Engagement of microsurgical robotic systems

Abstract

Devices and methods for performing a procedure on a portion of a patient's body using a surgical tool (21) are described. The computer processor (28) drives the display (24) to display images of the surgical tool (21) and the portion of the patient's body. In response to the control component tool (32) being at least partially aligned with the surgical tool (21) within the image on the display (24), the computer processor (28) engages the control component tool (32) with the surgical tool (21) such that a tip of the surgical tool (21) moves within the eye of the patient in a manner corresponding to movement of the position and orientation of the tip of the control component tool (32). Other applications are also described.

Description

Cross-reference to related applications

[0001] This application claims priority to U.S. Provisional Patent Application No. 63 / 454,420, filed March 24, 2023, entitled “Engagement of a microsurgical robotic system,” which is incorporated herein by reference. Field of embodiments of the invention

[0002] Some applications of this invention generally relate to medical devices and methods. Specifically, some applications of this invention relate to devices and methods for performing microsurgical procedures robotically. background

[0003] Cataract surgery involves removing the eye's natural lens, which has become cloudy (called a cataract), and replacing it with an artificial lens. This surgery typically involves a number of standard steps that are performed in sequence.

[0004] In the initial steps, the patient's face around the eyes is disinfected (usually with an iodine solution), and their face is covered with a sterile drape, leaving only the eyes exposed. Once disinfection and draping are complete, the eyes are typically anesthetized with a local anesthetic, administered as liquid eye drops. The eyeball is then exposed using a speculum that keeps the upper and lower eyelids open. One or more incisions (usually two or three) are made in the cornea of ​​the eye. These incisions are typically made using a specialized blade called a corneal knife blade. At this stage, lidocaine is usually injected into the anterior chamber of the eye to further anesthetize it. Following this step, a viscoelastic injection is administered through the corneal incisions. The viscoelastic injection is performed to stabilize the anterior chamber and help maintain intraocular pressure throughout the remainder of the surgery, and also to dilate the lens capsule.

[0005] In the subsequent stage (known as capsulorhexis), a portion of the anterior capsule of the lens is removed. Various enhancement techniques have been developed for performing capsulorhexis, such as laser-assisted capsulorhexis, zepto-rhexis (which utilizes precision nanopulse technology), and marker-assisted capsulorhexis (where predefined markers are used to mark the cornea to indicate the desired size of the capsular opening).

[0006] Subsequently, fluid waves are 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, fluid waves are injected to separate the softer outer nucleus of the lens from the harder inner nucleus. In the next step, phacoemulsification of the lens is performed. First, the lens nucleus is broken up using a chopper, and then, typically, an ultrasonic phacoemulsification probe is used to break up and remove the outer fragments of the lens. Additionally, suction is usually performed using a separate tool during phacoemulsification. When phacoemulsification is complete, the remaining lens cortex material (i.e., the outer layer of the lens) is aspirated from the capsule. During phacoemulsification and aspiration, the aspirated fluid is usually replaced with a balanced salt flushing solution to maintain fluid pressure in the anterior chamber. In some cases, if deemed necessary, the capsule is polished. An intraocular lens (IOL) is then inserted into the capsule. IOLs are typically foldable and are inserted in a folded configuration before unfolding inside the capsule. At this stage, the viscoelastic is usually removed using a 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 to close. Overview

[0007] According to some applications of the invention, robotic systems are configured for use in microsurgical procedures, such as intraocular surgery. Typically, when used in intraocular surgery, the robotic system includes one or more robotic units (configured to hold tools), and further includes an imaging system, one or more displays, and a control unit (e.g., a control unit including a pair of control components) through which one or more operators (e.g., healthcare professionals, such as doctors and / or nurses) can control the robotic units. Typically, the robotic system includes one or more computer processors through which the system's components and the operator can operatively interact with each other.

[0008] Typically, the movement of the robotic unit (and / or control of other aspects of the robotic system) is controlled at least in part by one or more operators. For example, an operator may receive images of the patient's eyes and the robotic unit and / or tools positioned within it via a display. Such images are typically acquired by an imaging system. In some applications, the imaging system is a stereoscopic imaging device and the display is a stereoscopic display. The operator typically performs surgical procedures based on the received images. In some applications, the operator provides commands to the robotic unit via control component units. These commands typically include commands to control the position and / or orientation of tools positioned within the robotic unit, and / or commands to control actions performed by the tools. For example, commands may control blades, phacoemulsification tools (e.g., the operating mode and / or suction power of the phacoemulsification tool), clamps (e.g., opening and closing of the clamps), intraocular lens manipulator tools (e.g., causing the tool to manipulate the intraocular lens within the eye to precisely position the intraocular lens within the eye), and / or syringe tools (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 enter commands to control the imaging system (e.g., zoom, focus, orientation, and / or XYZ positioning of the imaging system).

[0009] Typically, a control unit unit includes one or more control units configured to correspond to a specific robot unit in a robotic system. For example, as shown, the system may include a first robot unit and a second robot unit, and the control unit unit may include a first control unit and a second control unit. Typically, each of the control units is an arm comprising multiple links connected to each other via joints. For some applications, the control unit includes a corresponding control unit tool (which is typically configured to replicate the robot unit). Typically, a computer processor determines the XYZ position and orientation of the end effector of the control unit tool and drives the robot unit such that the end effector of the actual tool used to perform the surgery (i.e., a surgical instrument) tracks the movement of the end effector of the control unit tool, and that changes in the orientation of the surgical instrument track changes in the orientation of the control unit tool. For some applications, movements of the control unit tool performed by the operator are scaled up or down by the computer processor, as described in further detail below.

[0010] Ideally, the control component tool should engage with the surgical tool of the robotic unit (so that the movement of the control component tool controls the movement of the surgical tool), where the orientations of the surgical tool and the control component tool (within their respective frames of reference) are substantially similar to each other. If the orientations of the surgical tool and the control component tool (within their respective frames of reference) are different, this can lead to operator disorientation, which in turn can result in discomfort, prolonged surgical duration, and erroneous movements due to operator disorientation.

[0011] Typically, operator control over surgical instruments is limited. For example, the workspace in which an operator can move control component tools (hereinafter referred to as the "control component workspace") is usually physically constrained by the position in which the operator feels comfortable or even is able to move the control component tools. Furthermore, the workspace of a surgical instrument (hereinafter referred to as the "instrument workspace") is usually physically constrained by the space in which a robotic arm can move the surgical instrument. Typically, in the presence of multiple control components and corresponding multiple surgical instruments, each of the control component tools has a corresponding control component workspace, and each of the surgical instruments has a corresponding instrument workspace. In some cases, one limitation of the control component workspace of one control component tool is its impact on the control component workspace of a second control component tool. Similarly, in some cases, one limitation of the instrument workspace of one surgical instrument is its impact on the instrument workspace of a second surgical instrument.

[0012] The control component workspace should allow the control component tool sufficient degrees of freedom of movement, such as the ability to control the movement of surgical instruments within the surgical space. If the operator takes over control of the surgical instruments (via the control component tool) when the control component tool is near the edge of the control component workspace, the movement of the control component tool (and therefore the movement of the surgical instruments) will be restricted. Therefore, it is generally preferred that the operator engages the control component tool with the surgical instruments when the control component tool is positioned and oriented to allow the operator good degrees of freedom of movement for the control component tool.

[0013] Ideally, the tool workspace should cover the space in which the tool is intended to be manipulated for surgical purposes (hereinafter referred to as the "surgical space"). If the operator (via the control component tool) takes over control of the surgical tool when it is at the edge of the tool workspace, the movement of the surgical tool will be restricted. Therefore, it is generally preferred that the operator engages the control component tool with the surgical tool when the surgical tool is positioned and oriented to allow for good degrees of freedom of movement.

[0014] In other words, the operator should be able to move the surgical instruments freely to all positions and orientations within the surgical space, without the control components reaching the limits of the control component workspace and the surgical instruments reaching the limits of the tool workspace.

[0015] According to some applications of the invention, the control component tool becomes engaged with the surgical tool (such that movement of the control component tool controls movement of the surgical tool), wherein the orientations of the surgical tool and the control component tool are substantially similar to each other (within their respective reference frames), thereby preventing operator disorientation. In some applications, the control component tool becomes engaged with the surgical tool when the surgical tool and the control component tool are oriented towards the centers of the tool workspace and the control component workspace, respectively. Typically, the operator can engage and / or disengage the surgical tool and the control component tool relative to each other using standard movements of the control component tool without requiring additional external input.

[0016] Therefore, according to some applications of the present invention, an apparatus is provided for performing surgery on a part of a patient's body using a surgical instrument having an end cap, an imaging system, and a display, the apparatus comprising: A robotic unit configured to move the surgical instrument; A control unit unit, comprising one or more position sensors and a control unit tool configured to be moved by an operator and defining an end effector; and At least one computer processor, said at least one computer processor being configured to: Drive the display to show images of the surgical instruments and the parts of the patient's body; In response to the control component tool being at least partially aligned with the surgical instrument within the image on the display, the control component tool engages with the surgical instrument, and When the control component tool is engaged with the surgical instrument: The position and orientation movement of the end effector of the control component tool are determined based on data received from one or more position sensors; and The end of the surgical instrument is moved within the patient's eye in a manner corresponding to the movement of the position and orientation of the end of the control component tool.

[0017] In some applications, the device is configured to perform ophthalmic surgery on a patient’s eye using one or more ophthalmic tools with ends, and the robotic unit is configured to move one or more ophthalmic tools within the patient’s eye.

[0018] In some applications, the computer processor is configured to drive the display to display an enhanced surgical instrument overlaid on the surgical instrument.

[0019] In some applications, the computer processor is configured to drive the display to display an enhanced control component tool overlaid on the control component tool, and the computer processor is configured to engage the control component tool with the surgical tool in response to the enhanced control component tool being at least partially aligned with the surgical tool within the image on the display.

[0020] In some applications, the computer processor is configured to automatically move the control component tool to become at least partially aligned with the surgical instrument within the image on the display, such that the control component tool becomes engaged with the surgical instrument.

[0021] In some applications, the robotic unit is capable of moving the surgical instrument within the tool workspace, and the computer processor is configured to automatically drive the robotic unit to move the surgical instrument to an initial position, where the surgical instrument is located within a given portion of the tool workspace.

[0022] In some applications: The robotic unit is configured to move the surgical instrument within a tool reference frame; The control component tool is movable within the control component reference frame; and The computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the orientation of the control component tool in the control component reference frame is substantially similar to the orientation of the surgical tool in the tool reference frame.

[0023] In some applications, the computer processor is configured to engage the control component tool with the surgical instrument without requiring any input via an operator-controlled interface other than the movement of the control component tool.

[0024] In some applications: The surgical instruments include left surgical instruments and right surgical instruments; The robotic unit includes a left robotic unit and a right robotic unit, which are configured to move the left surgical instrument and the right surgical instrument, respectively. The control unit includes a left control unit tool and a right control unit tool, which are configured to be moved by the operator and define an end effector. The left control component tool is capable of engaging with both the left and right surgical instruments; and The right control component tool can be engaged with both the left and right surgical tools.

[0025] In some applications, the computer processor is configured to engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool in response to input from the operator.

[0026] In some applications, the computer processor is configured to automatically engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool based on the positions of the left and right robotic units relative to the portions of the patient's body.

[0027] In some applications, the robotic unit is capable of moving the surgical instrument within the tool workspace, and the computer processor is configured to disengage the control component tool from the surgical instrument in response to the surgical instrument moving toward the edge of the tool workspace.

[0028] In some applications, the computer processor is configured to generate graphics on the display indicating that the control component tool is disengaging from the surgical instrument.

[0029] In some applications, the control component tool is movable within a control component workspace, and the computer processor is configured to guide the operator to move the control component tool to engage with the surgical instrument when the control component tool is positioned within a given portion of the control component workspace.

[0030] In some applications, the computer processor is configured to guide the operator to move the control component tool to engage with the surgical instrument when the control component tool is relatively centered within the control component workspace.

[0031] In some applications, the robotic unit is capable of moving the surgical instrument within the tool workspace, and the computer processor is configured to guide the operator to move the control component tool to engage with the surgical instrument when the control component tool is configured such that it can be moved to move the surgical instrument to any location within the tool workspace without leaving the control component workspace.

[0032] According to some applications of the present invention, an apparatus is also provided for performing surgery on a part of a patient's body using a surgical instrument having an end effector, an imaging system, and a display, the apparatus comprising: A robotic unit configured to move the surgical instrument; A control unit unit, comprising one or more position sensors and a control unit tool configured to be moved by an operator and defining an end effector, and capable of moving within a control unit workspace; and At least one computer processor, said at least one computer processor being configured to: When the control component tool is positioned within a given portion of the control component workspace, the operator is guided to move the control component tool to engage with the surgical instrument. When the control component tool is engaged with the surgical instrument: The position and orientation movement of the end effector of the control component tool are determined based on data received from one or more position sensors; and The end of the surgical instrument is moved within the patient's eye in a manner corresponding to the movement of the position and orientation of the end of the control component tool.

[0033] In some applications, the computer processor is configured to guide the operator to move the control component tool to engage with the surgical instrument when the control component tool is relatively centered within the control component workspace.

[0034] In some applications, the robotic unit is capable of moving the surgical instrument within the tool workspace, and the computer processor is configured to guide the operator to move the control component tool to engage with the surgical instrument when the control component tool is configured such that it can be moved to move the surgical instrument to any location within the tool workspace without leaving the control component workspace.

[0035] In some applications, the device is configured to perform ophthalmic surgery on a patient’s eye using one or more ophthalmic tools with ends, and the robotic unit is configured to move one or more ophthalmic tools within the patient’s eye.

[0036] In some applications: The robotic unit is configured to move the surgical instrument within a tool reference frame; The control component tool is movable within the control component reference frame; and The computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the orientation of the control component tool in the control component reference frame is substantially similar to the orientation of the surgical tool in the tool reference frame.

[0037] In some applications, the computer processor is configured to engage the control component tool with the surgical instrument without requiring any input via an operator-controlled interface other than the movement of the control component tool.

[0038] In some applications: The surgical instruments include left surgical instruments and right surgical instruments; The robotic unit includes a left robotic unit and a right robotic unit, which are configured to move the left surgical instrument and the right surgical instrument, respectively. The control unit includes a left control unit tool and a right control unit tool, which are configured to be moved by the operator and define an end effector. The left control component tool is capable of engaging with both the left and right surgical instruments; and The right control component tool can be engaged with both the left and right surgical tools.

[0039] In some applications, the computer processor is configured to engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool in response to input from the operator.

[0040] In some applications, the computer processor is configured to automatically engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool based on the positions of the left and right robotic units relative to the portions of the patient's body.

[0041] In some applications, the robotic unit is capable of moving the surgical instrument within the tool workspace, and the computer processor is configured to disengage the control component tool from the surgical instrument in response to the surgical instrument moving toward the edge of the tool workspace.

[0042] In some applications, the computer processor is configured to generate graphics on the display indicating that the control component tool is disengaging from the surgical instrument.

[0043] In some applications, the computer processor is configured to drive the display to show images of the surgical instruments and the parts of the patient's body.

[0044] In some applications, the computer processor is configured to drive the display to display an enhanced surgical instrument overlaid on the surgical instrument.

[0045] In some applications, the computer processor is configured to engage the control component tool with the surgical tool in response to the control component tool being at least partially aligned with the surgical tool within the image on the display.

[0046] In some applications, the computer processor is configured to automatically move the control component tool to become at least partially aligned with the surgical instrument within the image on the display, such that the control component tool becomes engaged with the surgical instrument.

[0047] In some applications, the computer processor is configured to drive the display to display an enhanced control component tool overlaid on the control component tool, and the computer processor is configured to engage the control component tool with the surgical tool in response to the enhanced control component tool being at least partially aligned with the surgical tool within the image on the display.

[0048] According to some applications of the present invention, an apparatus is also provided for performing surgery on a part of a patient's body using a surgical instrument having an end effector, an imaging system, and a display, the apparatus comprising: A robotic unit configured to move the surgical instrument within an instrument reference frame; A control unit unit, comprising one or more position sensors and a control unit tool configured to be moved by an operator and defining an end effector, and the control unit tool being movable within a control unit reference frame; and At least one computer processor, said at least one computer processor being configured to: When the orientation of the control component tool within the control component reference frame is substantially similar to the orientation of the surgical tool within the tool reference frame, the operator is guided to move the control component tool to engage with the surgical tool. When the control component tool is engaged with the surgical instrument: The position and orientation movement of the end effector of the control component tool are determined based on data received from one or more position sensors; and The end of the surgical instrument is moved within the patient's eye in a manner corresponding to the movement of the position and orientation of the end of the control component tool.

[0049] In some applications, the device is configured to perform ophthalmic surgery on a patient’s eye using one or more ophthalmic tools with ends, and the robotic unit is configured to move one or more ophthalmic tools within the patient’s eye.

[0050] In some applications, the computer processor is configured to engage the control component tool with the surgical instrument without requiring any input via an operator-controlled interface other than the movement of the control component tool.

[0051] In some applications: The surgical instruments include left surgical instruments and right surgical instruments; The robotic unit includes a left robotic unit and a right robotic unit, which are configured to move the left surgical instrument and the right surgical instrument, respectively. The control unit includes a left control unit tool and a right control unit tool, which are configured to be moved by the operator and define an end effector. The left control component tool is capable of engaging with both the left and right surgical instruments; and The right control component tool can be engaged with both the left and right surgical tools.

[0052] In some applications, the computer processor is configured to engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool in response to input from the operator.

[0053] In some applications, the computer processor is configured to automatically engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool based on the positions of the left and right robotic units relative to the portions of the patient's body.

[0054] In some applications, the robotic unit is capable of moving the surgical instrument within the tool workspace, and the computer processor is configured to disengage the control component tool from the surgical instrument in response to the surgical instrument moving toward the edge of the tool workspace.

[0055] In some applications, the computer processor is configured to generate graphics on the display indicating that the control component tool is disengaging from the surgical instrument.

[0056] In some applications, the computer processor is configured to drive the display to show images of the surgical instruments and the parts of the patient's body.

[0057] In some applications, the computer processor is configured to drive the display to display an enhanced surgical instrument overlaid on the surgical instrument.

[0058] In some applications, the computer processor is configured to engage the control component tool with the surgical tool in response to the control component tool being at least partially aligned with the surgical tool within the image on the display.

[0059] In some applications, the computer processor is configured to automatically move the control component tool to become at least partially aligned with the surgical instrument within the image on the display, such that the control component tool becomes engaged with the surgical instrument.

[0060] In some applications, the computer processor is configured to drive the display to display an enhanced control component tool overlaid on the control component tool, and the computer processor is configured to engage the control component tool with the surgical tool in response to the enhanced control component tool being at least partially aligned with the surgical tool within the image on the display.

[0061] In some applications, the control component is movable within a control component workspace, and the computer processor is configured to guide the operator to move the control component tool to engage with the surgical instrument when the control component tool is positioned within a given portion of the control component workspace.

[0062] In some applications, the computer processor is configured to guide the operator to move the control component tool to engage with the surgical instrument when the control component tool is relatively centered within the control component workspace.

[0063] In some applications, the robotic unit is capable of moving the surgical instrument within the tool workspace, and the computer processor is configured to guide the operator to move the control component tool to engage with the surgical instrument when the control component tool is configured such that it can be moved to move the surgical instrument to any location within the tool workspace without leaving the control component workspace.

[0064] According to some applications of the present invention, an apparatus is also provided for performing surgery on a part of a patient's body using a surgical instrument having an end effector, an imaging system, and a display, the apparatus comprising: A robotic unit configured to move the surgical instrument; A control unit unit, comprising one or more position sensors and a control unit tool configured to be moved by an operator and defining an end effector; and At least one computer processor, said at least one computer processor being configured to: The control component tool is automatically moved to an engagement position and orientation, where it engages with the surgical instrument. When the control component tool is engaged with the surgical instrument: The position and orientation movement of the end effector of the control component tool are determined based on data received from one or more position sensors; and The end of the surgical instrument is moved within the patient's eye in a manner corresponding to the movement of the position and orientation of the end of the control component tool.

[0065] In some applications, the device is configured to perform ophthalmic surgery on a patient’s eye using one or more ophthalmic tools with ends, and the robotic unit is configured to move one or more ophthalmic tools within the patient’s eye.

[0066] In some applications, the robotic unit is capable of moving the surgical instrument within the tool workspace, and the computer processor is configured to automatically drive the robotic unit to move the surgical instrument to an initial position, where the surgical instrument is located within a given portion of the tool workspace.

[0067] In some applications, the computer processor is configured to engage the control component tool with the surgical instrument without requiring any input via an operator-controlled interface other than the movement of the control component tool.

[0068] In some applications: The robotic unit is configured to move the surgical instrument within a tool reference frame; The control component tool is movable within the control component reference frame; and The computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the orientation of the control component tool in the control component reference frame is substantially similar to the orientation of the surgical tool in the tool reference frame.

[0069] In some applications: The surgical instruments include left surgical instruments and right surgical instruments; The robotic unit includes a left robotic unit and a right robotic unit, which are configured to move the left surgical instrument and the right surgical instrument, respectively. The control unit includes a left control unit tool and a right control unit tool, which are configured to be moved by the operator and define an end effector. The left control component tool is capable of engaging with both the left and right surgical instruments; and The right control component tool can be engaged with both the left and right surgical tools.

[0070] In some applications, the computer processor is configured to engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool in response to input from the operator.

[0071] In some applications, the computer processor is configured to automatically engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool based on the positions of the left and right robotic units relative to the portions of the patient's body.

[0072] In some applications, the robotic unit is capable of moving the surgical instrument within the tool workspace, and the computer processor is configured to disengage the control component tool from the surgical instrument in response to the surgical instrument moving toward the edge of the tool workspace.

[0073] In some applications, the computer processor is configured to generate graphics on the display indicating that the control component tool is disengaging from the surgical instrument.

[0074] In some applications, the computer processor is configured to drive the display to show images of the surgical instruments and the parts of the patient's body.

[0075] In some applications, the computer processor is configured to drive the display to display an enhanced surgical instrument overlaid on the surgical instrument.

[0076] In some applications, the computer processor is configured to engage the control component tool with the surgical tool in response to the control component tool being at least partially aligned with the surgical tool within the image on the display.

[0077] In some applications, the computer processor is configured to drive the display to display an enhanced control component tool overlaid on the control component tool, and the computer processor is configured to engage the control component tool with the surgical tool in response to the enhanced control component tool being at least partially aligned with the surgical tool within the image on the display.

[0078] In some applications, the control component tool is movable within a control component workspace, and the computer processor is configured to guide the operator to move the control component tool to engage with the surgical instrument when the control component tool is positioned within a given portion of the control component workspace.

[0079] In some applications, the computer processor is configured to guide the operator to move the control component tool to engage with the surgical instrument when the control component tool is relatively centered within the control component workspace.

[0080] In some applications, the robotic unit is capable of moving the surgical instrument within the tool workspace, and the computer processor is configured to guide the operator to move the control component tool to engage with the surgical instrument when the control component tool is configured such that it can be moved to move the surgical instrument to any location within the tool workspace without leaving the control component workspace.

[0081] According to some applications of the present invention, an apparatus is also provided for performing surgery on a part of a patient's body using a surgical instrument having an end effector, an imaging system, and a display, the apparatus comprising: A robotic unit configured to move the surgical instrument; A control unit unit, comprising one or more position sensors and a control unit tool configured to be moved by an operator and defining an end effector; and Computer processor, the computer processor being configured to: The receiving control component tool should become engaged with the surgical instrument, the input including the movement of the control component tool to a given position and orientation, and When the control component tool is engaged with the surgical instrument: The position and orientation movement of the end effector of the control component tool are determined based on data received from one or more position sensors; and The end of the surgical instrument is moved within the patient's eye in a manner corresponding to the movement of the position and orientation of the end of the control component tool.

[0082] In some applications, the computer processor is configured to receive the input that the control component tool should become engaged with the surgical instrument, without requiring any input via an operator-controlled interface other than the movement of the control component tool.

[0083] In some applications, the device is configured to perform ophthalmic surgery on a patient’s eye using one or more ophthalmic tools with ends, and the robotic unit is configured to move one or more ophthalmic tools within the patient’s eye.

[0084] In some applications, the robotic unit is capable of moving the surgical instrument within the tool workspace, and the computer processor is configured to automatically drive the robotic unit to move the surgical instrument to an initial position, where the surgical instrument is located within a given portion of the tool workspace.

[0085] In some applications: The robotic unit is configured to move the surgical instrument within a tool reference frame; The control component tool is movable within the control component reference frame; and The computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the orientation of the control component tool in the control component reference frame is substantially similar to the orientation of the surgical tool in the tool reference frame.

[0086] In some applications: The surgical instruments include left surgical instruments and right surgical instruments; The robotic unit includes a left robotic unit and a right robotic unit, which are configured to move the left surgical instrument and the right surgical instrument, respectively. The control unit includes a left control unit tool and a right control unit tool, which are configured to be moved by the operator and define an end effector. The left control component tool is capable of engaging with both the left and right surgical instruments; and The right control component tool can be engaged with both the left and right surgical tools.

[0087] In some applications, the computer processor is configured to engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool in response to input from the operator.

[0088] In some applications, the computer processor is configured to automatically engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool based on the positions of the left and right robotic units relative to the portions of the patient's body.

[0089] In some applications, the robotic unit is capable of moving the surgical instrument within the tool workspace, and the computer processor is configured to disengage the control component tool from the surgical instrument in response to the surgical instrument moving toward the edge of the tool workspace.

[0090] In some applications, the computer processor is configured to generate graphics on the display indicating that the control component tool is disengaging from the surgical instrument.

[0091] In some applications, the computer processor is configured to drive the display to show images of the surgical instruments and the parts of the patient's body.

[0092] In some applications, the computer processor is configured to drive the display to display an enhanced surgical instrument overlaid on the surgical instrument.

[0093] In some applications, the computer processor is configured to engage the control component tool with the surgical tool in response to the control component tool being at least partially aligned with the surgical tool within the image on the display.

[0094] In some applications, the computer processor is configured to drive the display to display an enhanced control component tool overlaid on the control component tool, and the computer processor is configured to engage the control component tool with the surgical tool in response to the enhanced control component tool being at least partially aligned with the surgical tool within the image on the display.

[0095] In some applications, the control component tool is movable within a control component workspace, and the computer processor is configured to guide the operator to move the control component tool to engage with the surgical instrument when the control component tool is positioned within a given portion of the control component workspace.

[0096] In some applications, the computer processor is configured to guide the operator to move the control component tool to engage with the surgical instrument when the control component tool is relatively centered within the control component workspace.

[0097] In some applications, the robotic unit is capable of moving the surgical instrument within the tool workspace, and the computer processor is configured to guide the operator to move the control component tool to engage with the surgical instrument when the control component tool is configured such that it can be moved to move the surgical instrument to any location within the tool workspace without leaving the control component workspace.

[0098] According to some applications of the present invention, an apparatus is also provided for performing surgery on a part of a patient's body using a surgical instrument having an end effector, an imaging system, and a display, the apparatus comprising: A robotic unit configured to move the surgical instrument within a tool workspace; Control unit unit, the control unit unit includes: Control component tool, the control component tool being configured to be moved by an operator and defining an end effector; and An inertial measurement unit, comprising at least one sensor selected from the group consisting of a triaxial accelerometer, a triaxial gyroscope, and a triaxial magnetometer, the inertial measurement unit being configured to generate inertial measurement unit data indicating the orientation of the end of the control component tool; Computer processor, the computer processor being configured to: The position and orientation of the end of the control component tool are determined based on data received from the one or more position sensors; The end of the ophthalmic tool is moved within the patient's eye in a manner corresponding to the movement of the control component tool; and The inertial measurement unit is recalibrated in response to the control component tool being docked within the control component unit in a known orientation.

[0099] In some applications: The control unit includes multiple links interconnected via multiple rotating shafts; and A control component tool is coupled to a linkage and configured to be moved by an operator, such that when the operator moves the control component tool along the linear X, Y, and Z directions, the linkage rotates about a rotation axis, and: Multiple links include an X-axis link and a Z-axis rotation axis. Linear motion in the X-direction is achieved through the X-axis link, and movement in the Z-direction is achieved around the Z-axis rotation axis. The X-axis link is aligned with the Z-axis rotation axis so that the X-axis link does not apply any torque around the Z-axis rotation axis.

[0100] In some applications: The control unit includes X, Y, and Z linear motion rotation axes as well as pitch, roll, and yaw angle motion rotation axes. A control component tool, coupled to the X, Y, and Z linear motion rotation axes and the pitch, roll, and yaw motion rotation axes, is configured to be moved by the operator such that: When the operator moves the control component tool along the linear X, Y, and Z directions, rotational motion is generated around the linear motion axes of X, Y, and Z, and When the operator moves the control component tool by rolling, pitching, and yawing motions, rotational motion is generated around the corresponding pitching, rolling, and yawing motion axes; The control unit includes multiple direct drive motors, which are operatively coupled to corresponding X, Y, and Z linear motion rotation axes; and The computer processor is configured to provide force feedback to the operator via a control component tool using multiple direct drive motors.

[0101] In some applications: The control unit includes X, Y, and Z linear motion rotation axes as well as pitch, roll, and yaw angle motion rotation axes. A control component tool, coupled to the X, Y, and Z linear motion rotation axes and the pitch, roll, and yaw motion rotation axes, is configured to be moved by the operator such that: When the operator moves the control component tool along the linear X, Y, and Z directions, rotational motion is generated around the linear motion axes of X, Y, and Z, and When the operator moves the control component tool by rolling, pitching, and yawing motions, rotational motion is generated around the corresponding pitching, rolling, and yawing motion axes; The control unit includes an X-direction motor, a Y-direction motor, and a Z-direction motor operably connected to the X, Y, and Z linear motion rotation axes, respectively, with the first end of the Y-direction motor aligned with the X rotation axis; and The computer processor is configured to provide force feedback to the operator via control components using X-axis, Y-axis, and Z-axis motors.

[0102] In some applications: The control unit includes X, Y, and Z linear motion rotation axes as well as pitch, roll, and yaw angle motion rotation axes. A control component tool, coupled to the X, Y, and Z linear motion rotation axes and the pitch, roll, and yaw motion rotation axes, is configured to be moved by the operator such that: When the operator moves the control component tool along the linear X, Y, and Z directions, rotational motion is generated around the linear motion axes of X, Y, and Z, and When the operator moves the control component tool through roll, pitch, and yaw movements, rotational motion is generated around the corresponding pitch, roll, and yaw motion axes. The control components are essentially balanced around the linear motion axes of X, Y, and Z, as well as the motion axes of pitch, roll, and yaw.

[0103] In some applications: Within four degrees of freedom, the control component tool is self-balancing, and Within the two degrees of freedom, the control component unit includes counterweights to balance the weight of the control component and / or other components of the control component unit about the corresponding axis of rotation.

[0104] In some applications, the control component tool is self-balancing two of the rotation axes about roll and yaw motion and about the linear motion axes about X, Y, and Z, 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, respectively, about one of the rotation axes about pitch motion and about the linear motion axes.

[0105] The invention will be more fully understood from the following detailed description of embodiments thereof, taken in conjunction with the accompanying drawings, in which: Brief description of the attached diagram

[0106] Figure 1A and Figure 1B This is a schematic diagram of a robotic system according to some applications of the present invention, which is configured for use in microsurgery (e.g., intraocular surgery); Figure 2A This is a schematic diagram of a display for some applications according to the present invention, showing a surgical instrument positioned laterally relative to the patient's cornea; Figure 2B This is a schematic diagram of a display according to some applications of the present invention, which shows an enhanced surgical instrument covering a laterally placed surgical instrument, such that the end of the enhanced surgical instrument is positioned near the end of the surgical instrument. Figure 2C and Figure 2D This is a schematic diagram of a display for some applications according to the present invention, showing an enhanced control component tool positioned to cover an enhanced surgical tool in order to engage a first control component tool with a robotic system; Figure 2E This is a schematic diagram of a display for some applications according to the present invention, showing a surgical instrument positioned above the patient's cornea; Figure 2F This is a schematic diagram of a display according to some applications of the present invention, which shows an enhanced surgical instrument covering a surgical instrument placed on top, such that the end of the enhanced surgical instrument is positioned near the end of the surgical instrument. Figure 2G and Figure 2H This is a schematic diagram of a display for some applications according to the present invention, showing an enhanced control component tool positioned to cover an enhanced surgical tool in order to engage a second control component tool with a robotic system; Figure 2IThis is a schematic diagram of a display for some applications according to the present invention, showing the movement of an enhanced control component tool away from an enhanced surgical tool in order to disengage the control component tool from the robotic system; Figure 3A This is a schematic diagram of a robotic system marked with a cube according to some applications of the present invention, the cube indicating the workspace of control components and surgical instruments for illustrative purposes; Figure 3B This is a schematic diagram of a robot system according to some applications of the present invention, which is annotated with several reference frames for illustrative purposes; Figure 4A , Figure 4B , Figure 4C and Figure 4D These are schematic diagrams of control components and control component tools for some applications of the control component unit according to the present invention; and Figure 5A , Figure 5B , Figure 5C and Figure 5D This is a schematic diagram of a control component and a control component tool for some alternative applications of the control component unit according to the present invention. Detailed Implementation

[0107] Now for reference Figure 1A and Figure 1B This is a schematic diagram of a robotic system 10 according to some applications of the present invention, configured for use in microsurgery (e.g., intraocular surgery). Typically, when used in intraocular surgery, the robotic system 10 includes one or more robotic units 20 (configured to hold tools 21), and further includes an imaging system 22, one or more displays 24, and a control unit 26 (e.g., a control unit including a pair of control elements, such as...). Figure 1A As shown in the enlarged portion, through the control unit 26, one or more operators (e.g., healthcare professionals, such as physician 25A and / or nurse 25B) are able to control the robot unit 20. Typically, the robot system 10 includes one or more computer processors 28 through which the system's components and operators 25 can operatively interact with each other.

[0108] Figure 1A and Figure 1B Different configurations of a robotic system 10 configured for ophthalmic surgery are shown. As illustrated, in... Figure 1A In the configuration shown, the first robot unit and the second robot unit are positioned at corresponding lateral positions (i.e., left and right) relative to the operated eye, such that the tool 21 held by the robot unit is positioned at approximately 180 degrees to each other. Figure 1BThe configuration shown illustrates a first robotic unit positioned laterally relative to the eye and a second robotic unit positioned above the eye, such that the tool 21 held by the robotic units is set at approximately 90 degrees to each other. (In the context of ophthalmic surgery,) Figure 1B The lateral position shown is referred to as the "temporal" position. Therefore, the terms "lateral" and "temporal" are used interchangeably in this application. In some cases (not shown), the first robotic unit is positioned laterally relative to the eye, and the second robotic unit is positioned below the eye, such that the tool 21 held by the robotic units is set at approximately 90 degrees to each other. Generally, the scope of this disclosure includes the use of any number of robotic units placed relative to the patient in any number of corresponding positions, and Figure 1A and Figure 1B The configurations shown should not be construed as limiting the scope of this disclosure in any way.

[0109] Typically, the movement of the robotic unit (and / or control of other aspects of the robotic system) is controlled at least in part by one or more operators (e.g., healthcare professionals, such as physician 25A and / or nurse 25B). For example, the operator may receive images of the patient's eyes and the robotic unit and / or the tools positioned therein via a display 24. Typically, such images are acquired by an imaging system 22. For some applications, the imaging system 22 is a stereoscopic imaging device, and the display 24 is a stereoscopic display. The operator typically performs surgical procedures based on the received images. For some applications, the operator provides commands to the robotic unit via a control component unit 26. For example, Figure 1A and Figure 1B The illustration shows a physician 25A issuing commands to a robotic unit via a control unit 26 while simultaneously viewing images of the patient's eyes and tools 21 on a display 24. Typically, such commands include commands to control the position and / or orientation of tools positioned within the robotic unit, and / or commands to control actions performed by the tools. For example, commands may control blades, phacoemulsification tools (e.g., the operating mode and / or aspiration power of the phacoemulsification tool), clamps (e.g., opening and closing of the clamps), intraocular lens manipulator tools (e.g., causing the tool to manipulate the intraocular lens within the eye for precise positioning within the eye), and / or syringe tools (e.g., which fluid (e.g., viscoelastic fluid, saline, etc.) should be injected and / or the flow rate). Alternatively or additionally, the operator may input commands to control the imaging system (e.g., zoom, focus, orientation, and / or XYZ positioning of the imaging system).

[0110] Typically, a control unit unit includes one or more control units 30 configured to correspond to a respective robot unit 20 of a robot system. For example, as shown, the system may include a first robot unit and a second robot unit, and as shown, the control unit unit may include a first control unit and a second control unit. Typically, each of the control units is an arm 31, which includes a plurality of links connected to each other via joints. For some applications, such as... Figure 1A As shown, the control unit includes a corresponding control unit tool 32 (which is typically configured to replicate the robotic unit). Typically, a computer processor determines the XYZ position and orientation of the end effector of the control unit tool 32 and drives the robotic unit such that the end effector of the actual tool 21 used to perform the surgery tracks the movement of the end effector of the control unit tool, and that changes in the orientation of the tool 21 track changes in the orientation of the control unit tool. For some applications, movements of the control unit tool performed by the operator are scaled up or down by the computer processor, as described in further detail below.

[0111] In some instances, in this specification and claims, tool 21 is described herein as a "surgical tool." This term is used to distinguish tool 21 from control component tool 32 and should not be construed as limiting in any way the type of tool that can be used as tool 21. The term "surgical tool" should be interpreted to include any tool described herein and / or any other type of tool that a person skilled in the art might conceive of upon reading this disclosure. Generally, for ophthalmic surgery, a surgical tool is an ophthalmic tool, such as one of the ophthalmic tools described above.

[0112] Typically, the right control unit controls the movement of surgical instruments toward the right side of the patient's head when viewed from above (and is usually controlled by the surgeon's right hand), while the left control unit controls the movement of surgical instruments toward the left side of the patient's head when viewed from above (and is usually controlled by the surgeon's left hand).

[0113] As described above, typically, the computer processor determines the XYZ position and orientation of the end effector of the control component tool 32 and drives the robotic unit such that the end effector of the actual tool 21 used to perform the surgery tracks the movement of the end effector of the control component tool, and that changes in the orientation of the tool 21 track changes in the orientation of the control component tool. Therefore, if the orientation of the control component tool changes, the computer processor typically changes the orientation of the surgical instrument to correspond to the change in the orientation of the control component tool. For this purpose, it is generally desirable for the control component tool to engage with the surgical instrument of the robotic unit (such that movement of the control component tool controls movement of the surgical instrument), where the orientations of the surgical instrument and the control component tool are substantially similar to each other (within their respective reference frames, as referenced below). Figure 3B (as described above). If the orientations of the surgical instruments and the control components are different from each other (within their respective frames of reference, as described below) Figure 3B This could lead to operator disorientation, which in turn could result in discomfort, prolonged surgical duration, and erroneous movements due to operator disorientation.

[0114] An operator (e.g., a physician 25A) takes over and relinquishes control of surgical instruments multiple times during surgery (via control components), particularly when the surgery requires the use of multiple instruments that change during the procedure (as is typical in surgery as described above). Typically, during surgery, (a) the operator takes over control of the surgical instruments, (b) the operator performs surgical actions using the surgical instruments, (c) the operator relinquishes control of the surgical instruments, (d) the robotic system or the operator (e.g., a nurse) removes the surgical instruments from the robotic unit, and (e) the robotic system or the operator places new surgical instruments on the robotic unit and repeats steps (a)-(e).

[0115] Typically, operator control over surgical instruments is limited. For example, the workspace in which an operator can move control component tools (hereinafter referred to as the "control component workspace") is usually physically constrained by the position in which the operator feels comfortable or even is able to move the control component tools. Furthermore, the workspace of a surgical instrument (hereinafter referred to as the "instrument workspace") is usually physically constrained by the space in which a robotic arm can move the surgical instrument. Typically, in the presence of multiple control components and corresponding multiple surgical instruments, each of the control component tools has a corresponding control component workspace, and each of the surgical instruments has a corresponding instrument workspace. In some cases, one limitation of the control component workspace of one control component tool is its impact on the control component workspace of a second control component tool. Similarly, in some cases, one limitation of the instrument workspace of one surgical instrument is its impact on the instrument workspace of a second surgical instrument.

[0116] The control component workspace should allow the control component tool sufficient degrees of freedom of movement, such as the ability to control the movement of surgical instruments within the surgical space. If the operator takes over control of the surgical instruments (via the control component tool) when the control component tool is near the edge of the control component workspace, the movement of the control component tool (and therefore the movement of the surgical instruments) will be restricted. Therefore, it is generally preferred that the operator engages the control component tool with the surgical instruments when the control component tool is positioned and oriented to allow the operator good degrees of freedom of movement for the control component tool.

[0117] Ideally, the tool workspace should cover the space in which the tool is intended to be manipulated for surgical purposes (hereinafter referred to as the "surgical space"). If the operator (via the control component tool) takes over control of the surgical tool when it is at the edge of the tool workspace, the movement of the surgical tool will be restricted. Therefore, it is generally preferred that the operator engages the control component tool with the surgical tool when the surgical tool is positioned and oriented to allow for good degrees of freedom of movement.

[0118] In other words, the operator should be able to move the surgical instruments freely to all positions and orientations within the surgical space, without the control components reaching the limits of the control component workspace and the surgical instruments reaching the limits of the tool workspace.

[0119] According to some applications of the invention, the control component tool becomes engaged with the surgical instrument (such that the movement of the control component tool controls the movement of the surgical instrument), wherein the orientations of the surgical instrument and the control component tool are substantially similar to each other (within their respective reference frames), thereby preventing the operator from becoming disoriented. In some applications, the control component tool becomes engaged with the surgical instrument when the surgical instrument and the control component tool are oriented towards the centers of the control component workspace and the tool workspace, respectively. Typically, the operator can engage and / or disengage the surgical instrument and the control component tool from each other using standard movements of the control component tool without requiring additional external input.

[0120] Now for reference Figures 2A-2I This describes some steps involved in the engagement and disengagement of surgical instruments and control components according to some applications of the present invention.

[0121] First refer to Figure 2AThis is a schematic diagram of a display 24 according to some applications of the invention, showing a surgical instrument 21 placed laterally relative to the patient's cornea 38. For some applications, a robotic system is configured (e.g., based on images acquired by an imaging system 22) to automatically place the surgical instrument in the appropriate position near the patient's cornea. Alternatively or additionally, an operator (e.g., a nurse 25B) places the surgical instrument in the appropriate position near the patient's cornea. Typically, the surgical instrument (by the robotic system and / or by the nurse) is positioned near the patient's cornea at a relatively central location within the tool workspace, and / or such that from this initial position within the tool workspace, the control unit tool does not undergo any movement within the control unit workspace that would cause the tool to move out of the tool workspace. Therefore, starting from this position typically allows the steps of the procedure to be performed by the surgical instrument to be completed without requiring repositioning of the robotic unit during the surgical steps.

[0122] Typically, the doctor 25A views images of the robotic tools and the patient's cornea 38 on monitor 24. (As...) Figure 1A and Figure 1B As shown, imaging systems typically acquire images of the front of the patient's eyes because they are usually positioned above the patient's eyes. As mentioned above, for some applications, display 24 is a three-dimensional stereoscopic display. Typically, the imaging system is configured to acquire images covering the entire surgical space, and display 24 displays the acquired images such that any manipulation of surgical instruments occurs within the field of view displayed on display 24.

[0123] Now for reference Figure 2B For some applications, once the surgical instrument 21 is positioned near the patient's cornea, the computer processor identifies the surgical instrument and generates an enhanced surgical instrument 40 (i.e., an enhanced image of the surgical instrument) overlaying the surgical instrument itself. For some applications, the enhanced surgical instrument 40 facilitates the surgeon's identification of the surgical instrument. For some applications, the enhanced surgical instrument is not displayed. For some applications, the surgeon provides input to the computer processor indicating whether she / he wishes to display the enhanced surgical instrument, and the computer processor controls the image displayed to the surgeon based on this input.

[0124] Now for reference Figure 2C and Figure 2DThis is a schematic diagram of a display 24 according to some applications of the invention, showing an enhanced control component tool 42 positioned to cover an enhanced surgical tool 40 for engagement of the first control component tool with a robotic system. In some applications, when the surgical tool is placed near the patient's cornea, the computer processor is configured to drive the display 24 to display the enhanced control component tool 42, which represents the control component tool. This enhanced control component tool is typically a virtual representation of the control component tool.

[0125] As described above, imaging systems typically acquire an image of the front of the patient's eye because they are usually positioned above the patient's eyes. The view of the patient's eye displayed on the monitor is generally as if viewed from above the patient's head, as this is the perspective doctors are accustomed to seeing during ophthalmic surgery. The monitor 24 is typically oriented towards the doctor's face, and the orientation and position of the augmentation control tool on the monitor 24 rotate according to the view of the eye displayed on the monitor. Typically, the orientation of the augmentation control tool within the monitor's reference frame is substantially similar to its orientation within the control component workspace reference frame. However (since the monitor's reference frame differs from the control component workspace reference frame), the absolute position of the control component tool is generally independent of the absolute position of the augmentation control tool.

[0126] Typically, movements of the control component tool by the physician produce a corresponding enhanced movement of the control component tool on display 24. Typically, rotation of the control component tool by angular rotation (roll, pitch, and / or yaw) produces a corresponding enhanced rotation of the control component tool on display 24. More typically, when the physician moves the control component tool translatively (along the X, Y, or Z direction), this produces a corresponding translational motion of the control component tool on display 24. For some applications, the translational motion of the enhanced control component tool on display 24 is scaled up or down relative to the translational motion of the control component tool.

[0127] Typically, to engage the control component tool with the surgical instrument (so that the movement of the control component tool controls the movement of the surgical instrument), the surgeon moves the control component tool such that the enhanced control component tool is aligned with the image of surgical instrument 21 and / or enhanced surgical instrument 40. Typically, the enhanced control component tool is aligned with the image of surgical instrument 21 and / or enhanced surgical instrument 40 such that (a) the end of the enhanced control component tool covers the image of surgical instrument 21 and / or enhanced surgical instrument 40, and (b) the orientation of the enhanced control component tool is substantially similar to the orientation of the image of surgical instrument 21 and / or enhanced surgical instrument 40. More typically, the computer processor is configured to position the enhanced control component tool such that when the surgeon aligns the enhanced control component tool with the image of surgical instrument 21 and / or enhanced surgical instrument 40, the control component tool itself is relatively centrally positioned within the control component workspace, and / or such that the control component tool can be moved from this initial position within the control component workspace to move the surgical instrument to any position within the tool workspace without leaving the control component workspace.

[0128] Note that in some applications, the above steps are performed without displaying the Enhanced Control Tool. Typically, for such applications, the steps described above, referring to the Enhanced Control Tool, are instead performed using an image of the Control Tool itself on the display.

[0129] It should be noted that the augmentation control component tool does not typically need to be perfectly aligned with the image of surgical tool 21 and / or augmentation surgical tool 40. Rather, in some applications, when the alignment is close enough, any slight misalignment in position and / or orientation is maintained such that the surgical tool does not move at the moment of engagement and subsequently follows the surgeon's movements with slight (and often imperceptible) misalignment. For some applications, a computer processor drives a robotic unit to adjust the position of the surgical tool to complete the alignment of the augmentation control component tool with the image of surgical tool 21 and / or augmentation surgical tool 40.

[0130] Typically, once the enhancement control tool is aligned with the image of surgical tool 21 and / or enhancement surgical tool 40, the enhancement surgical tool and / or enhancement control tool 40 are removed from the image displayed on display 24. Typically, at this stage, the control tool engages with the surgical tool (such that movement of the control tool controls movement of the surgical tool). Typically, movement of the control tool by the surgeon produces a corresponding movement of the surgical tool. Typically, rotation of the control tool produces a corresponding rotation of the surgical tool through angular rotation (roll, pitch, and / or yaw). More typically, this produces a corresponding translational movement of the surgical tool when the surgeon translates the control tool (along the X, Y, or Z direction). For some applications, the translational movement of the surgical tool is scaled up or down relative to the translational movement of the control tool.

[0131] Now for reference Figures 2E-2H It is performed relative to a second surgical instrument 21 (which is positioned above the patient's cornea 38) according to some applications of the invention, and referenced Figures 2A-2D The described steps are illustrated in a diagram. As mentioned above, the view of the patient's eyes displayed on the monitor is typically as if viewed from above the patient's head, as this is the perspective doctors are accustomed to seeing during ophthalmic surgery. The monitor 24 is usually oriented towards the doctor's face, and the orientation and position of the enhanced control tools on the monitor 24 rotate according to the view of the eyes displayed on the monitor. Therefore, in Figure 2E In the view shown, a second surgical instrument 21 positioned above the patient's cornea 38 appears at the bottom of the display.

[0132] For some applications, the robotic system is configured (e.g., based on images acquired by imaging system 22) to automatically place a second surgical instrument at an appropriate location near the patient's cornea. Alternatively or additionally, an operator (e.g., nurse 25B) places the second surgical instrument at an appropriate location near the patient's cornea. Typically, the surgical instrument (by the robotic system and / or by the nurse) is positioned near the patient's cornea at a relatively central location within the tool workspace, and / or such that from this initial position within the tool workspace, the control component tool does not undergo any movement within the control component workspace that would cause the tool to move out of the tool workspace. Therefore, starting from this position typically allows the steps of the surgery to be performed by the second surgical instrument to be completed without requiring repositioning of the second robotic unit during the surgical steps.

[0133] For some applications, such as Figure 2FAs shown, the enhanced second surgical tool 44 is overlaid on the image of the second surgical tool to facilitate the surgeon's identification of the surgical tool. In some applications, the enhanced second surgical tool is not displayed. In some applications, the surgeon provides input to the computer processor indicating whether she / he wishes to display the enhanced second surgical tool, and the computer processor controls the image displayed to the surgeon based on the input.

[0134] For some applications, such as Figure 2G As shown, when the second surgical instrument is placed near the patient's cornea, the computer processor is configured to drive the display 24 to show the enhanced second control component tool 46. The enhanced second control component tool represents the second control component tool. This enhanced second control component tool is typically a virtual representation of the second control component tool.

[0135] Typically, to engage the second control component tool with the second surgical tool (so that movement of the second control component tool controls movement of the second surgical tool), the physician moves the second control component tool such that the enhanced second control component tool aligns with the image of the second surgical tool 21 and / or the enhanced second surgical tool 44. Typically, the enhanced second control component tool aligns with the image of the second surgical tool 21 and / or the enhanced second surgical tool 44 such that (a) the end of the enhanced second control component tool 46 covers the image of the second surgical tool 21 and / or the enhanced second surgical tool 44, and (b) the orientation of the enhanced second control component tool 46 substantially resembles the orientation of the image of the second surgical tool 21 and / or the enhanced second surgical tool 44. More typically, the computer processor is configured to position the enhanced second control tool such that when the surgeon aligns the enhanced second control tool with the image of the second surgical tool 21 and / or the enhanced second surgical tool 44, the second control tool itself is relatively centrally positioned within the control tool workspace, and / or the second control tool can be moved from this initial position within the control tool workspace to move the second surgical tool to any position within the tool workspace without leaving the control tool workspace.

[0136] It should be noted that the enhanced second control component tool does not typically need to be perfectly aligned with the images of the second surgical tool 21 and / or the enhanced second surgical tool 44. Rather (as described with reference to the first surgical tool), in some applications, when the alignment is sufficiently close, any slight misalignment in position and / or orientation is maintained such that the second surgical tool does not move at the moment of engagement and subsequently follows the surgeon's movements with slight (and generally imperceptible) misalignment. For some applications, a computer processor drives a second robotic unit to adjust the position of the second surgical tool to complete the alignment of the enhanced second control component tool with the images of the second surgical tool 21 and / or the enhanced second surgical tool 44.

[0137] Typically, once the enhanced second control tool 46 is aligned with the image of the second surgical tool 21 and / or the enhanced second surgical tool 44, the enhanced second surgical tool 44 and / or the enhanced second control tool 46 are removed from the image displayed on the monitor 24. Typically, at this stage, the second control tool engages with the second surgical tool (such that movement of the second control tool controls movement of the second surgical tool). Typically, movement made by the physician to the second control tool produces a corresponding movement of the second surgical tool. Typically, rotation of the second control tool produces a corresponding rotation of the second surgical tool through angular rotation (roll, pitch, and / or yaw). More typically, this produces a corresponding translational movement of the second surgical tool when the physician moves the second control tool translatively (along the X, Y, or Z direction). For some applications, the translational movement of the second surgical tool is scaled up or down relative to the translational movement of the second control tool.

[0138] Now for reference Figure 2IThis is a schematic diagram of a display 24 according to some applications of the invention, showing the enhanced control tool 42 moving away from the enhanced surgical tool 40 to disengage the control tool 32 from the surgical tool 21. In some applications, to disengage the control tool 32 from the surgical tool 21, the control tool moves toward the edge of the control tool workspace and / or the control tool moves such that the surgical tool moves toward the edge of the tool workspace. In some applications, the computer processor generates an indication of disengagement before, during, and / or after disengagement. For example, graphic elements 48 (e.g., stars, crosses, circles, highlights, or other graphic elements) may be displayed to indicate that disengagement has occurred, is occurring, or is about to occur. Alternatively, a circle or ellipse (not shown) is displayed around the iris (or at different locations), and the computer processor is configured to interpret a portion of the tool (such as the end) leaving the circle as an indication that the operator wishes to disengage the control tool from the surgical tool. For such applications, the size of the circle or ellipse is typically chosen such that it is visible within the field of view, but there is generally no reason to move a portion of the tool outside the circle for surgical purposes.

[0139] Despite Figure 2I The first surgical instrument placed horizontally in the middle is used to illustrate the dissection, but generally similar steps are performed with reference to the surgical instrument placed above.

[0140] As described above, the operator (e.g., physician 25A) typically takes over and relinquishes control of the surgical instruments multiple times during surgery (via control components), particularly when the surgery requires the use of multiple instruments that change during the procedure (as is typical in ophthalmic surgery as described above). Typically, during the procedure, (a) the operator takes over control of the surgical instruments, (b) the operator performs surgical actions using the surgical instruments, (c) the operator relinquishes control of the surgical instruments, (d) the robotic system or operator (e.g., nurse) removes the surgical instruments from the robotic unit, and (e) the robotic system or operator places a new surgical instrument on the robotic unit, and steps (a)-(e) are repeated. Typically, each time the operator takes over control of a new instrument, a reference procedure is performed. Figures 2A-2D or Figures 2E-2H The described steps. More typically, the reference is executed each time the operator relinquishes control of the tool. Figure 2I The steps described.

[0141] Typically, once the control component tool engages with the surgical instrument of the robotic unit, it will not disengage unless the surgeon performs a disengagement procedure (e.g., as referenced). Figure 2I(As described above). However, it should be noted that in some cases, even without input from the physician, the control component tool may detach from the surgical instrument during surgery. For example, the control component tool may detach from the surgical instrument based on the robotic system detecting an impending collision between the tools or with a part of the patient's body. Typically, in cases where the control component tool has detached from the surgical instrument while it is positioned within the instrument's workspace, the physician re-engages the control component tool with the surgical instrument by performing the steps described above.

[0142] Now for reference Figure 3A This is a schematic diagram of a robotic system annotated with a cube according to some applications of the present invention, the cube indicating, for illustrative purposes, the control component workspace 60 and the tool workspace 62. As mentioned above, operator control over surgical instruments is typically limited. For example, the control component workspace 60 (i.e., the workspace in which the operator can move the control component tool) is typically physically constrained by the position in which he / she feels comfortable or even able to move the control component tool. Furthermore, the tool workspace 62 (i.e., the workspace for surgical instruments) is typically physically constrained by the space in which the robotic arm can move the surgical instrument.

[0143] The control component workspace 60 should allow the control component tool sufficient degrees of freedom of movement, such as the ability to control the movement of surgical instruments within the surgical space. If the operator takes over control of the surgical instruments (via the control component tool) when the control component tool is near the edge of the control component workspace, the movement of the control component tool (and therefore the movement of the surgical instruments) will be restricted. Therefore, it is generally preferred that the operator engages the control component tool with the surgical instruments when the control component tool is positioned and oriented to allow the operator good degrees of freedom of movement of the control component tool.

[0144] Ideally, the tool workspace 62 should cover the space in which the tool is intended to be manipulated for surgical purposes (hereinafter referred to as the "surgical space"). If the operator (via the control component tool) takes over control of the surgical tool when it is at the edge of the tool workspace, the movement of the surgical tool will be restricted. Therefore, it is generally preferred that the operator engages the control component tool with the surgical tool when the surgical tool is positioned and oriented to allow it good freedom of movement.

[0145] In other words, the operator should be able to freely move the surgical instrument to all positions and orientations within the surgical space, without the control component tool reaching the limits of the control component workspace and the surgical instrument reaching the limits of the tool workspace. According to some applications of the invention, the control component tool engages with the surgical instrument when the surgical instrument and the control component tool are oriented toward the centers of the control component workspace and the tool workspace, respectively.

[0146] For some applications, the size of the control unit workspace differs from the tool workspace. For example, as shown in the figure, the tool workspace can be smaller than the control unit workspace. Typically, for such applications, the movements of the surgical instrument 21 performed by the robot unit 20 are scaled down relative to the movements of the control unit tool 32.

[0147] Now for reference Figure 3B , Figure 3B This is a schematic diagram of a robot system 10 according to some applications of the present invention. For illustrative purposes, the robot system 10 is annotated with several reference frames. Typically, several reference frames exist within the robot system, and a computer processor transforms the movement between these reference frames. Now referring to... Figure 3B Describe an example.

[0148] exist Figure 3B In the example shown, the display shows an image corresponding to a "superior" surgery, where the image shown to the surgeon appears as if the surgeon is facing the patient with the chin up and forehead down. Typically, in this configuration, when the surgeon moves the right control unit tool in the direction of his / her right hand within control unit reference frame F2, the right robotic unit moves the surgical tool to the left (within the right robotic unit reference frame F5), and the surgical tool moves to the right on display 24 (within display reference frame F1). The display shows images captured by the imaging system, which are acquired within the imaging system reference frame F3. Similarly, movement of the left control unit tool causes the left robotic unit to move the left surgical tool (within the left robotic unit reference frame F4).

[0149] Typically, the control unit 26 is physically attached to the same body as the display 24, resulting in a rigid and constant transformation from the control unit reference frame F2 to the display reference frame F1. The imaging system reference frame F3 can be moved relative to the patient. For example, the imaging system can be rotated so that it appears as if the doctor is viewing the eye from an upward and lateral (i.e., temporal) perspective. Generally, regardless of the imaging system reference frame used, movement of the control unit tool within reference frame F2 will result in movement of the surgical instrument in the same direction within the display reference frame F1.

[0150] To achieve proper transformations between reference frames, a computer processor typically receives input indicating the orientation of various reference frames relative to each other. In some applications, the computer processor analyzes images of the robotic unit within images acquired by an imaging system to determine the orientation of the various reference frames relative to each other. Alternatively or additionally, the computer processor receives input from the operator indicating the orientation of the surgical procedure she / he wishes to display on the monitor.

[0151] As mentioned above, typically, the right control unit controls the movement of surgical instruments toward the right side of the patient's head when viewed from above (and is usually controlled by the surgeon's right hand), and the left control unit controls the movement of surgical instruments toward the left side of the patient's head when viewed from above (and is usually controlled by the surgeon's left hand). However, in some cases, the right control unit controls the movement of surgical instruments toward the left side of the patient's head when viewed from above (and is usually controlled by the surgeon's left hand), and the left control unit controls the movement of surgical instruments toward the right side of the patient's head when viewed from above (and is usually controlled by the surgeon's right hand). For example, where it is more intuitive and / or physically easier for the surgeon to use the left control unit to control the right surgical instrument (and vice versa) rather than the other way around (e.g., based on the position of the surgical instrument and / or the surgeon's dominant hand), the surgeon may switch which control unit controls which instrument. Alternatively or additionally, a computer processor or physician may determine that the surgical tool is more likely to perform its designated function while remaining within its range of motion by using the left control component tool to control the right surgical tool (and vice versa), and the computer processor may drive the robotic unit to act accordingly (based on automatic detection by the computer processor or based on input from the physician). Typically, in this case, the computer processor translates input from the physician regarding movement and motion provided within the right control component tool's frame of reference into corresponding movement and motion of the left surgical tool performed by the left robotic unit within its own frame of reference, and / or vice versa.

[0152] Now for reference Figure 4A , Figure 4B , Figure 4C and Figure 4D These are schematic diagrams of the control component 30 and control component tool 32 of the control component unit 26 according to some applications of the present invention. Figure 4A , Figure 4B and Figure 4CAs shown, for some applications, the control unit is configured as a control unit arm, which includes two or more links 80A, 80B, 80C connected via rotary arm joints 82A, 82B, 82C. For some applications, corresponding motors 84A, 84B, 84C are configured to control the movement of each of the rotary arm joints. For some applications, at least one motor (84A) applies torque to a rotary arm joint (82A) via a conveyor belt 88. Typically, a conveyor belt is used so that the motor can be positioned closer to the base 90 of the control unit unit (base 90 in...). Figure 4D (As shown in the diagram), this reduces the weight and inertia felt by the operator when the motor is positioned closer to the rotary arm joint 82A relative to the third motor. For some applications, motors with different configurations are used within the control unit.

[0153] In some applications, a motor is used to apply a force vector at joint 86, where the control component tool is coupled to the control component arm. Typically, the force vector is configured to counteract gravity. In this way, the operator can move the control component tool freely without having to counteract the weight of the control component arm and / or the gravity generated by the control component tool itself. In some applications, the force vector applied by the motor is calculated based on the positions of the control component tool and the control component arm, such that the force vector counteracts the gravity generated by the weight of the control component arm and the control component tool in real time.

[0154] In some applications, motors are used to apply force vectors to guide the operator from the docking position of the control component tool to the position where the control component tool becomes engaged with the surgical instrument. In other words, return to reference. Figures 2C-2D In some applications, the computer processor drives a motor to move the control component tool, such that the enhanced control component tool 42 is positioned to cover the enhanced surgical tool 40. This typically reduces user fatigue that might be associated with manually performing the step and / or increases the speed of performing the step.

[0155] refer to Figure 4DTypically, in addition to the motors described above, each of the control arm components includes a corresponding rotary encoder 92 coupled to each of the three rotary arm joints 82A, 82B, 82C. The rotary encoders are configured to detect movement of the corresponding rotary arm joint and generate rotary encoder data in response. For some applications, the control arm component further includes an inertial measurement unit 94, which includes a three-axis accelerometer, a three-axis gyroscope, and / or a three-axis magnetometer. The rotary encoders and the inertial measurement unit are collectively referred to herein as “position sensors.” The inertial measurement unit typically generates inertial measurement unit data relating to the three-dimensional orientation of the control arm component in response to movement of the control arm component. For some applications, a computer processor 28 receives the rotary encoder data and the inertial measurement unit data. Typically, the computer processor determines the XYZ position of the end of the control tool component 32 based on the rotary encoder data and determines the orientation of the control tool component 32 (e.g., three Euler orientation angles and / or another representation of the orientation) based on the inertial measurement unit data or a combination of the rotary encoder data and the inertial measurement unit data. Therefore, based on rotary encoder data and / or inertial measurement unit data, the computer processor is configured to determine the XYZ position and orientation of the control component tool.

[0156] As described above, the control component arm typically includes an inertial measurement unit 94, which comprises a three-axis accelerometer, a three-axis gyroscope, and / or a three-axis magnetometer. The accelerometer directly measures acceleration, the gyroscope directly measures angular velocity, and the magnetometer measures magnetic field. Three of each type of sensor are arranged orthogonally relative to each other, thus allowing 3D acceleration, angular velocity, and magnetic field sensing.

[0157] The combination of the above measurements is used to infer the orientation of the inertial measurement unit (IMU). Specifically, the algorithm typically uses Earth's gravity as a known acceleration, which is fused with gyroscope measurements integrated over time to infer the IMU's orientation. Without continuous correction for orientation by the gravitational acceleration vector, the IMU's orientation output tends to drift. This is because angular information is derived from the gyroscope through numerical integration. Any error in the angular velocity measurements accumulates over time, eventually leading to a very poor estimate of the true orientation. Gravitational acceleration produces the "ground truth" to remove this drift. If the gravity vector does not change the orientation, the angular change derived from the gyroscope can be ignored.

[0158] However, there is often a possible rotation around the gravity vector that the accelerometer cannot detect. Because the accelerometer cannot sense the rotation of the inertial measurement unit (IMU) around the gravity vector, it may drift. One way to address this drift is to incorporate information from the magnetometer, which provides a second "ground truth" vector, magnetic north, that is linearly independent of gravity. However, this reading can be affected by other magnetic fields around the IMU, which can introduce errors into the reading.

[0159] According to some applications of the invention, a “ground truth” vector that is linearly independent of the gravity vector is derived. Typically, the control component tool docks relative to the base in a given predetermined orientation, which is usually not vertical. For some applications, sensors (such as switches, light reflectors, etc.) identify when the control component tool docks. When the control component tool docks, the computer processor recalibrates the inertial measurement unit (IMU) based on two ground truth vectors—the gravity vector and the known orientation of the control component tool. Thus, each time the control component tool docks, the IMU is recalibrated so that any drift is corrected.

[0160] For some applications, the computer processor uses the following algorithm to perform recalibration of the inertial measurement unit (IMU). When the control part tool is detected to be docked, the IMU transmits its detected roll axis position to the computer processor. The roll axis is the axis that typically drifts due to a lack of gravity information. The roll axis position is projected onto a horizontal plane (orthogonal to gravity) and compared to the known true tilt angle; that is, the angle at which the control part tool is known to be located in the horizontal plane. Any difference between the measured orientation and the true orientation is subtracted from the measured orientation. In effect, the IMU's measurement is corrected to fit the known true orientation of the control part tool, and this correction is maintained until the next docking of the control part tool, at which point the correction is repeated.

[0161] Now for reference Figure 5A , Figure 5B , Figure 5C and Figure 5D These are schematic diagrams of control components 30 of control component units for some alternative applications according to the present invention. Figure 5A and Figure 5B The respective perspective views of the control components are shown. Figure 5C A side view is shown, and Figure 5D A top view is shown. (See attached image.) Figures 5A-5B The function of the control unit 30 shown is roughly similar to that of... Figures 4A-4D The functions of the control unit 30 shown are the same as those described below, except for the differences.

[0162] like Figures 5A-5BThe control component 30 shown typically includes a frame 50 that rotates about a first rotation axis 52X and links 54 that rotate about a second rotation axis 52Y and a third rotation axis 52Z. Generally, movement of the control component tool by the operator along the X, Y, and Z linear directions causes the links 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; 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; and when the operator moves the control component tool along the Z linear direction, this causes the link 54 to rotate about the rotation axis 52Z.

[0163] It should be noted that in the above description, it is assumed that link 54 is positioned perpendicular to frame 50. In reality, during most of the use of the control unit, link 54 is positioned at an angle to frame 50. In such a configuration, movement of the control unit tool in the XY plane (even along the X linear direction or along the Y linear direction) will generally cause frame 50 to rotate about axis of rotation 52X and link 54 to rotate about axis of rotation 52Y. For this reason, the use of the terms X, Y, and Z as used herein to refer to the movement of parts of the control unit should not be interpreted as strictly corresponding to movement along three linear axes perpendicular to each other. Rather, movement in the X and Y directions should be interpreted as relating to movement of frame 50 or link 54 in 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 link 54 in a direction perpendicular to the XY plane. Therefore, rotation axis 52X and motor 56X are associated with the movement of frame 50 in the XY plane (regardless of whether the movement is in the X direction as shown in the figure), rotation axis 52Y and motor 56Y are associated with the movement of link in the XY plane (regardless of whether the movement is in the Y direction as shown in the figure), and rotation axis 52Z and motor 56Z are associated with the movement of link 54 perpendicular to the XY plane.

[0164] Typically, as shown in the figure, the Y-axis of rotation 52Y is aligned with the Z-axis of rotation 52Z along the Z-direction. More typically, both Y-linear motion and Z-linear motion are achieved via link 54. It should be noted that for some applications, an additional support link 55 is arranged parallel to link 54 and rotates with link 54. For some applications, link 54 and / or link 55 are made of two or more parts rigidly connected to each other. For example, as... Figure 5AAs shown, links 54 and 55 each include a first portion disposed on the left side of the Z-axis of rotation 52Z and a second portion disposed on the right side of the Z-axis of rotation 52Z. For some applications, rotary encoders are disposed along each of the rotation axes 52X, 52Y, and 52Z (or parallel rotation axes (e.g., the rotation axis of link 55)). The rotary encoder detects the rotation of the corresponding link about the rotation axis and generates a signal in response. A 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 disposed along each of the rotation axes 52X, 52Y, and 52Z to provide redundancy for the system (e.g., so that if one rotary encoder fails, the other rotary encoder can be used).

[0165] Typically, the control component tool 32 can be moved by an operator to undergo pitch, yaw, and roll rotations. The control component tool typically undergoes pitch rotation by rotating about a pitch rotation axis 70, and yaw rotation by rotating about its own axis 72 (which serves as the yaw rotation axis) via axis 53 (on which the control component tool is mounted). Typically, the control component 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 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 relating 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 positioned along axes about which they rotate, respectively, at the roll, pitch, and yaw angles. For some applications, the control unit includes an inertial measurement unit 76, and also includes one or more rotary encoders to detect the roll, pitch and / or yaw of the control unit tool 32 for redundancy (e.g., so that the rotary encoders are used in the event of an inertial measurement unit failure).

[0166] Typically, the computer processor 28 receives rotary encoder data and inertial measurement unit (IMU) data. Typically, the computer processor determines the XYZ position of the end effector of the control component tool 32 based on the rotary encoder data, and determines the three-dimensional orientation of the end effector of the control component tool 32 (e.g., three Euler orientation angles and / or another representation of the orientation) based on the IMU data or a combination of the rotary encoder data and IMU data. Therefore, the computer processor is configured to determine the XYZ position and three-dimensional orientation of the end effector of the control component tool based on a combination of the rotary encoder data and the IMU data.

[0167] Typically, 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 movement along the linear X, Y, and Z directions. For some applications, the computer processor is configured to drive the control unit unit to provide force feedback to the operator, indicating the position of the ophthalmic tool within the incision into 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 attempted movement of the control unit tool 32 by the operator that may deviate from the remote center of motion. For example, in response to the operator moving the control unit tool by rotating a yaw angle that results in a corresponding movement of the ophthalmic tool (deviating from the remote center of motion), the computer processor can move the control unit tool linearly (via X, Y, and / or X-linear motion) to maintain the remote center of motion of the ophthalmic tool. For some such applications, the force is applied by driving the control unit tool to move in the linear X, Y, and Z directions via motors 56X, 56Y, 56Z.

[0168] Typically, the robotic system 10 is used in surgeries requiring delicate and precise movement of surgical instruments, such as ophthalmic surgery as described above. Therefore, the control unit 30 is typically configured such that movement of the control unit tool is performed by the operator without any substantial reaction force to that movement (except for reaction forces intentionally applied via motors 56X, 56Y, 56Z). For some applications, the control unit tool includes a counterweight 58 such that the weight of the control unit tool is relatively uniformly balanced about the pitch axis of rotation 70. For some applications, the control unit tool is not perfectly balanced about the pitch axis of rotation 70 to give the surgeon a sense of tool weight (like a real surgical instrument) and / or also to reduce the overall mass of the control unit tool. For some applications, a link 54 extends across both sides of the Z-axis of rotation 52Z, with the control unit tool and additional components positioned on the link 54 (and / or parallel link 55) on the first side of the axis of rotation 52Z. For some applications, the motor 56Z, positioned along the Z-linear direction, is mounted on a connecting rod 54 on the opposite side of the rotation axis 52Z to balance the weight of the control component tool and auxiliary components positioned on the first side. For some such applications, the control component unit does not include an additional counterweight for this purpose. Alternatively, in addition to the motor 56Z, the control component unit includes a counterweight for this purpose.

[0169] 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 in a straight line between the two curved arms. For some applications, the end of frame 50 adjacent to the Z-axis of rotation 52Z is ​​aligned with the Z-axis of rotation 52Z (e.g., Figure 5A As shown, this ensures that frame 50 does not apply any torque around the Z-axis of rotation 52Z. Therefore, frame 50 does not need to be balanced around the Z-axis of rotation 52Z. For some applications, even when frame 50 moves (due to movement in the X direction), the frame remains aligned with the Z-axis of rotation 52Z, so that no compensation motion is needed to balance the movement of the frame.

[0170] Note that, as described above, the control unit is typically balanced across all six degrees of freedom (three axial translations and three angular rotations). For some applications, the control unit utilizes counterweights to provide balance in two degrees of freedom: axial movement in the Z-direction and pitch angular movement. Figures 5A-5D In the illustrated embodiment, motor 56Z serves as a counterweight in the Z-direction axial motion degree of freedom. The remaining four degrees of freedom (i.e., X and Y-axis motion, and roll and yaw motion) typically do not require counterweights for balancing, as the control unit is designed to self-balance the control unit tool and / or other elements of the control unit within these degrees of freedom. Because the control unit is designed to balance in all six degrees of freedom (e.g., by self-balancing in four degrees of freedom and by counterweights providing balance in the remaining two), the control unit tool tends to maintain its position and orientation when no force is applied to it. Therefore, typically if the operator temporarily releases the control unit tool (as she / he releases the tool without applying force), the control unit tool maintains its position and orientation until the operator regains control of it. Furthermore, the control unit tool is typically able to provide force feedback to the operator at a relatively low force level because it provides relatively low inertial forces. That is, the motor, which is configured to provide force feedback to the operator by driving the tool movement of the control components, is configured to operate in this way with virtually no need to overcome inertial forces.

[0171] For some applications, such as Figures 5A-5BAs shown, motor 56Y is positioned in the XY plane such that its center of mass is substantially aligned with the X-axis of rotation 52X when motor 56Y is extended and retracted. This typically prevents movement of motor 56Y in the Z direction from exerting any torque on connecting rod 54 during extension and retraction. It is noteworthy that the center of mass of the motor shifts slightly during extension and retraction. Typically, the motor is positioned such that its center of mass is aligned with the X-axis of rotation 52X in at least one position during its fully extended and fully retracted states. More typically, the center of mass of the motor is aligned with the X-axis of rotation 52X when the motor is in its central position relative to its fully extended and fully retracted states. For some applications, its center of mass is within 10 mm of the X-axis of rotation 52X when the motor is fully extended and fully retracted, for example, within 5 mm. It should also be noted that motor 56Y is typically coupled to frame 50 such that motor 56Y is configured to rotate with frame 50. By configuring it in this way, the motor will not apply any torque to the frame 50 even when the frame 50 is rotating.

[0172] For some applications, frame 50 includes an angled extension 50E to which motor 56X (and optionally, its extension 56XE) is coupled. Motor 56X rotates frame 50 about axis 52X by pushing or pulling the angled extension 50E. Typically, by incorporating a control unit unit with the angled extension 50E, the size of the control unit (and the total coverage area of ​​the control unit) is reduced compared to the case where motor 56X (or its extension 56XE) is coupled to a non-angled extension of frame 50 on the side of axis 52X opposite to the main portion of frame 50. For some applications (not shown), motor 56X rotates frame 50 about axis 52X by pushing or pulling the non-angled extension disposed within the coverage area of ​​the frame.

[0173] Similarly, for some applications, link 54 includes an angled extension 54E to which motor 56Y (and optionally, its extension 56YE) is coupled. Motor 56Y drives or pulls the angled extension 54E to rotate link 54 about axis 52Y. Typically, by incorporating a control unit unit with angled extension 54E, the size of the control unit (and the total coverage area of ​​the control unit) is reduced compared to the case where motor 56Y (or its extension 56YE) is coupled to a non-angled extension of link 54 on the side of axis 52Y opposite to the main portion of link 54. For some applications (not shown), motor 56Y rotates frame 50 about axis 52Y by means of motor (or its extension) by pushing or pulling link 54 at a position offset from the Y-axis of rotation 52Y.

[0174] For some applications, the longitudinal axis 72 of shaft 53 (which serves as the yaw rotation axis) is aligned with the ends of connecting rods 54 and 55.

[0175] For reference Figures 4A-4D Typically, the control component tool docks relative to the base in a given predetermined orientation, which is usually not vertical. For some applications, sensors (such as switches, light reflectors, etc.) identify when the control component tool docks. When the control component tool docks, the computer processor recalibrates the inertial measurement unit (IMU) based on two ground-based true vectors—the gravity vector and the known orientation of the control component tool. Therefore, each time the control component tool docks, the IMU is recalibrated so that any drift is corrected.

[0176] For some applications, the computer processor uses the reference above. Figures 4A-4D The described algorithm performs recalibration of the inertial measurement unit (IMU). When docking of the control part tool is detected, the IMU transmits its detected roll axis position to the computer processor. The roll axis is the axis that typically drifts due to a lack of gravity information. The roll axis position is projected onto a horizontal plane (orthogonal to gravity) and compared to the known true tilt angle; that is, the angle at which the control part tool is known to be located in the horizontal plane. Any difference between the measured orientation and the true orientation is subtracted from the measured orientation. In effect, the IMU's measurement is corrected to fit the known true orientation of the control part tool, and this correction is maintained until the next docking of the control part tool, at which point the correction is repeated.

[0177] Although some applications of the invention have been described with reference to cataract surgery, the scope of this application includes the application of the devices and methods described herein, with appropriate modifications, to other medical procedures. Specifically, the devices and methods described herein for 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 of these applications, the imaging system includes one or more microscopic imaging units.

[0178] It should be noted that the scope of this application includes the application of the apparatus and methods described herein, with appropriate modifications, to intraocular surgeries other than cataract surgery. Such surgeries may include collagen cross-linking, endothelial keratoplasty (e.g., DSEK, DMEK, and / or PDEK), DSO (Descemet's membrane peeling without graft), laser-assisted keratoplasty, keratoplasty, LASIK / PRK, SMILE, pterygium, ocular surface cancer treatment, secondary IOL implantation (sutured secondary IOL implantation, transconjunctival secondary IOL implantation, etc.), iris repair, IOL repositioning, IOL replacement, superficial keratotomy, minimally invasive glaucoma surgery (MIGS), limbal stem cell transplantation, astigmatic keratotomy, limbal retraction and incision (LRI), amniotic membrane transplantation (AMT), glaucoma surgery (e.g., trabeculectomy, tube implantation, minimally invasive glaucoma surgery), automated lamellar keratoplasty (ALK), anterior vitrectomy, and / or pars plana anterior vitrectomy.

[0179] Applications of the invention described herein can 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 connection with a computer or any instruction execution system (e.g., computer processor 28). For the purposes of this description, a computer-usable or computer-readable medium can be any means that may include, store, transmit, propagate, or deliver a program for use by or in connection with an instruction execution system, apparatus, or device. 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.

[0180] Examples of computer-readable media include semiconductor or solid-state memory, magnetic tape, removable computer floppy disks, random access memory (RAM), read-only memory (ROM), rigid disks, and optical discs. Current examples of optical discs include compact optical disc read-only memory (CD-ROM), compact optical disc read / write (CD-R / W), DVDs, and USB drives.

[0181] A data processing system suitable for storing and / or executing program code will include at least one processor (e.g., computer processor 28) directly or indirectly coupled to memory elements via a system bus. Memory elements may include local memory, mass storage, and cache memory used during the actual execution of the program code. The cache memory provides temporary storage for at least some of the program code to reduce the number of times code must be retrieved from the mass storage during execution. The system can read the instructions of the present invention stored on a program storage device and follow those instructions to perform the methods of embodiments of the present invention.

[0182] A network adapter can be coupled to a processor, enabling the processor to couple to other processors or remote printers or storage devices via an intervening private or public network. Modems, cable modems, and Ethernet cards are just a few of the types of network adapters currently available.

[0183] The computer program code used to perform the operations of this invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​(such as Java, Smalltalk, C++, etc.) and traditional procedural programming languages ​​(such as C or similar programming languages).

[0184] 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 apparatus for manufacturing machines, such that the instructions, which execute via the processor of the computer (e.g., computer processor 28) or the processor of the other programmable data processing apparatus, produce means for implementing the functions / actions specified in the algorithms described herein. These computer program instructions can also be stored in a computer-readable medium (e.g., a non-transitory computer-readable medium) that can instruct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable medium produce an article of writing including means of instruction for implementing the functions / actions specified in the algorithm. The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide a process for implementing the functions / actions specified in the algorithms described herein.

[0185] Computer processor 28 is typically a hardware device programmed with computer program instructions to produce a dedicated computer. For example, when computer processor 28 is programmed to execute the algorithms described with reference to the accompanying drawings, computer processor 28 typically acts as a dedicated robotic system computer processor. Generally, the operations performed by computer processor 28 described herein convert the physical state of 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 computer processors are executed by multiple computer processors in combination.

[0186] Those skilled in the art will recognize that this invention is not limited to what has been specifically shown and described above. Rather, the scope of protection of this invention includes combinations and sub-combinations of the various features described above, 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 found in the prior art.

Claims

1. An apparatus for performing surgery on a part of a patient's body using a surgical instrument, the surgical instrument having an end cap, an imaging system, and a display, the apparatus comprising: A robotic unit configured to move the surgical instrument; A control unit unit, the control unit unit including one or more position sensors and a control unit tool, the control unit tool being configured to be moved by an operator and defining an end effector; and At least one computer processor, said at least one computer processor being configured to: - Drive the display to show images of the surgical instruments and the parts of the patient's body; - In response to the control component tool being at least partially aligned with the surgical instrument within the image on the display, the control component tool engages with the surgical instrument, and - When the control component tool is engaged with the surgical instrument: -- The position and orientation movement of the end of the control component tool are determined based on data received from the one or more position sensors; and -- The tip of the surgical instrument is moved within the patient's eye in a manner corresponding to the movement of the position and orientation of the tip of the control component tool.

2. The apparatus according to claim 1, wherein, The device is configured to perform ophthalmic surgery on a patient's eye using one or more ophthalmic tools with ends, wherein the robotic unit is configured to move the one or more ophthalmic tools within the patient's eye.

3. The apparatus according to claim 1, wherein, The computer processor is configured to drive the display to display an enhanced surgical instrument overlaid on the surgical instrument.

4. The apparatus according to claim 1, wherein, The computer processor is configured to drive the display to display an enhanced control component tool overlaid on the control component tool, and wherein the computer processor is configured to engage the control component tool with the surgical tool in response to the enhanced control component tool being at least partially aligned with the surgical tool within the image on the display.

5. The apparatus according to claim 1, wherein, The computer processor is configured to automatically move the control component tool to become at least partially aligned with the surgical instrument within the image on the display, such that the control component tool becomes engaged with the surgical instrument.

6. The apparatus according to claim 1, wherein, The robotic unit is capable of moving the surgical instrument within the tool workspace, and the computer processor is configured to automatically drive the robotic unit to move the surgical instrument to an initial position, where the surgical instrument is located within a given portion of the tool workspace.

7. The apparatus according to claim 1, wherein: The robotic unit is configured to move the surgical instrument within a tool reference frame; The control component tool is movable within the control component reference frame; and The computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the orientation of the control component tool in the control component reference frame is substantially similar to the orientation of the surgical tool in the tool reference frame.

8. The apparatus according to claim 1, wherein, The computer processor is configured to engage the control component tool with the surgical instrument without requiring any input via an operator-controlled interface other than the movement of the control component tool.

9. The apparatus according to any one of claims 1-8, wherein: The surgical instruments include left surgical instruments and right surgical instruments; The robotic unit includes a left robotic unit and a right robotic unit, which are configured to move the left surgical instrument and the right surgical instrument, respectively. The control unit includes a left control unit tool and a right control unit tool, which are configured to be moved by the operator and define an end effector. The left control component tool is capable of engaging with both the left and right surgical instruments; and The right control component tool can be engaged with both the left and right surgical tools.

10. The apparatus according to claim 9, wherein, The computer processor is configured to engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool in response to input from the operator.

11. The apparatus according to claim 9, wherein, The computer processor is configured to automatically engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool based on the positions of the left and right robotic units relative to the parts of the patient's body.

12. The apparatus according to any one of claims 1-8, wherein, The robotic unit is capable of moving the surgical instrument within the tool workspace, and wherein the computer processor is configured to disengage the control component tool from the surgical instrument in response to the surgical instrument moving toward the edge of the tool workspace.

13. The apparatus according to claim 12, wherein, The computer processor is configured to generate graphics on the display indicating that the control component tool is disengaging from the surgical instrument.

14. The apparatus according to any one of claims 1-8, wherein, The control component tool is movable within the control component workspace, and the computer processor is configured to guide the operator to move the control component tool to engage with the surgical instrument when the control component tool is positioned within a given portion of the control component workspace.

15. The apparatus according to claim 14, wherein, The computer processor is configured to guide the operator to move the control component tool to engage with the surgical instrument when the control component tool is relatively centered within the control component workspace.

16. The apparatus according to claim 14, wherein, The robotic unit is capable of moving the surgical instrument within the tool workspace, and the computer processor is configured to guide the operator to move the control component tool to engage with the surgical instrument when the control component tool is configured such that it can be moved to move the surgical instrument to any location within the tool workspace without leaving the control component workspace.

17. An apparatus for performing surgery on a part of a patient's body using a surgical instrument, the surgical instrument having an end cap, an imaging system, and a display, the apparatus comprising: A robotic unit configured to move the surgical instrument; A control unit unit, comprising one or more position sensors and a control unit tool configured to be moved by an operator and define an end effector, and the control unit tool being movable within a control unit workspace; and At least one computer processor, said at least one computer processor being configured to: - When the control component tool is positioned within a given portion of the control component workspace, guide the operator to move the control component tool to engage with the surgical instrument, and - When the control component tool is engaged with the surgical instrument: -- The position and orientation movement of the end of the control component tool are determined based on data received from the one or more position sensors; and -- The tip of the surgical instrument is moved within the patient's eye in a manner corresponding to the movement of the position and orientation of the tip of the control component tool.

18. The apparatus according to claim 17, wherein, The computer processor is configured to guide the operator to move the control component tool to engage with the surgical instrument when the control component tool is relatively centered within the control component workspace.

19. The apparatus according to claim 17, wherein, The robotic unit is capable of moving the surgical instrument within the tool workspace, and the computer processor is configured to guide the operator to move the control component tool to engage with the surgical instrument when the control component tool is configured such that it can be moved to move the surgical instrument to any location within the tool workspace without leaving the control component workspace.

20. The apparatus according to claim 17, wherein, The device is configured to perform ophthalmic surgery on a patient's eye using one or more ophthalmic tools with ends, wherein the robotic unit is configured to move the one or more ophthalmic tools within the patient's eye.

21. The apparatus according to claim 17, wherein: The robotic unit is configured to move the surgical instrument within a tool reference frame; The control component tool is movable within the control component reference frame; and The computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the orientation of the control component tool in the control component reference frame is substantially similar to the orientation of the surgical tool in the tool reference frame.

22. The apparatus according to claim 17, wherein, The computer processor is configured to engage the control component tool with the surgical instrument without requiring any input via an operator-controlled interface other than the movement of the control component tool.

23. The apparatus according to any one of claims 17-22, wherein: The surgical instruments include left surgical instruments and right surgical instruments; The robotic unit includes a left robotic unit and a right robotic unit, which are configured to move the left surgical instrument and the right surgical instrument, respectively. The control unit includes a left control unit tool and a right control unit tool, which are configured to be moved by the operator and define an end effector. The left control component tool is capable of engaging with both the left and right surgical instruments; and The right control component tool can be engaged with both the left and right surgical tools.

24. The apparatus according to claim 23, wherein, The computer processor is configured to engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool in response to input from the operator.

25. The apparatus according to claim 23, wherein, The computer processor is configured to automatically engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool based on the positions of the left and right robotic units relative to the parts of the patient's body.

26. The apparatus according to any one of claims 17-22, wherein, The robotic unit is capable of moving the surgical instrument within the tool workspace, and wherein the computer processor is configured to disengage the control component tool from the surgical instrument in response to the surgical instrument moving toward the edge of the tool workspace.

27. The apparatus according to claim 26, wherein, The computer processor is configured to generate graphics on the display indicating that the control component tool is disengaging from the surgical instrument.

28. The apparatus according to any one of claims 17-22, wherein, The computer processor is configured to drive the display to show images of the surgical instruments and the parts of the patient's body.

29. The apparatus according to claim 28, wherein, The computer processor is configured to drive the display to display an enhanced surgical instrument overlaid on the surgical instrument.

30. The apparatus according to claim 28, wherein, The computer processor is configured to engage the control component tool with the surgical tool in response to the control component tool being at least partially aligned with the surgical tool within the image on the display.

31. The apparatus according to claim 30, wherein, The computer processor is configured to automatically move the control component tool to become at least partially aligned with the surgical instrument within the image on the display, such that the control component tool becomes engaged with the surgical instrument.

32. The apparatus according to claim 30, wherein, The computer processor is configured to drive the display to display an enhanced control component tool overlaid on the control component tool, and wherein the computer processor is configured to engage the control component tool with the surgical tool in response to the enhanced control component tool being at least partially aligned with the surgical tool within the image on the display.

33. An apparatus for performing surgery on a part of a patient's body using a surgical instrument, the surgical instrument having an end cap, an imaging system, and a display, the apparatus comprising: A robotic unit configured to move the surgical instrument within an instrument reference frame; A control component unit, the control component unit including one or more position sensors and a control component tool, the control component tool being configured to be moved by an operator and defining an end effector, and the control component tool being movable within a control component reference frame; and At least one computer processor, said at least one computer processor being configured to: - When the orientation of the control component tool within the control component reference frame is substantially similar to the orientation of the surgical tool within the tool reference frame, the operator is guided to move the control component tool to engage with the surgical tool, and - When the control component tool is engaged with the surgical instrument: -- The position and orientation movement of the end of the control component tool are determined based on data received from the one or more position sensors; and -- The tip of the surgical instrument is moved within the patient's eye in a manner corresponding to the movement of the position and orientation of the tip of the control component tool.

34. The apparatus according to claim 33, wherein, The device is configured to perform ophthalmic surgery on a patient's eye using one or more ophthalmic tools with ends, wherein the robotic unit is configured to move the one or more ophthalmic tools within the patient's eye.

35. The apparatus according to claim 33, wherein, The computer processor is configured to engage the control component tool with the surgical instrument without requiring any input via an operator-controlled interface other than the movement of the control component tool.

36. The apparatus according to any one of claims 33-35, wherein: The surgical instruments include left surgical instruments and right surgical instruments; The robotic unit includes a left robotic unit and a right robotic unit, which are configured to move the left surgical instrument and the right surgical instrument, respectively. The control unit includes a left control unit tool and a right control unit tool, which are configured to be moved by the operator and define an end effector. The left control component tool is capable of engaging with both the left and right surgical instruments; and The right control component tool can be engaged with both the left and right surgical tools.

37. The apparatus according to claim 36, wherein, The computer processor is configured to engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool in response to input from the operator.

38. The apparatus according to claim 36, wherein, The computer processor is configured to automatically engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool based on the positions of the left and right robotic units relative to the parts of the patient's body.

39. The apparatus according to any one of claims 33-35, wherein, The robotic unit is capable of moving the surgical instrument within the tool workspace, and wherein the computer processor is configured to disengage the control component tool from the surgical instrument in response to the surgical instrument moving toward the edge of the tool workspace.

40. The apparatus according to claim 39, wherein, The computer processor is configured to generate graphics on the display indicating that the control component tool is disengaging from the surgical instrument.

41. The apparatus according to any one of claims 33-35, wherein, The computer processor is configured to drive the display to show images of the surgical instruments and the parts of the patient's body.

42. The apparatus according to claim 41, wherein, The computer processor is configured to drive the display to display an enhanced surgical instrument overlaid on the surgical instrument.

43. The apparatus according to claim 41, wherein, The computer processor is configured to engage the control component tool with the surgical tool in response to the control component tool being at least partially aligned with the surgical tool within the image on the display.

44. The apparatus according to claim 43, wherein, The computer processor is configured to automatically move the control component tool to become at least partially aligned with the surgical instrument within the image on the display, such that the control component tool becomes engaged with the surgical instrument.

45. The apparatus according to claim 43, wherein, The computer processor is configured to drive the display to display an enhanced control component tool overlaid on the control component tool, and wherein the computer processor is configured to engage the control component tool with the surgical tool in response to the enhanced control component tool being at least partially aligned with the surgical tool within the image on the display.

46. ​​The apparatus according to any one of claims 33-35, wherein, The control component is movable within the control component workspace, and the computer processor is configured to guide the operator to move the control component tool to engage with the surgical instrument when the control component tool is positioned within a given portion of the control component workspace.

47. The apparatus according to claim 46, wherein, The computer processor is configured to guide the operator to move the control component tool to engage with the surgical instrument when the control component tool is relatively centered within the control component workspace.

48. The apparatus according to claim 46, wherein, The robotic unit is capable of moving the surgical instrument within the tool workspace, and the computer processor is configured to guide the operator to move the control component tool to engage with the surgical instrument when the control component tool is configured such that it can be moved to move the surgical instrument to any location within the tool workspace without leaving the control component workspace.

49. An apparatus for performing surgery on a part of a patient's body using a surgical instrument, the surgical instrument having an end cap, an imaging system, and a display, the apparatus comprising: A robotic unit configured to move the surgical instrument; A control unit unit, the control unit unit including one or more position sensors and a control unit tool, the control unit tool being configured to be moved by an operator and defining an end effector; and At least one computer processor, said at least one computer processor being configured to: - Automatically moves the control component tool to an engagement position and orientation, whereby the control component tool engages with the surgical instrument, and - When the control component tool is engaged with the surgical instrument: -- The position and orientation movement of the end of the control component tool are determined based on data received from the one or more position sensors; and -- The tip of the surgical instrument is moved within the patient's eye in a manner corresponding to the movement of the position and orientation of the tip of the control component tool.

50. The apparatus according to claim 49, wherein, The device is configured to perform ophthalmic surgery on a patient's eye using one or more ophthalmic tools with ends, wherein the robotic unit is configured to move the one or more ophthalmic tools within the patient's eye.

51. The apparatus according to claim 49, wherein, The robotic unit is capable of moving the surgical instrument within the tool workspace, and the computer processor is configured to automatically drive the robotic unit to move the surgical instrument to an initial position, where the surgical instrument is located within a given portion of the tool workspace.

52. The apparatus according to claim 49, wherein, The computer processor is configured to engage the control component tool with the surgical instrument without requiring any input via an operator-controlled interface other than the movement of the control component tool.

53. The apparatus according to claim 49, wherein: The robotic unit is configured to move the surgical instrument within a tool reference frame; The control component tool is movable within the control component reference frame; and The computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the orientation of the control component tool in the control component reference frame is substantially similar to the orientation of the surgical tool in the tool reference frame.

54. The apparatus according to any one of claims 49-53, wherein: The surgical instruments include left surgical instruments and right surgical instruments; The robotic unit includes a left robotic unit and a right robotic unit, which are configured to move the left surgical instrument and the right surgical instrument, respectively. The control unit includes a left control unit tool and a right control unit tool, which are configured to be moved by the operator and define an end effector. The left control component tool is capable of engaging with both the left and right surgical instruments; and The right control component tool can be engaged with both the left and right surgical tools.

55. The apparatus according to claim 54, wherein, The computer processor is configured to engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool in response to input from the operator.

56. The apparatus according to claim 54, wherein, The computer processor is configured to automatically engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool based on the positions of the left and right robotic units relative to the parts of the patient's body.

57. The apparatus according to any one of claims 49-53, wherein, The robotic unit is capable of moving the surgical instrument within the tool workspace, and wherein the computer processor is configured to disengage the control component tool from the surgical instrument in response to the surgical instrument moving toward the edge of the tool workspace.

58. The apparatus according to claim 57, wherein, The computer processor is configured to generate graphics on the display indicating that the control component tool is disengaging from the surgical instrument.

59. The apparatus according to any one of claims 49-53, wherein, The computer processor is configured to drive the display to show images of the surgical instruments and the parts of the patient's body.

60. The apparatus according to claim 59, wherein, The computer processor is configured to drive the display to display an enhanced surgical instrument overlaid on the surgical instrument.

61. The apparatus according to claim 59, wherein, The computer processor is configured to engage the control component tool with the surgical tool in response to the control component tool being at least partially aligned with the surgical tool within the image on the display.

62. The apparatus according to claim 61, wherein, The computer processor is configured to drive the display to display an enhanced control component tool overlaid on the control component tool, and wherein the computer processor is configured to engage the control component tool with the surgical tool in response to the enhanced control component tool being at least partially aligned with the surgical tool within the image on the display.

63. The apparatus according to any one of claims 49-53, wherein, The control component tool is movable within the control component workspace, and the computer processor is configured to guide the operator to move the control component tool to engage with the surgical instrument when the control component tool is positioned within a given portion of the control component workspace.

64. The apparatus according to claim 63, wherein, The computer processor is configured to guide the operator to move the control component tool to engage with the surgical instrument when the control component tool is relatively centered within the control component workspace.

65. The apparatus according to claim 63, wherein, The robotic unit is capable of moving the surgical instrument within the tool workspace, and the computer processor is configured to guide the operator to move the control component tool to engage with the surgical instrument when the control component tool is configured such that it can be moved to move the surgical instrument to any location within the tool workspace without leaving the control component workspace.

66. An apparatus for performing surgery on a part of a patient's body using a surgical instrument, the surgical instrument having an end cap, an imaging system, and a display, the apparatus comprising: A robotic unit configured to move the surgical instrument; A control unit unit, the control unit unit including one or more position sensors and a control unit tool, the control unit tool being configured to be moved by an operator and defining an end effector; and Computer processor, the computer processor being configured to: - Receive input indicating that the control component tool should engage with the surgical instrument, the input including movement of the control component tool to a given position and orientation, and - When the control component tool is engaged with the surgical instrument: -- The position and orientation movement of the end of the control component tool are determined based on data received from the one or more position sensors; and -- The tip of the surgical instrument is moved within the patient's eye in a manner corresponding to the movement of the position and orientation of the tip of the control component tool.

67. The apparatus according to claim 66, wherein, The computer processor is configured to receive the input that the control component tool should become engaged with the surgical instrument, without requiring any input via an operator-controlled interface other than the movement of the control component tool.

68. The apparatus according to claim 66, wherein, The device is configured to perform ophthalmic surgery on a patient's eye using one or more ophthalmic tools with ends, wherein the robotic unit is configured to move the one or more ophthalmic tools within the patient's eye.

69. The apparatus according to claim 66, wherein, The robotic unit is capable of moving the surgical instrument within the tool workspace, and the computer processor is configured to automatically drive the robotic unit to move the surgical instrument to an initial position, where the surgical instrument is located within a given portion of the tool workspace.

70. The apparatus of claim 66, wherein: The robotic unit is configured to move the surgical instrument within a tool reference frame; The control component tool is movable within the control component reference frame; and The computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the orientation of the control component tool in the control component reference frame is substantially similar to the orientation of the surgical tool in the tool reference frame.

71. The apparatus according to any one of claims 66-70, wherein: The surgical instruments include left surgical instruments and right surgical instruments; The robotic unit includes a left robotic unit and a right robotic unit, which are configured to move the left surgical instrument and the right surgical instrument, respectively. The control unit includes a left control unit tool and a right control unit tool, which are configured to be moved by the operator and define an end effector. The left control component tool is capable of engaging with both the left and right surgical instruments; and The right control component tool can be engaged with both the left and right surgical tools.

72. The apparatus according to claim 71, wherein, The computer processor is configured to engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool in response to input from the operator.

73. The apparatus according to claim 71, wherein, The computer processor is configured to automatically engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool based on the positions of the left and right robotic units relative to the parts of the patient's body.

74. The apparatus according to any one of claims 66-70, wherein, The robotic unit is capable of moving the surgical instrument within the tool workspace, and wherein the computer processor is configured to disengage the control component tool from the surgical instrument in response to the surgical instrument moving toward the edge of the tool workspace.

75. The apparatus according to claim 74, wherein, The computer processor is configured to generate graphics on the display indicating that the control component tool is disengaging from the surgical instrument.

76. The apparatus according to any one of claims 66-70, wherein, The computer processor is configured to drive the display to show images of the surgical instruments and the parts of the patient's body.

77. The apparatus according to claim 76, wherein, The computer processor is configured to drive the display to display an enhanced surgical instrument overlaid on the surgical instrument.

78. The apparatus according to claim 76, wherein, The computer processor is configured to engage the control component tool with the surgical tool in response to the control component tool being at least partially aligned with the surgical tool within the image on the display.

79. The apparatus according to claim 78, wherein, The computer processor is configured to drive the display to display an enhanced control component tool overlaid on the control component tool, and wherein the computer processor is configured to engage the control component tool with the surgical tool in response to the enhanced control component tool being at least partially aligned with the surgical tool within the image on the display.

80. The apparatus according to any one of claims 66-70, wherein, The control component tool is movable within the control component workspace, and the computer processor is configured to guide the operator to move the control component tool to engage with the surgical instrument when the control component tool is positioned within a given portion of the control component workspace.

81. The apparatus according to claim 80, wherein, The computer processor is configured to guide the operator to move the control component tool to engage with the surgical instrument when the control component tool is relatively centered within the control component workspace.

82. The apparatus according to claim 80, wherein, The robotic unit is capable of moving the surgical instrument within the tool workspace, and the computer processor is configured to guide the operator to move the control component tool to engage with the surgical instrument when the control component tool is configured such that it can be moved to move the surgical instrument to any location within the tool workspace without leaving the control component workspace.

83. An apparatus for performing surgery on a part of a patient's body using a surgical instrument, the surgical instrument having an end cap, an imaging system, and a display, the apparatus comprising: A robotic unit configured to move the surgical instrument within a tool workspace; Control unit unit, the control unit unit includes: - A control component tool, the control component tool being configured to be moved by an operator and defining an end effector; and - An inertial measurement unit, the inertial measurement unit comprising at least one sensor selected from the group consisting of a triaxial accelerometer, a triaxial gyroscope and a triaxial magnetometer, the inertial measurement unit being configured to generate inertial measurement unit data indicating the orientation of the end of the control component tool; Computer processor, the computer processor being configured to: - Determine the position and orientation of the end of the control component tool based on data received from the one or more position sensors; - Move the tip of the ophthalmic tool within the patient's eye in a manner corresponding to the movement of the control component tool; and - The inertial measurement unit is recalibrated in response to the control component tool being docked within the control component unit in a known orientation.

Images