Autonomous tool replacement system for automated and semi-automated intraocular surgery

Abstract

Devices, methods, and systems related to autonomous tool replacement systems for automated and semi-automated intraocular surgery are provided. In accordance with various embodiments of the present invention, for example, there is a tool replacement system for an autonomous intraocular surgical robot having a removable rotating tool dial configured to releasably engage to a rotating base, the tool dial having a plurality of tool assembly interfaces configured to be coupled to the rotating base, each tool assembly interface is disposed about the tool carousel, where each tool assembly interface is adapted to be kinematically coupled to a kinematic coupling on a surgical tool holder assembly, where each surgical tool holder assembly further includes an end effector kinematic coupling, the end effector kinematic coupling is adapted and configured for coupling to a corresponding kinematic coupling on the robotic end effector when the surgical tool assembly is engaged with the tool assembly interface. Other embodiments are described herein.

Description

[0001] Priority requirements

[0002] This application claims priority to U.S. Provisional Application No. 63 / 478,581, filed January 5, 2023, entitled “AUTONOMOUS TOOL EXCHANGE SYSTEMFOR AUTOMATED AND SEMI-AUTOMATED INTRAOCULAR SURGICAL PROCEDURES,” the contents of which are incorporated herein by reference in their entirety.

[0003] By incorporating references

[0004] All publications and patent applications mentioned in this specification are incorporated herein by reference in their entirety, to the extent that each individual publication or patent application is specifically and individually indicated to be incorporated by reference.

[0005] field

[0006] This invention relates to automated tool changers, and more particularly to automated tool changers for automated intraocular robotic surgery.

[0007] background

[0008] Automated tool changing has been widely adopted in manufacturing applications such as CNC machine tools and automated assembly lines. While some progress has been made in the field of medical robotics, improvements are still needed, especially in surgeries that require multiple tool changes, and the time spent on tool changes themselves must be minimized during surgery and in coordination between two or more robotic end effectors.

[0009] In standard intraocular surgery, surgeons frequently switch between multiple surgical instruments depending on the sub-task being performed. This is typically achieved through rapid handovers between the surgeon and assistant in the operating room or by the surgeon reaching for instruments on a prepared tray positioned to the side or above the patient. Reusing the same instruments within a single procedure is common, and the order in which instruments are used throughout the procedure may vary from patient to patient and between different types of surgeries.

[0010] Many challenges remain in meeting the requirements of robot-assisted, partially automated, or fully automated intraocular robotic surgery, and further improvements are needed in the speed and reliability of tool change processes and in precise positional control based on surgical steps, subsets, or the entire surgical workflow.

[0011] This disclosure outlines

[0012] According to various embodiments of the present invention, for example, there is a tool changing system for an autonomous intraocular surgical robot, the tool changing system having: a detachable rotating tool turret configured to releasably engage with a rotating base, the tool turret having a plurality of tool component docking portions, each tool component docking portion being arranged around the tool turret, wherein each tool component docking portion is adapted to kinematic coupling to a surgical tool holder assembly, wherein each surgical tool holder assembly further includes an end effector kinematic coupling portion adapted and configured to couple to a corresponding kinematic coupling portion on a robot end effector when the surgical tool assembly engages with the tool component docking portion.

[0013] According to one example of this embodiment, the motion coupling portion on the surgical tool holder assembly adapted to be coupled to the tool assembly docking portion is a bidirectional motion coupling portion configured to repeatedly remove and replace each surgical tool assembly from the rotating tool turntable.

[0014] According to one example of this embodiment, the robotic end effector uses a first coupling direction during the removal or replacement of a surgical tool assembly, while the rotating tool turntable uses a second coupling direction to hold the surgical tool assembly.

[0015] According to one example of this embodiment, the first coupling direction and the second coupling direction are oriented such that coordinated relative motion between the end effector and the rotary tool turntable exchanges the surgical tool assembly from coupling to the tool assembly docking section or coupling to the robot end effector.

[0016] According to one example of this embodiment, the coordinated relative motion is a two-stage motion in which the robot end effector first moves along a first coupling direction and then moves along a different second coupling direction.

[0017] According to one example of this embodiment, the motion coupling part includes one or more of the following: mechanical slots and pins, or magnets or magnetic coupling parts.

[0018] According to one example of this embodiment, the surgical tool assembly includes a memory chip configured to provide computer- or machine-readable tool-specific information about the surgical tool or specific information of the surgical tool assembly coupled to a robotic end effector.

[0019] According to one example of this embodiment, the memory chip uses wireless communication, including radio frequency identification (RFID), low-power wireless communication, or near-field communication protocols, wherein the tool-specific information includes tool identification, and wherein the tool-specific information includes manufacturing information such as calibration data and mechanical characteristics.

[0020] According to one example of this embodiment, the rotary tool turntable includes alignment hardware and attachment hardware for removably coupling to and from a fixed portion of a tool changer in a tool changing system.

[0021] According to one example of this embodiment, the fixing part is the fixing cylindrical body of the tool changer.

[0022] According to another embodiment of the invention, for example, there is an autonomous tool changing system for managing the replacement of tool components, comprising: a tool turntable having a plurality of surgical tool components; a controller configured to transmit information about a requested surgical tool component among the plurality of surgical tool components mounted on the tool turntable; and an actuation system configured to rotate the tool turntable to present the requested tool component among the plurality of tool components to a position approached by a robotic end effector.

[0023] According to one example of this embodiment, the actuation system is located in a fixed portion of the tool turntable.

[0024] According to another embodiment of the invention, for example, there is a method for tool replacement, comprising: verifying a surgical tool assembly via non-contact communication between the end effector of a surgical robot and the memory of the surgical tool assembly; and removing or replacing the surgical tool assembly onto a tool turntable via a bidirectional motion coupling.

[0025] According to one example of this method, the removal or replacement of surgical tool components is performed by the end effector of a surgical robot.

[0026] According to one example of this embodiment, the removal or replacement of surgical tool components is performed manually.

[0027] According to another embodiment of the present invention, for example, there is a method for tool changing, comprising: requesting a tool assembly for a robot end effector; moving an empty robot end effector to a tool changing position adjacent to a rotary tool turntable; rotating the rotary tool turntable to position the requested tool assembly at the tool changing position adjacent to the empty robot end effector; moving the empty robot end effector according to an engagement motion to couple the requested tool assembly to the robot end effector; moving the robot end effector according to a disengagement motion to decouple the requested tool assembly from the rotary tool turntable; performing a surgical procedure by manipulating the robot end effector and manipulating the tool assembly; moving the robot end effector to the tool changing position adjacent to the rotary tool turntable according to the surgical procedure; rotating the rotary tool turntable to position the empty tool assembly mating portion at the tool changing position; moving the robot end effector according to an engagement motion to couple the requested tool assembly to the rotary tool turntable at the empty tool assembly mating portion; moving the robot end effector according to a disengagement motion to decouple the tool assembly from the robot end effector; and moving the robot end effector according to a disengagement motion to decouple the tool assembly from the robot end effector.

[0028] Attached Figure Description

[0029] Figure 1A This is a cross-sectional view through a rotary tool turntable having eight tool assembly docking sections 1 to 8, to which eight surgical tool retainer assemblies are coupled. The robot end effector is empty and shown in a changing position relative to the rotary tool turntable.

[0030] Figure 1B Is it through Figure 1A A cross-sectional view of a rotary tool turntable, showing the rotation of the rotary tool turntable to position the requested surgical tool holder assembly adjacent to the change position and the robot end effector.

[0031] Figure 1C Is it through Figure 1B A cross-sectional view of a rotating tool turntable, wherein the end effector moves by changing space to perform interrogation or movement coupled to a surgical tool holder assembly.

[0032] Figure 1D After the end effector has performed the movement to decouple the surgical tool holder assembly from the tool assembly mating part on the rotary tool turret, it passes through... Figure 1C A cross-sectional view of the rotary tool turntable.

[0033] Figure 2 This is a perspective view of the detachable rotating tool turntable.

[0034] Figure 3 yes Figure 2 A cross-sectional view of a detachable rotary tool turntable.

[0035] Figure 4A This is a side view of the detachable tool turntable, showing the magnetic coupling position on the tool assembly docking section. A surgical tool holder assembly is shown adjacent to the tool assembly docking section. Motion features of the surgical tool holder assembly adapted for coupling with the end effector are also visible in this view. Motion features adapted for coupling to the tool assembly docking section are also visible in this view.

[0036] Figure 4B It is along the coverage Figure 4A The tool assembly shown is a view of the top coupling plate on the upper surface of the tool assembly housing.

[0037] Figure 5A This is a side view of the robotic end effector moving through the replacement zone adjacent to the engagement plate of the surgical tool retainer assembly.

[0038] Figure 5B yes Figure 5A A side view of the end effector and surgical tool retainer assembly, wherein the end effector is in contact with the tool assembly engagement plate.

[0039] Figure 5C yes Figure 5B A side view of the end effector and surgical tool retainer assembly, showing the end effector moving to couple with the surgical tool retainer assembly.

[0040] Figure 5D yes Figure 5C A side view of an end effector-tool assembly that performs the movement that decouples the surgical tool holder assembly from the tool assembly docking section of the rotating tool disk.

[0041] Figure 6 This is an exemplary method for verifying a selected surgical tool retainer component used to couple to a tool turntable.

[0042] Figure 7 An exemplary method for coupling a selected surgical tool retainer assembly to a robotic end effector is shown.

[0043] Detailed description

[0044] The embodiments of the automated tool changer described herein possess a range of capabilities designed to meet the requirements of robot-assisted, partially automated, or fully automated intraocular robotic surgery. As detailed below, the automated tool changer provides the speed and reliability required in complex tool change sequence procedures, including precise positional control based on surgical steps, subsets, or the entire surgical workflow. The automated tool changer can rapidly deliver a variety of surgical tools to the surgical robot as needed. Furthermore, the automated tool changer can receive used tools and track the position of all tools during surgery. Moreover, the reliability and accuracy of the tool change process ensure that the held surgical tools are always positioned as intended.

[0045] Therefore, embodiments of the automated tool changer meet the requirements for automated tool changing in automated intraocular robotic surgery through electromechanical systems and a control framework for managing surgical tool changing.

[0046] For example, there is a tool changing system for an autonomous intraocular surgical robot, comprising: an end effector of the robot; and a detachable rotating tool spool (tool changer) configured to hold a plurality of tool assemblies, the plurality of surgical tool assemblies including: a plurality of surgical tools, and a mechanical interface on at least one of the plurality of surgical tool assemblies configured to provide motion calibration between the end effector of the surgical robot and the plurality of surgical tools.

[0047] According to one example, each of a plurality of surgical tool components has a bidirectional motion coupling that is configured to repeatedly remove and replace each of the plurality of tool components from a rotating tool turntable.

[0048] According to one example, the end effector uses a first coupling direction during the removal or replacement of multiple surgical tool components, while the rotating tool turntable uses a second coupling direction to hold the multiple surgical tool components.

[0049] According to one example, the first coupling direction and the second coupling direction are oriented such that the coordinated relative motion between the end effector and the rotary tool turntable successfully replaces multiple surgical tool components.

[0050] According to one example, coordinated relative motion is a two-stage motion in which the end effector first moves along a first coupling direction and then moves along a second coupling direction.

[0051] According to one example, the motion coupling includes one or more of the following: mechanical slots and pins, and magnetic coupling.

[0052] According to one example, each of the multiple surgical tool components includes a memory chip configured to provide tool-specific information about one or more of the multiple surgical tools held by an end effector.

[0053] According to a specific example, the memory chip uses wireless communication including radio frequency identification (RFID), where tool-specific information includes tool identification, and tool-specific information includes manufacturing information such as calibration data and mechanical characteristics.

[0054] According to a specific example, the rotary tool turntable includes alignment hardware and attachment hardware for removably coupling to and from a fixed portion of the tool changer of the tool changing system.

[0055] In a specific example, the fixed part is the fixed cylindrical body of the tool changer.

[0056] According to another example of the invention, there is an autonomous tool changing system for managing the replacement of tool components, comprising: an end effector of a robot; a tool turntable having a plurality of tool components; a controller configured to transmit information about a requested tool component among the plurality of tool components; and an actuation system configured to rotate the tool turntable to present the requested tool component among the plurality of tool components to the end effector.

[0057] In a specific example, the actuation system is located in a fixed part of the tool turntable (tool changer).

[0058] Each of the main components of the automated tool changer will now be described in turn.

[0059] Rotary tool turntable ( Figure 2 and Figure 3 )

[0060] Figure 2 This is a perspective view of a detachable rotating tool turret 200 coupled to a fixed base portion 201B. The rotating tool turret 200 is a mechanical assembly that holds a plurality of tool sub-assemblies 202 configured to hold surgical tools 204. Each tool sub-assembly 202 can be detached from and reattached to the turret 200 during surgical procedures (e.g., via turret attachment hardware 206), which may include a coupler. According to some examples, the rotating tool turret 200 may be positioned above or outside a cylindrical section, rotating platform, or other socket on a surgical robot. Also shown here is a turret actuation system 201B, a tool assembly docking section 201A, and a tool assembly interface 202A corresponding to a robot end effector (see also...). Figures 4A-4BThe base 201B of the fixed part, the electronic device mounting plate 201E, the carrying handle 201D, and the turntable side plate 201C are also shown.

[0061] Figure 3 yes Figure 2 A cross-sectional view 300 of a detachable rotating tool turntable 200. The turntable 200 itself can be loaded into place before surgery and unloaded after surgery. In the operating room workflow, an aseptic nurse can load and unload tool changers as needed based on clinical requirements or surgical plans. A new collection of tool holders is coupled to the tool turntable—either manually loaded when the turntable 200 is mounted on a cart, or the tool assembly 302 is mounted onto the turntable 200 before the turntable 200 is mounted onto the cart. Advantageously, a particular tool turntable can be pre-loaded with surgical tools preferred by a particular surgeon or required to perform a particular surgical procedure. Additionally or alternatively, surgical tool holder assemblies can be loaded onto the turntable in a manner that facilitates efficient rotation / change operations (see [link to relevant documentation]). Figures 1A-1D According to some examples, the rotary actuation system 301B may be pre-loaded with surgical tools and ready for a specific surgical procedure, wherein the identity and correct orientation of the surgical tools are configured for identification and / or indexing by the surgical robot. According to other examples, a fixed portion 310 for a tool changer is present, to which the rotary turntable 200 may be attached via turntable attachment hardware 306, which also couples the turntable 200 to the rotary actuation system 301B. According to other examples, the rotary actuation system 301B may be coupled to the surgical robot and the rotary tool turntable 300 via turntable alignment hardware 307 and turntable attachment hardware 306 (such as a coupler). In such examples, according to such coupling, information and other data regarding the loaded surgical tools are transmitted to the surgical robot. The actuator 301G, brake / encoder 301F, turntable base plate 301G, turntable side plate 301H, base 301B of the fixed part, attachment hardware handle 306A and turntable rotation shaft 308 are also shown.

[0062] The tool changer's fixed portion 310 is rigidly mounted to the robot's frame, for example, to the robot's end effector. Tool assemblies 302 are attached to turntables 300 via motion couplings. All turntables 300 to which tool assemblies 302 are attached slide on the fixed portion 310 and are aligned with the turntable rotation axis 308 by radially constraining the rotation of the tool turntables 300. When the robot needs to grasp a tool, the rotation axis 308, and therefore the turntables 300, rotate as a whole to orient the tool assembly 302 in the correct position. The robot end effector 102 (from...) then... Figures 1A-1DThe robot picks up or puts down the selected tool 204. During this process, the robot end effector 102 does not interact directly with the turntable 300, as it only interacts with the tool assembly 302.

[0063] The tool turntable is shaped like a cylinder, such that all tool assemblies 302 are mounted at a fixed distance from the axis of rotation. Each of the tool assembly mating sections has a similar form factor, such that each surgical tool holder assembly 302 is mounted in a similar position on the tool assembly mating section, regardless of its function. This standardization of the tool assembly mating sections and the fixed rotational indexing via the turntable's rotational movement allow each surgical tool holder assembly 302 to move to a constant and known configuration relative to the surgical end effector. These aspects of the rotating tool turntable improve the reliability and accuracy of the tool changing system. Advantageously, the turntable is precisely moved by only a single motor. The repeatable positioning of the tool subassemblies 302 allows for repeatable and predefined end effector movements during tool changes.

[0064] In view of the foregoing, various embodiments of an improved tool changing system for an autonomous intraocular surgical robot are provided, the robot having a detachable rotating tool turret 200 holding a plurality of tool assemblies 202. Each individual tool assembly includes a mechanical interface that provides a repeatable motion interface between the surgical robot end effector and each surgical tool holder assembly positioned on the rotating tool turret. Furthermore, each surgical tool holder assembly carries a surgical tool. Each surgical tool holder assembly has a bidirectional motion coupling 400A, allowing the surgical tool holder assembly to be repeatedly removed from and returned to a position on the rotating tool turret. A set of common movements is also provided between the robot end effector, the selected surgical tool holder assembly, and the rotating tool turret. A first coupling direction exists during the removal or replacement of a surgical tool holder assembly by the robot end effector. A second coupling direction exists, used by the rotating tool turret to maintain the surgical tool holder assembly. In use, the coupling direction is oriented such that coordinated relative motion between the surgical end effector and the rotary tool turret successfully replaces (a) the surgical tool holder assembly coupled to a docking assembly on the rotary tool turret with (b) the assembly coupled to the robotic end effector with a docking assembly on the rotary tool turret. The coordinated relative motion is a two-stage motion in which the end effector first moves along a first coupling direction and then subsequently moves along a second coupling direction. In one embodiment, the motion coupling includes only a mechanical slot and pin 406, or is combined with a motion coupling implementation including a magnetically aligned coupling 404A.

[0065] In other alternative embodiments, each surgical tool holder assembly includes a memory chip. The memory chip may include computer-readable code containing tool-specific information about the held surgical tool 204. In one aspect, the memory chip may use wireless communication, such as RFID, low-power wireless communication, or other near-field communication (NFC) protocols suitable for operating room procedures and capabilities. In another aspect, the tool-specific information includes tool identification, usage information and unique characteristics, and any user-specific preferences from previous use or anticipated use in the surgical plan, such as the designation of a specific instrument. Additionally or optionally, the tool-specific information may include manufacturing information, such as calibration data and mechanical properties.

[0066] In other embodiments, the rotary tool disk 300 includes alignment hardware 307 and attachment hardware 306. The alignment hardware 307 and attachment hardware 306 are used to accurately and reliably mount the tool disk 300 onto and remove the tool disk 300 from the fixed portion 310 of the tool changer. Thus, a fixed cylindrical body 310 of the tool changer exists, onto which the rotary tool disk 300 is removably mounted using the alignment hardware 307 and attachment hardware 306.

[0067] In one embodiment, an autonomous system exists that manages the replacement of tool assemblies between an end effector and a rotating tool turret. The autonomous replacement system includes a controller that transmits information about a requested surgical tool holder assembly, and an actuation system that rotates the tool turret to present the requested surgical tool holder assembly to the end effector. In one aspect, the actuation system is located in a fixed portion of the tool changer. A method is also provided for executing a replacement procedure by verifying the surgical tool holder assembly through non-contact communication between the memory of the surgical end effector and the surgical tool holder assembly. Furthermore, a replacement procedure exists that uses a bidirectional motion coupling to remove or replace the surgical tool holder assembly from or onto the tool turret. In one aspect, the replacement procedure is executed autonomously by the surgical robot end effector. Additionally or optionally, the replacement procedure can be executed manually.

[0068] Bidirectional motion coupling section ( Figures 4A-4B and Figures 5A-5D )

[0069] Based on various examples, there are different instances where motion coupling can be achieved, including (1) a motion coupling part: an end effector (coupling between the end effector and the tool holder assembly) and (2) a motion coupling part: a rotary tool disk (coupling between the rotary tool disk and the surgical tool assembly). Both types of motion coupling parts can be achieved by using mechanical holes / slots and pins as well as magnetic coupling parts.

[0070] Motion coupling part: end effector.

[0071] The surgical tool assembly can be magnetically coupled to a rotating tool turntable, and its orientation can be constrained by using pins on the turntable and holes on the surgical tool assembly.

[0072] Motion coupling part: Rotary tool turntable.

[0073] When the surgical robot picks up an tool, it aligns and engages a slot on the surgical robot with a second set of pins on the surgical tool assembly, and the magnets on both assemblies align with each other. The robot then disengages the tool holder assembly from the set of pins and magnets on the turntable to remove the surgical tool assembly from the turntable. To return the tool, the reverse procedure is performed.

[0074] Figure 4A This is a side view of the detachable tool turntable 400, showing the location of the magnetic coupling portion on the tool assembly docking section. The surgical tool holder assembly 402 is shown adjacent to the tool assembly docking section. Motion features of the surgical tool holder assembly 402, adapted for coupling to an end effector 402A (not shown) and adapted for coupling to the rotating tool turntable 400A, are also visible in this view. Motion features adapted for coupling to the tool assembly docking section are also visible in this view.

[0075] The tool sub-component 402 includes two sets of attachment hardware for the motion coupling units 400A / 402A. Figure 4B It is along the coverage Figure 4A The top coupling plate of the upper surface of the tool assembly housing 450 of the tool assembly 402 shown is a view.

[0076] like Figure 4B As shown, in some examples, the first set of attachment hardware may include an alignment notch 404B and is used to kinematically couple or attach the tool subassembly to a rotary tool turntable 400A. In some examples, the second set of attachment hardware may include pins and slots 406 and is used by a surgical robot end effector (not shown) to remove and replace the tool subassembly 402 via kinematic coupling between the tool subassembly and the robot end effector 402A.

[0077] Figure 4B It is along the upper surface of the tool assembly housing (its covering) Figure 4A The diagram shows a view of the top coupling plate of a component of the tool assembly. The top coupling plate includes three alignment notches 404B and three magnets 404A. One alignment notch 404B is located in the middle portion on the left side of the assembly. The other two alignment notches 404B are located at the right front corner and right rear corner. One magnet 404A is positioned in the middle portion on the right side. Two magnets 404A are positioned at the left front corner and left rear corner.

[0078] According to some examples, the tool retainer housing has a bottom coupling plate (not shown) with a similar construction to those described above. A pair of pins 406 are positioned along the sides of the base adjacent to the front and rear corners. Additionally, magnets 404M are positioned in the middle portion of each of the left and right sides. In one illustrative embodiment, the pins 406 can slide vertically into cutouts appropriately sized and positioned in the end effector plate to kinematically constrain movement via motion couplings 402A. It should be appreciated that clearances and chamfers of varying sizes and arrangements are incorporated into the interface between the tool retainer assembly housing and the end effector plate to allow for easy placement. Furthermore, one or more magnets 404M / 404A can be mounted in the retainer housing and plate, which not only repeatably and accurately aligns the retainer relative to the plate but also provides unique coupling configurations. In an exemplary coupling operation, magnets 404A / 404M are arranged to push / pull tool holder assembly 402 to one side of the end effector plate and pull tool holder assembly 402 toward the back of the plate, thereby securing the aforementioned pin 406 in a cut in the plate.

[0079] Considering the top and bottom coupling plates together, it should be appreciated that the upper surface of the surgical tool holder includes a series of magnets 404A, pins / protrusions 406, and / or incisions / holes 404B that mate with corresponding counterparts on the respective surfaces of a suitably configured tool changer or rotary tool turntable 400. When placed near the tool changer 402, the magnets 404A operate to pull the tool holder toward the changer 402 and insert the locating pins 406 into locating holes on each portion. Advantageously, the coupling movements 402A of these pins / holes 406 and the upper coupling plate are arranged such that they kinematically prevent movements for connecting / disconnecting the robotic end effector (at the plate) from the tool holder (at the holder housing), as achieved by the coupling action of the lower coupling plate. Thus, embodiments of the surgical tool assembly can use a set of coupling movements for the upper coupling plate and a different, non-conflicting set of coupling movements for the lower coupling plate. In this way, embodiments of the various surgical tool holder components provide surgeons with a wide range of different tools and functions, with a common set of unique coupling changes for each of the tool changer 402 and the robotic end effector.

[0080] Additionally or optionally, depending on the number and configuration of the surgical tool holder assemblies used in a given robotic surgery, the bidirectional motion coupling characteristics of the tool assembly can be adapted for vertical coupling (e.g., Figures 5A-5D(As shown) or left-right coupling or "lateral coupling", such as in U.S. Provisional Patent Application No. 63 / 478,770, filed January 6, 2023, entitled "SURGICAL TOOL HOLDER FOR INTRAOCULAR ROBOTIC SURGICAL SYSTEMS". Figure 1A , Figure 1B and Figure 2 The patent application No. PCT / US2024 / XXXXX entitled “SURGICAL TOOL HOLDER FOR INTRAOCULARROBOTIC SURGICAL SYSTEMS”, filed on January 5, 2024, with agent file number 14843-701.600, as shown and further described herein, are each incorporated herein by reference in their entirety.

[0081] The two sets of hardware are designed so that only the coordinated movement of the surgical robot's end effector / rotary actuation system 501B can successfully change the tool subassembly 502 between the rotary table 500 and the end effector / rotary actuation system 501B. Figures 5A-5D The coordinated movement was summarized in the text.

[0082] Figure 5A This is a side view of a robotic end effector / rotary actuation system 501B that moves through a replacement area adjacent to the engagement plate of a surgical tool holder assembly 502 on a removable rotary tool turret 500. Pins and slots 506 on the robotic end effector / rotary actuation system 501B and the surgical tool holder assembly 502 are aligned. In some examples, the robotic end effector / rotary actuation system 501B may be directly above the surgical tool holder assembly 502.

[0083] Figure 5B yes Figure 5A A side view of the end effector / rotary actuation system 501B and the surgical tool holder assembly 502, wherein the end effector / rotary actuation system 501B contacts the tool assembly engagement plate. In some examples, the end effector / rotary actuation system 501B is moved downward 510 to contact the surgical tool assembly 502.

[0084] Figure 5C yes Figure 5BThe side view of the end effector / rotary actuation system 501B and surgical tool holder assembly 502 shows the movement of the end effector / rotary actuation system coupled 512 to the surgical tool holder assembly 502. In some examples, the end effector / rotary actuation system 501B engages with a pin and slot 506 on the surgical tool holder assembly 502 as the end effector / rotary actuation system 501B slides forward 512 onto the surgical tool holder assembly 502.

[0085] Figure 5D yes Figure 5C The image shows a side view of the end effector / rotary actuation system 501B-tool assembly 502, which performs the movement that decouples the surgical tool holder assembly 502 from the tool assembly docking portion of the rotary tool disk 500 by 514. In some examples, the decoupling 514 is achieved via the separation of pins and slots 506 on the end effector / rotary actuation system 501B and the surgical tool holder assembly 502.

[0086] Figure 5A and Figure 5B This demonstrates a coordinated movement: the surgical end effector / rotary actuation system 501B moves in a direction that mates with the second set of attachment hardware on the surgical tool holder assembly 502. Simultaneously, the first set of attachment hardware coupling the surgical tool holder assembly 502 to the tool assembly docking section remains fixed. Therefore, the surgical tool holder assembly 502 is now securely held by both the surgical end effector / rotary actuation system 501B and the rotating tool rotary table 500, as... Figure 5C As shown. Figure 5D The coordinated movement of the second step is illustrated, in which the surgical end effector / rotary actuation system 501B moves in a direction matching the first set of attachment hardware. This second step releases the surgical tool holder assembly 502 from the tool assembly docking portion 514 on the rotating tool rotator 500. The surgical end effector / rotary actuation system 508 can now freely move back to the surgical site and position the coupled surgical tool holder assembly 502 according to the steps of the surgery for use of the selected surgical tool.

[0087] The surgical tool holder assembly 502 is replaced on the rotary tool turntable 500 using the surgical end effector / turntable actuation system 501B. Figures 5A-5D The same motions are described, but in reverse order. From Figure 5DInitially, the end effector / rotary actuation system 501B is positioned above an empty tool assembly docking section designated by the control system to receive the surgical tool holder assembly 502 currently coupled to the end effector / rotary actuation system 501B. Next, the end effector / rotary actuation system 501B is moved toward the tool assembly docking section, and the surgical tool holder assembly 502 will couple to the tool assembly docking section while remaining coupled to the end effector / rotary actuation system 501B. Figure 5C The motion of the end effector / rotary actuation system 501B and Figure 5C The movements shown are reversed to first decouple the pin and slot 506, and then once as... Figure 5B If completely separated as described above, the end effector / rotary actuation system 501B can be moved to separate from the surgical tool holder assembly 502, as... Figure 5A Like in the middle.

[0088] Methods for automated replacement (Figure 1, Figure 5) Figure 6 and Figure 7 A- Figure 7 B)

[0089] The rotary tool turntable 104 (from FIG. 1) is positioned near the surgical site and within the accessible workspace of the surgical end effector 102. Unlike many conventional tool changing systems coupled to the end effector 102, embodiments of the rotary tool turntable 104 of the present invention are not fixed to the surgical end effector 102, but are positioned adjacent to the surgical area. Figure 1A This is a cross-sectional view through a rotary tool turntable 102, which has eight tool assemblies 105 (dating portions 1 to 8) arranged around the periphery of the rotary tool turntable 104, with eight surgical tool holder assemblies a to h coupled to each tool assembly 105 (and see also...). Figure 2 One of 202) includes the required tool assembly c / 106. To prepare for replacement 102E of the tool holder assembly located at the top of the rotary tool turntable 104, an empty robotic end effector 102 is shown in a replacement position relative to the rotary tool turntable 104. When the surgical system requests a new tool c / 106, the empty end effector 102 is positioned adjacent to the replacement area of ​​the rotary tool turntable 104, as... Figure 1A As shown. However, the requested surgical tool holder assembly 106 for the empty end effector 102 is not in the proper position for replacement.

[0090] Figure 1B Is it through Figure 1AA cross-sectional view of the rotary tool turntable 104, showing the rotation 108 of the rotary tool turntable 104 to position the requested surgical tool holder assembly c / 106 adjacent to the change position and the robot end effector 102.

[0091] As a result of the rotational movement of the tool turntable, the requested surgical tool holder assembly c / 106 is in a known configuration relative to the surgical robot end effector 102 in the replacement zone. As described above, the surgical robot end effector 102 is commanded to move to a position above the surgical tool holder assembly 106 adjacent to the replacement zone to prepare for replacement 102E of the tool holder assembly.

[0092] Figure 1C Through Figure 1B A cross-sectional view of a rotary tool turntable 104, wherein an end effector 102 moves through a changing space to perform an inquiry or movement of a coupling 109 to a surgical tool holder assembly c / 106.

[0093] Then, the surgical end effector 102 moves to engage the bidirectional motion coupling section described above in the bidirectional motion coupling subsection, and performs... Figures 5A-5D The coordinated movement described herein is used to remove the surgical tool retainer assembly c / 106 from the rotating tool turntable 104.

[0094] Figure 1D Is it through Figure 1C The cross-sectional view of the rotary tool turret 104 shows the situation after the end effector 102 has performed a movement that decouples the surgical tool holder assembly c / 106 from the tool assembly dock (e.g., tool assembly dock 3) on the rotary tool turret 104 by 110. The surgical tool assembly is thus coupled to the end effector 102, leaving the empty tool assembly dock 3 / 105.

[0095] Upon contact with the surgical tool holder assembly 106, the system performs electronic exchange of information between the surgical end effector 102 and the surgical tool holder assembly 106. Each surgical tool holder assembly 106 is calibrated in the factory to correct for inaccuracies during manufacturing and assembly. This calibration information, along with the identity of the held tool, is stored in a wireless tag on the surgical tool holder assembly 106. Due to the availability of this information, each tool 204 used during surgery (from...) Figure 2 It can be particularly well-suited to the specific performance characteristics of a given surgical tool retainer assembly 106.

[0096] Figure 6 This is an exemplary method 600 for verifying a selected surgical tool holder component coupled to a tool turntable.

[0097] First, at step 605, there is a process for verifying the surgical tool assembly via non-contact communication between the end effector of the surgical robot and the memory of the surgical tool assembly.

[0098] Next, at step 610, there is a process of removing or replacing the surgical tool assembly onto the tool turntable via the bidirectional motion coupling.

[0099] According to the example of method 600, the removal or replacement of surgical tool components is performed by the end effector of the surgical robot.

[0100] According to the example of method 600, the removal or replacement of surgical tool components is performed manually.

[0101] Figure 7 An exemplary method 700 for coupling a selected surgical tool retainer assembly to a robotic end effector is shown.

[0102] First, at step 705, there is a request for a surgical tool retainer assembly for the robotic end effector as part of an intraocular surgical procedure using the robotic end effector.

[0103] Next, at step 710, there is a process of moving the empty robot end effector to the tool change position adjacent to the rotating tool turntable.

[0104] Next, at step 715, there is a process of rotating the rotating tool turntable to position the requested surgical tool holder assembly to a tool change position adjacent to the empty robotic end effector.

[0105] Next, at step 720, there is a process of moving the empty robotic end effector according to the engagement motion to couple the requested surgical tool holder assembly to the robotic end effector.

[0106] Next, at step 725, there is a process of decoupling the requested surgical tool holder assembly from the rotating tool turntable by disengaging the end effector of the disengaged mobile robot.

[0107] Next, at step 730, there is a process of performing a surgical procedure by manipulating the robotic end effector and manipulating the surgical tool retainer assembly.

[0108] Next, at step 735, there is a process performed according to the steps of performing surgery to move the robot end effector to a tool change position adjacent to the rotary tool turntable.

[0109] Next, at step 740, there is a process of rotating the rotary tool turntable to position the empty tool assembly docking part at the tool changing position.

[0110] Next, at step 745, there is a process of coupling the requested surgical tool holder assembly to the rotating tool turntable at the empty tool assembly docking point using the engaging motion mobile robot end effector.

[0111] Next, at step 750, there is a process of decoupling the surgical tool holder assembly from the robot end effector by disengaging the robot end effector.

[0112] Next, at step 755, there is a process of positioning the empty robot end effector in a tool change position adjacent to the rotating tool turntable.

[0113] It should be recognized that the above and Figure 7 The exemplary process 700 outlined herein can be modified according to a specific implementation or to facilitate the use of more than one rotary tool disk or robot end effector.

[0114] In one particular aspect, the tool turntable is adapted and configured for use with all surgical tool components to employ bidirectional motion functionality, such as Figures 5A-5D And the application for "SURGICAL TOOL HOLDER FOR INTRAOCULAR ROBOTICSURGICAL SYSTEMS" that was incorporated Figure 1B All surgical tool assemblies shown and described utilize top-bottom couplings. In yet another variation, depending on the type of surgical tool or robot interoperability, the tool turntable may have a hybrid of both top-bottom and side-to-side motions.

[0115] When a feature or element is described herein as being “on” another feature or element, the feature or element may be directly on the other feature or element, or there may be intermediate features and / or elements present. Conversely, when a feature or element is described as being “directly on” another feature or element, no intermediate features or elements are present. It should also be understood that when a feature or element is described as being “connected,” “attached,” or “joined” to another feature or element, the feature or element may be directly connected, attached, or joined to the other feature or element, or there may be intermediate features or elements present. Conversely, when a feature or element is described as being “directly connected,” “directly attached,” or “directly joined” to another feature or element, no intermediate features or elements are present. Although described or illustrated with respect to one embodiment, the features and elements thus described or illustrated can be applied to other embodiments. Those skilled in the art will also understand that references to structures or features “adjacent” to another feature may have portions overlapping with or below that adjacent feature.

[0116] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. For example, unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “the” as used herein are intended to include the plural forms as well. It should also be understood that the terms “comprises” and / or “comprising”, when used in this specification, specify the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof. As used herein, the term “and / or” includes any and all combinations of one or more of the associated listed items and may be abbreviated as “ / ”.

[0117] Spatial terms such as “under,” “below,” “lower,” “over,” and “upper” may be used herein for descriptive convenience to describe the relationship of one element or feature, as shown in the accompanying drawings, to one or more other elements or features. It should be understood that spatial terms are intended to encompass different orientations of the device in use or operation, other than those depicted in the accompanying drawings. For example, if the device in the accompanying drawings is reversed, an element described as “below” or “beneath” other elements or features would then be oriented “above” other elements or features. Thus, the exemplary term “below” can encompass both “over” and “below” orientations. The device may be otherwise oriented (rotated 90 degrees or otherwise), and the spatial descriptive terms used herein are interpreted accordingly. Similarly, unless otherwise specifically stated, terms such as “upwardly,” “downwardly,” “vertical,” and “horizontal” are used herein for illustrative purposes only.

[0118] While the terms "first" and "second" may be used herein to describe various features / elements (including steps), these features / elements should not be limited by these terms unless the context otherwise requires. These terms may be used to distinguish one feature / element from another. Therefore, without departing from the teachings of the invention, the first feature / element discussed below may be referred to as the second feature / element, and similarly, the second feature / element discussed below may be referred to as the first feature / element.

[0119] Throughout this specification and the appended claims, unless the context otherwise requires, the term "comprise" and its variations such as "comprises" and "comprising" mean that various components may be used together in methods and articles of manufacture (e.g., compositions and apparatuses, including devices and methods). For example, the term "comprising" will be understood to imply the inclusion of any of the stated elements or steps, but does not exclude any other elements or steps.

[0120] In general, any apparatus and method described herein should be understood as inclusive, but all or a subset of the components and / or steps may instead be exclusive and may be expressed as “consisting of various components, steps, sub-components or sub-steps” or alternatively “consisting substantially of various components, steps, sub-components or sub-steps”.

[0121] As used herein in the specification and claims, including in the examples, and unless otherwise expressly stated, all figures may be understood as if they begin with the words “about” or “approximately,” even if the term is not explicitly stated. The phrase “about” or “approximately” may be used when describing magnitude and / or location to indicate that the described value and / or location is within a reasonably expected range of value and / or location. For example, numerical values ​​may have values ​​of + / - 0.1% of the stated value (or range of values), + / - 1% of the stated value (or range of values), + / - 2% of the stated value (or range of values), + / - 5% of the stated value (or range of values), + / - 10% of the stated value (or range of values), etc. Any numerical value given herein should also be understood to include about or approximately that value, unless the context otherwise indicates. For example, if the value “10” is disclosed, then “about 10” is also disclosed. Any numerical ranges listed herein are intended to include all subranges contained therein. It should also be understood that when a value is disclosed, "less than or equal to" that value, "greater than or equal to" that value, and the possible range between these values ​​are also disclosed, as would be appropriately understood by a person skilled in the art. For example, if the value "X" is disclosed, then "less than or equal to X" and "greater than or equal to X" (e.g., where X is a numerical value) are also disclosed. It should also be understood that throughout this application, data is provided in a variety of different formats, and this data represents the endpoints and start points, as well as the range, of any combination of data points. For example, if specific data point "10" and specific data point "15" are disclosed, it should be understood that greater than, greater than or equal to, less than, less than or equal to, and equal to 10 and 15, as well as between 10 and 15, are considered disclosed. It should also be understood that each unit between two specific units is also disclosed. For example, if 10 and 15 are disclosed, then 11, 12, 13, and 14 are also disclosed.

[0122] While various illustrative embodiments have been described above, any of several changes may be made to the various embodiments without departing from the scope of the invention as described in the claims. For example, in alternative embodiments, the order in which the various described method steps are performed may typically be changed, and in other alternative embodiments, one or more method steps may be skipped in total. Optional features of the various apparatus and system embodiments may be included in some embodiments but not in others. Therefore, the foregoing description is provided primarily for illustrative purposes and should not be construed as limiting the scope of the invention as set forth in the claims.

[0123] The examples and illustrations included herein are shown by way of illustration, not limitation, of specific embodiments in which the subject matter can be practiced. As mentioned, other embodiments can be utilized and derived therefrom, allowing for structural and logical substitutions and changes without departing from the scope of this disclosure. For convenience only, such embodiments of the inventive subject matter may be referred to herein individually or collectively by the term "invention," and if more than one is actually disclosed, it is not intended to actively limit the scope of this application to any single invention or inventive concept. Thus, while specific embodiments have been illustrated and described herein, any arrangement believed to achieve the same purpose may replace the specific embodiments shown. This disclosure is intended to cover any and all modifications or variations of the various embodiments. Upon reading the above description, those skilled in the art will understand the combinations of the above embodiments and other embodiments not specifically described herein.

Claims

1. A tool changing system for an autonomous intraocular surgical robot, the tool changing system comprising: A detachable rotary tool turret is configured to releasably engage with a rotating base. The tool turret has a plurality of tool assembly mating portions, each tool assembly mating portion being arranged around the tool turret. Each tool assembly mating portion is adapted to kinematically couple to a kinematic coupling portion on a surgical tool holder assembly. Each surgical tool holder assembly further includes an end effector kinematic coupling portion adapted and configured to couple to a corresponding kinematic coupling portion on a robotic end effector when the surgical tool assembly engages with the tool assembly mating portion.

2. The tool changing system according to claim 1, wherein, The motion coupling portion on the surgical tool holder assembly, adapted to couple to the docking portion of the tool assembly, is a bidirectional motion coupling portion configured to repeatedly remove and replace each of the surgical tool assemblies from the rotating tool turntable.

3. The tool changing system according to claim 1, wherein, The robotic end effector uses a first coupling direction during the removal or replacement of a surgical tool assembly, while the rotating tool turntable uses a second coupling direction to hold the surgical tool assembly.

4. The tool changing system according to claim 3, wherein, The first coupling direction and the second coupling direction are oriented such that coordinated relative motion between the end effector and the rotary tool turntable replaces the surgical tool assembly by coupling it to the tool assembly docking section or to the robot end effector.

5. The tool changing system according to claim 4, wherein, The coordinated relative motion is a two-stage motion, wherein the robot end effector first moves along the first coupling direction and then moves along a different second coupling direction.

6. The tool replacement system according to any one of the preceding claims, wherein, The motion coupling part includes one or more of the following: mechanical slots and pins, or magnets or magnetic coupling parts.

7. The tool changing system according to any one of the preceding claims, wherein the surgical tool assembly includes a memory chip configured to provide computer- or machine-readable tool-specific information about the surgical tool or specific information of the surgical tool assembly coupled to the robotic end effector.

8. The tool changing system according to claim 7, wherein, The memory chip uses wireless communication, including radio frequency identification (RFID), low-power wireless communication, or near-field communication protocols, wherein the tool-specific information includes tool identification, and wherein the tool-specific information includes manufacturing information such as calibration data and mechanical characteristics.

9. The tool changing system according to claim 1, wherein, The rotary tool turntable includes alignment hardware and attachment hardware for removably coupling to and from a fixed portion of the tool changer of the tool changing system.

10. The tool changing system according to claim 9, wherein, The fixed part is the fixed cylindrical body of the tool changer.

11. An autonomous tool replacement system for managing the replacement of tool components, comprising: A tool turntable having multiple surgical tool assemblies; A controller configured to transmit information regarding a requested surgical tool assembly among the plurality of surgical tool assemblies mounted on the tool turntable; and An actuation system configured to rotate the tool turntable to present a requested tool component of the plurality of tool components to a position for approach by a robot end effector.

12. The tool changing system according to claim 12, wherein, The actuation system is located in the fixed part of the tool turntable.

13. A method for tool changing, comprising: The surgical tool assembly is verified via non-contact communication between the end effector of the surgical robot and the memory of the surgical tool assembly. and The surgical tool assembly is removed or replaced onto the tool turntable via a bidirectional motion coupling.

14. The method according to claim 14, wherein, The removal or replacement of the surgical tool component is performed by the end effector of the surgical robot.

15. The method according to claim 14, wherein, The removal or replacement of the surgical tool components can be performed manually.

16. A method for tool changing, comprising: Request a tool component for a robot end effector; Move the empty robot end effector to the tool change position adjacent to the rotary tool turntable; Rotate the rotary tool turntable to position the requested tool assembly in the tool change position adjacent to the empty robot end effector; The empty robot end effector is moved according to the engagement motion to couple the requested tool assembly to the robot end effector; The robot end effector is moved according to the disengagement motion to decouple the requested tool assembly from the rotary tool disk; The steps of performing a surgical procedure are carried out by manipulating the robotic end effector and manipulating the tool assembly; According to the steps of performing the surgical procedure, the robotic end effector is moved to the tool changing position adjacent to the rotary tool turntable; Rotate the rotary tool turntable to position the empty tool assembly docking section at the tool changing position; The robot end effector is moved according to the engagement motion to couple the requested tool assembly to the rotary tool disk at the empty tool assembly docking section. The robot end effector is moved according to the disengagement motion to decouple the tool assembly from the robot end effector; and The robot end effector is moved according to the disengagement motion to decouple the tool assembly from the robot end effector.

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