shaft 850 of the second rotary motor 85 in an anti-torsion manner (e.g., adhesive bonding). Both pins are made of a magnetically sensitive material, such as magnetically sensitive stainless steel. The permanent magnet 851 is arranged in a drive bushing 854, which is mounted to a sleeve 855 in an anti-torsion manner, which in turn is mounted to the drive shaft 850 of the second rotary motor 85 in an anti-torsion manner. The two pins 852 and 853 extend through corresponding openings in the distal end face of the drive bushing 854 and are press-fitted into corresponding blind holes in the proximal end face of the second gripper finger 87 (similar to...). Figure 22 The first gripper finger 86 is shown in blind holes 862, 863. Similarly, to ensure proper installation, the two pins 852, 853 can have different diameters. The second gripper finger 87 can also be made of a rigid, durable plastic material. Therefore, this additional anti-torsion connector ensures that once the second rotary motor 85 drives the rotary drive shaft 850, the second gripper finger 87 also rotates.

[0113] The first gripper finger 86 and the second gripper finger 87 have similar structures, which will be used in the following text by means of Figures 20 to 26 The first gripper finger 86 will be explained in more detail here. The first gripper finger 86 includes a suction port 860 disposed at its distal end (wherein the suction port 860 is eccentrically arranged relative to the axis of rotation of the gripper finger 86). The suction port 860 includes a suction opening 861 surrounded by a lens attachment surface 864 (these elements have a similar structure to those in the first embodiment of the gripper). The suction opening 86 further includes blind holes 862 and 863 for receiving pins 842 and 843 of a magnetic clutch (see [link to documentation]). Figure 19 As explained above, the gripper finger 86 further includes three recesses: an upper recess 865, a middle recess 866, and a lower recess 867. The upper recess 865 and the lower recess 867 are each specifically designed to receive the O-ring 88 (see [link to original text]). Figure 18 and Figure 19 The middle groove 866 remains empty. Therefore, while the first gripper finger 86 can rotate within the lower part 811 of the gripper body 81, a pressure-free arrangement of the first gripper finger 86 within the lower part 811 of the gripper body 81 is achieved.

[0114] The first gripper finger 86 can rotate around a predetermined first rotation axis (which corresponds to...) Figure 18The predetermined first axis of rotation (XIX-XIX) occurs, and this first axis of rotation coincides with the central longitudinal axis of the rotation shaft 840 of the first rotary motor 84. This applies similarly to the second gripper finger 87, which is rotatable about the central longitudinal axis of the rotation shaft 850 of the second rotary motor 85. Both axes of rotation are orthogonal to the plane defined by the lens attachment surfaces 864 and 874 of the suction ports 860 and 861, which... Figure 17 The plane is indicated by a dashed line, which extends orthogonally to the plane in the diagram.

[0115] A fluid channel 868 extends radially from the bottom (innermost radial surface) of the intermediate groove 866 into the interior of the gripper finger 86 and downwards to the suction opening 861 of the suction port 860. Since the first gripper finger 86 is arranged pressure-free within the lower portion 811 of the gripper body 81, a vacuum or overpressure supplied via the pressure supply connector 82 is provided by a fluid channel fluidly connected to the pressure supply connector 82 and the suction opening 861 of the suction port 860. This fluid channel is formed through the intermediate groove 866 and the fluid channel 868 (which extends downwards to the suction opening 861 of the suction port 860).

[0116] The first gripper finger 86 further includes an abutment flange 869 arranged adjacent to the suction port 860. (As in...) Figure 16 As can be best seen, the gripper 8 includes a first abutment protrusion 813 and a second abutment protrusion 814 at its distal end (or more precisely, at the distal end of the lower portion 811 of the gripper body 81) (one for the abutment flange 869 of the first gripper finger 86, and the other for the abutment flange 879 of the second gripper finger 87). The first abutment protrusion 813 and the second abutment protrusion 814 project distally from the distal end of the lower portion 810, and thus from the distal end of the gripper body 81. These first abutment protrusions 813 form a stop for the abutment flange 869 of the first gripper finger 86, and the second abutment protrusion 814 form a stop for the abutment flange 879 of the second gripper finger 87. Therefore, when the abutting flange 869 abuts against the first abutting protrusion 813, the first abutting protrusion 813 defines a predetermined rotational orientation of the suction port 860 of the first gripper finger 86, and when the abutting flange 879 abuts against the second abutting protrusion 814, the second abutting protrusion 814 defines a predetermined rotational orientation of the suction port 870 of the second gripper finger 87. Thus, the first abutting protrusion 813 and the second abutting protrusion 814 can be used as reference rotational positions that the first gripper finger 86 and the second gripper finger 87 can rotate to during reference operation. The first gripper finger 86 and the second gripper finger 87 can rotate from this reference rotational position to a desired rotational position.

[0117] Of course, the gripper 8 is suitable for reliably picking up the loop 11 when it is regularly oriented (i.e., the loop 11 is arranged as if in...). Figure 1 The IOL 1 on the lens carrier 2 on the left side is shown. However, the gripper 8 is also particularly suitable for reliably picking up the loop 11 when it is irregularly oriented (i.e., the loop 11 is bent or flexed, such as when arranged in a position such as...). Figure 1 The IOL 1 on the right-hand lens carrier 2 is shown. (The IOL 1 is described below using...) Figure 27 and Figure 28 To describe this.

[0118] Figure 27 An IOL 1 is shown, with its loop 11 attached to the lens attachment surface of the suction port 860 of the first gripper finger 86 and the suction port 870 of the second gripper finger 87. In this case, the loop 11 of the IOL 1 is regularly oriented, as shown in... Figure 1 The IOL 1 on the left-hand lens carrier 2 is shown. When the camera 52 has captured an image of the IOL 1, image analysis is performed, and the rotational orientation of the loop 11 of the IOL 1 is determined based on this image analysis. If the loop 11 is regularly oriented, a control unit (not shown) connected to the camera 52 and the gripper 8 moves the gripper 8 to the position of the IOL 1 (in the xy plane). The first gripper finger 86 rotates to... Figure 27 The rotational orientation shown indicates that the suction port 860 of the first gripper finger 86 has the desired orientation corresponding to the orientation of the associated loop 11 of the IOL 1. To achieve this, the control unit drives the first rotary motor 84, thereby rotating the first gripper finger 86 (via the magnetic clutch described in detail above) until the suction port 860 has the desired orientation corresponding to the orientation of the associated loop 11. Similarly, the control unit drives the second rotary motor 85, thereby rotating the second gripper finger 87 (also via the magnetic clutch described in detail above) until the suction port 870 has the desired orientation corresponding to the orientation of the associated loop 11. In this orientation, the distance e between the two suction ports 860 and 870 can be approximately 9.8 mm, which in any case is greater than the diameter of the optical body 10 of the IOL 1 to be gripped, so that the IOL 1 can be gripped only at the loop 11. Typically, this distance e is in the range of 5 mm to 17 mm, and more preferably, the distance e is in the range of 8 mm to 12 mm. Thus, once the camera 52 (see Figure 4 Once an image of the IOL 1 arranged on the carrier is captured, the center of the optical body 10 of the IOL 1 can be determined using image processing software, and then the rotational orientation of the loop 11 can also be determined. Then the first gripper finger 86 and the second gripper finger 87 are rotated to the rotational orientation of the loop 11.

[0119] As can be seen, in this embodiment, the distance e is not fixed and can vary depending on the rotational orientation of the suction ports 860 and 870. The gripper 8 is then lowered until the suction ports 860 and 870 are each positioned a short distance (e.g., 0.05 mm to 0.5 mm, preferably 0.15 mm) above the associated loops 11. A vacuum is then supplied to the pressure supply connector 82 by means of the control valve 53, causing the loops 11 of the IOL 1 to be drawn onto the lens attachment surfaces of the suction ports 860 and 870, respectively, thereby picking up the IOL 1. This can be detected when the IOL 1 is grasped because the actual applied vacuum increases compared to when the IOL 1 is not grasped. The gripper 8 with the IOL 1 attached (the IOL 1 is grasped only at the loops 11) is then raised again and subsequently moved to the lens carrier 3 ( Figure 1 The position of the gripper 8 (in the xy plane) is then lowered again until the suction ports 860 and 870 are positioned a short distance above the carrier 3. Then, IOL 1 is released from the gripper 8 by supplying overpressure to the pressure supply connector 82, which is also controlled by the control valve 53.

[0120] This allows for IOL 1 arranged in an irregular orientation for loop 11 (e.g., arranged in a...). Figure 1 The IOL 1 on the right-hand lens carrier 2 (as shown) is performed in the same manner. This is from Figure 28 It is clear in the middle. Because it is arranged in Figure 1 The orientation and arrangement of loop 11 of IOL 1 on the right lens carrier 2 Figure 1 The loops 11 of the IOL 1 on the left lens carrier 2 have different regular orientations. Therefore, the first gripper finger 86 and the second gripper finger 87 of the gripper 8 must be rotated to different rotational orientations (i.e., to irregular rotational orientations) so that the suction port 860 of the first gripper finger 86 and the suction port 870 of the second gripper finger 87 have the same... Figure 1The orientation of the associated loops 11 of the IOL 1 arranged on the lens carrier 2, as shown on the right, corresponds to the desired orientation. This is also done by capturing an image of the IOL 1 with the loops 11 arranged in an irregular orientation using camera 52 and determining the irregular rotational orientation of the loops 11 of the IOL 1 by performing image analysis. It can be seen that in this orientation, the distance e between the two suction ports 860 and 870 can be approximately 9.8 mm. Once the suction port 860 of the first gripper finger 86 and the suction port 870 of the second gripper finger 87 have been rotated to the desired orientation, the gripper 8 is lowered and a vacuum is supplied to the pressure supply connector 82 so that the loops 11 of the IOL are sucked onto the lens attachment surface of the corresponding suction port, thereby picking up the IOL 1. The gripper 8 with the IOL 1 attached (the IOL 1 is also only gripped at the loops 11 that still have an irregular orientation) is then moved to the lens carrier 3 ( Figure 1 After the gripper 8 has been raised, during the movement of the IOL 1 to the lens carrier 3, or when the gripper 8 has reached a position above the lens carrier 3, but in any case before releasing the IOL 1 from the gripper 8, the first gripper finger 86 and the second gripper finger 87 are rotated again so that the loop 11 of the IOL 1 is regularly oriented. The gripper 8 is then lowered, and the IOL 1 is unloaded from the gripper 8 and placed on the lens carrier 3 by supplying overpressure to the supply connector 82, which is also controlled by the control valve 53.

[0121] Embodiments of the present invention have been described with reference to the accompanying drawings. However, the invention is not limited to these embodiments, and many changes and modifications are possible without departing from the fundamental teachings of the invention. Therefore, the scope of protection is not limited to the described embodiments, but is defined by the appended claims.

Claims

1. A method for automatically transferring an intraocular lens (1), the intraocular lens comprising an optical lens body (10) and two loops (11), the two loops being attached to and extending outward from the peripheral edge of the optical lens body (10), the method comprising the steps of: - Pick up the intraocular lens at the starting position (1) in the following manner: The intraocular lens (1) is held only at the two loops (11) of the intraocular lens (1). The intraocular lens (1) is grasped only at two loops (11) using a gripper (7; 8) having two suction ports (860, 870) rotatably arranged at the distal end of the gripper. - Move the intraocular lens (1) to the destination location; and - Release the intraocular lens (1) at the destination location.

2. The method according to claim 1, wherein, The intraocular lens (1) is grasped only at the loop (11) by positioning the two suction ports (730; 860, 870) of the gripper adjacent to the loop (11) of the intraocular lens (1) and applying a vacuum to the two suction ports (730; 860, 870), wherein the intraocular lens (1) is released from the gripper at the destination location by applying an overpressure to the two suction ports (730; 860, 870) to release the loop (11) of the intraocular lens (1) from the two suction ports (730; 860, 870).

3. The method according to claim 2, wherein, The two suction ports (730; 860, 870) of the gripper (7; 8) are located at the distal end of the gripper and protrude distally away from the gripper, each of the two suction ports (730; 860, 870) including a suction opening (731) at its distal end. 861, 871), the suction opening is surrounded by lens attachment surfaces (732; 864), wherein the method further includes - Position the distal end of one of the two suction ports (730; 860) adjacent to one of the two loops (11) of the intraocular lens (1), such that the suction opening (731; 861) of the one suction port (730; 860) is covered by a portion of the one loop (11) arranged adjacent to it; - Position the other of the two suction ports (730; 870) adjacent to the other of the two loops (11) of the intraocular lens (1), such that the suction opening of the other suction port (730; 870) is covered by a portion of the other of the two loops (11); and - Suction openings (731) to the two suction ports; Apply a vacuum to attach one of the two loops to the lens attachment surface (732, 864) of the one suction port (730; 860) and to attach the other of the two loops (11) to the lens attachment surface (732; 874) of the other suction port (730; 870).

4. The method according to claim 1, wherein, Each of the two suction ports (860) is arranged to be rotatable about a corresponding predetermined axis of rotation, which is orthogonal to the plane defined by the lens attachment surfaces (864, 874) of the two suction ports (860, 870).

5. The method according to claim 4, wherein, The method further includes: - Before applying a vacuum to the suction openings (861, 871) of the two suction ports (860, 870), determine the actual rotational orientation of each of the two loops (11) of the intraocular lens (1); - Rotate each of the two suction ports (860, 870) about the corresponding predetermined rotation axis until the rotational orientation of one suction port (860) corresponds to the determined actual rotational orientation of one of the two loops (11) and the rotational orientation of the other suction port (870) corresponds to the determined actual rotational orientation of the other of the two loops (11); and thereafter - Apply a vacuum to the suction openings (861, 871) of the two suction ports so that one of the two loops (11) is attached to the lens attachment surface (864) of the one suction port (860) and the other of the two loops (11) is attached to the lens attachment surface (874) of the other suction port (870).

6. The method according to claim 5, wherein, The method further includes: - In the case where the actual rotational orientation of one of the two loops (11) of the intraocular lens (1) deviates from the corresponding predetermined rotational orientation: The lens attachment surface (864) is attached to the suction port (860) of one of the two loops (11), and / or the lens attachment surface (874) is attached to the other suction port (870) of the other of the two loops (11), and rotates about the respective predetermined rotation axis until each of the two loops (11) has the predetermined rotation orientation; and At the destination location, with each of the two loops (11) having the predetermined rotational orientation, an overpressure is applied to the suction openings (861, 871) of the two suction ports (860, 870).

7. A device (5) for automatically transferring an intraocular lens (1), the intraocular lens comprising an optical lens body (10) having a peripheral edge and two loops (11) attached to and extending outward from the peripheral edge of the optical lens body (10), the device comprising grippers (7; 8) comprising: - Pressure supply connectors (72; 82) for supplying vacuum or overpressure; - Two suction ports (730; 860, 870) are disposed at the distal end of the gripper and projecting distally away from the gripper, each of the two suction ports (730; 860, 870) including a suction opening (731) at its distal end. 861, 871), the suction opening is surrounded by the lens attachment surface (732; 864, 874); - Two separate fluid channels (712, 734, 735; 866, 868), each of which fluidly connects a corresponding one of the two suction ports to the pressure supply connector (72; 82) for supplying vacuum or overpressure, to the suction opening (731; 860, 870) of the pressure supply connector (72; 82) and the suction opening (731; 860, 870) of the suction port (730; 860, 870). Two separate fluid connections are formed between 861 and 871. The two suction ports are spaced apart by a distance (d; e) ranging from 5 mm to 17 mm, so that the intraocular lens (1) can be grasped only at the loop (11) by attaching the loop (11) of the intraocular lens to the lens attachment surface (732; 864, 874) of the suction port (730; 860, 870), and the intraocular lens (1) can be released by removing the loop (11) of the intraocular lens (1) from the lens attachment surface (732; 864, 874), the distance being measured in the plane defined by the lens attachment surface (732; 864, 874). The two suction ports (860, 870) are rotatably arranged at the far end of the gripper (7).

8. The device according to claim 7, wherein, Each of the two suction ports (860, 870) is arranged to be rotatable about a corresponding predetermined axis of rotation, which is orthogonal to the plane defined by the lens attachment surface (864, 874).

9. The device according to claim 8, wherein, The gripper further includes two independent rotary motors, each having a rotary drive shaft (840, 850), namely, a first rotary motor (84) and a second rotary motor, wherein the rotary drive shaft (840) of the first rotary motor (84) is connected to a first gripper finger (86) via an anti-torsion connector, the first gripper finger having one of the two suction ports (860) arranged at its distal end, and wherein the rotary drive shaft (850) of the second rotary motor is connected to a second gripper finger (87) via another anti-torsion connector, the second gripper finger having the other of the two suction ports (870) arranged at its distal end.

10. The device according to claim 9, wherein, Each of the anti-torsion connectors includes a magnetic clutch comprising a permanent magnet (841, 851) and two pins (842, 843, 852, 853) made of a magnetically sensitive material. The permanent magnet (841, 851) is mounted to the distal end of the rotary drive shaft (840, 850) in an anti-torsion manner and faces the proximal end of a corresponding one of the first or second gripper fingers. The two pins (842, 843, ...) Pins 852 and 853 are arranged at the proximal end of the respective one of the first or second gripper fingers and face the permanent magnet (841, 851), wherein the distal ends of the two pins (842, 843, 852, 853) are fixedly connected to the respective one of the first or second gripper fingers, and wherein the proximal ends of the two pins (842, 843, 852, 853) are magnetically coupled to the permanent magnet (841, 851).

11. The device according to claim 9 or claim 10, wherein, The first gripper finger (86) includes an abutment flange (869) arranged adjacent to one suction port (860), and the second gripper finger (87) includes another abutment flange (879) arranged adjacent to the other suction port (870), wherein the gripper (8) includes, at its distal end, a first abutment protrusion and a second abutment protrusion projecting distally from the distal end of the gripper at opposite sides of the gripper, the first abutment protrusion (813) forming for the first gripper finger The abutment flange (869) of the second gripper finger (86) serves as a stop for defining a predetermined rotational orientation of the one suction port (860) when the abutment flange abuts against the first abutment protrusion (813), and the second abutment protrusion (814) forms a stop for the other abutment flange (879) of the second gripper finger (87) to define a predetermined rotational orientation of the other suction port (870) when the other abutment flange (879) abuts against the second abutment protrusion (814).

12. The device according to claim 7, further comprising an illumination source (51) and a camera (52), the illumination source for illuminating an intraocular lens (1) carried by a lens carrier (2), the camera for capturing an image of the illuminated intraocular lens (1) carried by the lens carrier (2) to determine the position of the intraocular lens and the rotational orientation of the loop (11) of the intraocular lens (1) carried by the lens carrier (2), and the device further comprising a device coupled to the lens carrier (2). The control unit of the machine (52) and the gripper (7, 8) is used to move the gripper (7, 8) having the two suction ports (730; 860, 870) to a position in which the two suction ports (730; 860, 870) are arranged adjacent to the loop (11) of the intraocular lens (1), such that the rotational orientation of the two suction ports (730; 860, 870) corresponds to the determined actual rotational orientation of the two loops (11) of the intraocular lens (1).

13. The device according to claim 12, further comprising a support plate (50) including a plurality of mounting positions (500) for mounting different types of lens carriers (2, 3) thereon, and the device further comprising at least two different types of lens carriers (2, 3) mounted to the mounting positions (500), wherein, The support plate (50), the mounting position (500), and the at least two lens carriers (2, 3) of different types are configured such that the artificial lens disposed on the lens carrier (2, 3), regardless of the type of lens carrier, is disposed on the lens attachment surface (732) of the lens by the suction port (730; 860, 870). (864, 874) are in the same plane that are parallel to the planes defined by the planes.

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