Robot automatic eye lubricator

Abstract

A system and method for assisting a surgeon in performing an ophthalmic procedure on an eye of a patient includes a lubrication assembly (170). The lubrication assembly may be disposed on a proximal end (172) of a robotic arm (167), a proximal end of a surgical microscope, or a proximal end of a mobile cradle or frame. The lubricant may be dispersed from the lubrication assembly according to a predetermined schedule or according to an image processing scheme upon receiving a direct input from the surgeon. The lubrication assembly may be moved by the surgeon manually or indirectly commanded by a motion controller operable to move the robotic arm or surgical microscope to extend the lubrication assembly to a desired position.

Description

Cross-references to related applications

[0001] This application claims the benefit and priority of U.S. Provisional Patent Application No. 63 / 517,234, filed August 2, 2023, the entire contents of which are incorporated herein by reference. introduction

[0002] Ophthalmic or eye surgery requires frequent lubrication during procedures. Throughout all types of ophthalmic surgery, the patient's eye must be constantly lubricated to avoid damaging the eye tissue. Traditionally, while the surgeon is performing ophthalmic surgery, a nurse or other medical professional nearby manually distributes the lubricant using a dropper or syringe filled with lubricant. When the surgeon needs more lubricant, the nurse then manually applies it to the patient's eye using the dropper.

[0003] However, manually applying lubricant to a patient's eye has several drawbacks. For example, when lubricant is applied to a patient's eye, it may temporarily obstruct or impede the surgeon's view of the patient, leading to inefficient execution of ophthalmic surgery. Additionally, the nurse applying the lubricant may apply too much, too little, or apply it to the wrong part of the patient's eye, resulting in inefficient lubricant use, which can be costly and thus increase the overall cost of the ophthalmic surgery. Furthermore, because the assistant or surgeon must constantly assess the lubrication status of the patient's eye, this can lead to excessively long intervals between lubrication applications, potentially causing more discomfort to the patient than necessary during the ophthalmic surgery. Alternatively, if too much lubricant is applied, this can lead to excessive flow and obscure the surgeon's view at critical points during the procedure. Summary of the Invention

[0004] A lubrication assembly is provided for lubricating a patient's eye during ophthalmic surgery. In some embodiments, the lubrication assembly includes a mounting rod, an output end coupled to the mounting rod, means coupled to the mounting rod for positioning the output end in a desired position relative to the patient's eye, a lubrication source fluidly coupled to the output end, a cable communicating lubricant between the lubrication source and the output end, and a camera coupled to the mounting rod. Attached Figure Description

[0005] To gain a detailed understanding of the features described above, reference can be made to the embodiments for a more specific description of the briefly summarized disclosure, some of which are illustrated in the accompanying drawings. However, it should be noted that the drawings only illustrate exemplary embodiments and should not be construed as limiting the scope of the disclosure, and other equally effective embodiments are permissible.

[0006] Figure 1It is a perspective view showing a surgery performed in an operating environment using a surgical system, according to various aspects of this disclosure.

[0007] Figure 2 This disclosure is intended for use in conjunction with certain aspects of the content of this disclosure. Figure 1 A stereoscopic view of the robotic arm used in the surgical system.

[0008] Figure 3A Based on certain aspects of this disclosure Figure 2 A magnified front view of the lubrication assembly at the working end of the robotic arm.

[0009] Figure 3B It is optional to set up based on certain aspects of this disclosure. Figure 3A An exemplary illustration of a corneal crosslinking addition on a lubrication assembly.

[0010] Figure 3C It is optional to set up based on certain aspects of this disclosure. Figure 3A An exemplary illustration of an OCT add-on on a lubrication assembly.

[0011] Figure 4 This is a schematic block diagram illustrating components of a surgical system according to certain aspects of this disclosure.

[0012] For ease of understanding, the same reference numerals have been used where possible to refer to the same elements common to the figures. It is contemplated that elements and features of one embodiment can be advantageously combined in other embodiments without further description. Detailed Implementation

[0013] Various examples will now be described more fully with reference to the accompanying drawings. However, systems similar to those disclosed herein can be implemented in a variety of different forms and should not be construed as limited to the examples set forth herein.

[0014] As described in this article, the term "lubricant" generally refers to eye lubricants, including but not limited to preservative-containing eye drops, preservative-free eye drops, other ophthalmic fluids, gels, or ointments.

[0015] Figure 1A system 100 for performing ophthalmic surgery is depicted. System 100 includes a surgical console 102 and a robotic arm 105. The surgical console 102 may include or be operatively coupled (e.g., physically or wirelessly coupled) to one or more modules, systems, devices, and / or surgical tools for performing one or more surgical procedures. For example, in some embodiments, the surgical console 102 includes one or more ports for coupling a surgical tool 106 to an internal fluid source, vacuum source, and / or actuator. In some embodiments, the surgical console 102 may be physically or wirelessly connected to the robotic arm 105.

[0016] The robotic arm 105 is operable to hold the lubrication assembly 170, move the lubrication assembly, and insert the lubrication assembly into the operating room and close to the eye of the medical patient 107. While medical patients are currently expected to be most commonly human patients, in veterinary applications, "patient" can be a non-human animal, and the term as used herein should be understood to encompass either possibility. Additionally, although a robotic arm comprising a series of components has been shown and described, in some other embodiments, a robotic holding platform or other devices may be used. For example, instead of a cascaded robotic arm, cascaded or multiple cascaded linear guides may be used to hold the lubrication assembly 170, move the lubrication assembly, and deliver the lubrication assembly into the operating room and close to the eye of the patient 107.

[0017] The robotic arm 105 can be supported by any suitable device or system within the operating environment. Figure 1 In the example, the robotic arm 105 is supported by a trolley 103. The trolley 103 itself may be fixed or movable relative to the structure used to support the patient 107. Figure 1 An apparatus is depicted in which a trolley 103 is supported on wheels 118, which allow the trolley 103 to roll into position relative to a patient support table 120, shown as being fixed to the floor of the operating room where the surgery is performed. However, in some embodiments, the robotic arm 105 may be supported by a surgical console 102, the patient support table 120, or another support structure within the operating environment. In some embodiments, the robotic arm 105 may be coupled to or integrated into an ophthalmic surgical microscope along with a lubrication assembly 170, such that the robotic arm 105 can simultaneously manipulate both the lubrication assembly 170 and the ophthalmic surgical microscope.

[0018] System 100 may further include one or more video display monitors 110 for delivering information and images to medical personnel during the procedure. Figure 1A system with two display monitors 110 mounted on a trolley 103 for use by, for example, a surgeon 112 and an assistant 115 is illustrated. The display monitors 110 can be communicatively coupled to a surgical console 102, a visualization system within the operating environment, an ophthalmic surgical microscope, and / or a tool assembly supported by a robotic arm 105. In some embodiments, the display monitors 110 can receive information (e.g., surgical parameters) and / or images from the surgical console 102 and the tool assembly, respectively, and display the information and images on the display monitors 110. The surgical console 102 can also send signals to the display monitors 110 to perform operations (e.g., start and stop video recording).

[0019] Now go to Figure 2 The components of the robotic arm 105 are shown in more detail. As shown, the robotic arm 105 includes a support base 123, which in some embodiments can be configured to be mounted to a cart 103. Alternatively, as described above, the support base 123 can be mounted to another fixed device within the operating environment, or it can be a separate component. The robotic arm further includes a first arm joint 125, which is rotatable relative to the support base 123 about a first axis of rotation 127.

[0020] The second arm joint 130 is fixed to the first arm joint 125 via the first link 132. The second arm joint 130 is rotatable relative to the first arm joint 125 and the first link 132 about a second axis of rotation 135. In some embodiments, the second axis of rotation 135 is perpendicular to the first axis of rotation 127.

[0021] The second link 138 attaches the third arm joint 140 to the second arm joint 130. The third arm joint 140 is rotatable relative to the second link 138 about a third rotation axis 143. In some embodiments, the third rotation axis 143 is parallel to the second rotation axis 135.

[0022] The third link 145 extends between the third arm joint 140 and the fourth arm joint 147. The fourth arm joint 147 rotates relative to the third link 145 about a fourth rotation axis 150. In some embodiments, the fourth rotation axis 150 is parallel to the second rotation axis 135.

[0023] The fourth link 152 connects the fourth arm joint 147 to the fifth arm joint 155. The fifth arm joint 147 rotates relative to the fourth link 152 about a fifth rotation axis 158. In some embodiments, the fifth rotation axis 158 is perpendicular to the first rotation axis 127.

[0024] A fifth link 160, attached to a fifth arm joint 155, carries a sixth arm joint 163, which rotates relative to the fifth link 160 about a sixth axis of rotation 165. In some embodiments, the sixth axis of rotation 165 is perpendicular to the fifth axis of rotation 158. The sixth arm joint 163 carries a sixth link 167. In this embodiment, a working element in the form of a lubrication assembly 170 extends from the working end 172 of the sixth link in a direction parallel to the sixth axis of rotation 165 of the arm.

[0025] Please note, Figure 2 The configuration of the robotic arm 105 described herein is merely exemplary, and the exact configuration of the robotic arm 105 can vary significantly in any given embodiment. However, for example, in some embodiments, the robotic arm 105 includes elements that provide motion with at least six degrees of freedom to facilitate effective lubrication of the patient's eye during ophthalmic surgery. For instance, a robotic arm of model UR5e (https: / / www.universal-robots.com) supplied by Universal Robots (a robotic equipment manufacturer headquartered in Odense, Denmark) can be incorporated into the structure of the robotic arm 105; however, in some embodiments, other equivalent robotic elements or arms are used.

[0026] Figure 3A An exemplary lubrication assembly 170 is depicted that can be coupled to the working end 172 of a sixth robotic arm link 167. The lubrication assembly 170 includes a force / torque sensor 177 coupled to a mounting rod 175. In some embodiments, the force / torque sensor 177 and the mounting rod 175 are secured to the working end 172 of the sixth arm joint 167 at a proximal end 180 of the lubrication assembly 170, wherein internal fluid lines (not visible) are provided within the sixth arm joint 167 for communicating (e.g., flowing or supplying) lubricant to the internal volume of the lubrication element 175. In some embodiments, one end of the mounting rod 175 includes an output end 182, while the opposite end of the mounting rod 175 includes an augmentation slot 184 that allows for the selective addition of multiple different augmentations or additional optional components to the lubrication assembly 170. In some embodiments, the output end 182 is a needleless or needle-free syringe. In other embodiments, output 182 may be an eye dropper, pipette, fitting, or other dispenser or nozzle configured to dispense fluid in a precise and controlled manner.

[0027] In some embodiments, a cable 179, including a fluid line and an electrical connection separate from the robotic arm 105, may be provided for directly supplying lubricant and / or other fluids (such as water) to the output 182 of the lubrication assembly 170, with the opposite end of the cable 179 connected to a lubricant reservoir and pump assembly 186, or other lubricant source. In some embodiments, the reservoir and pump assembly 186 includes a sub-assembly controller 188 configured to transmit digital signals to an additional device 230 of the system 100, as further detailed below. In some embodiments, the lubrication assembly 170 includes an electrically controlled release valve (not visible) disposed at the distal end of the output 182, in the reservoir and pump assembly 186, or at any point on or between the cable 179 and a connecting element therebetween. In some other embodiments, the level of lubricant within the lubrication assembly 170 can be maintained by refilling or supplementing a refillable cartridge inserted into the lubrication assembly, or by direct injection of additional lubricant via a separate syringe through a self-sealing port (not visible) defined on the lubrication assembly 170 by a surgeon 112 or assistant 115. In some embodiments, the lubricant reservoir and pump assembly 186 is pressure-regulated to ensure a consistent and uniform flow of lubricant through the output end 182.

[0028] In some embodiments, the lubrication assembly 170 may be permanently fixed to the working end 172 or mounting rod 175 of the sixth arm joint 163. However, in many cases, it is preferable that the lubrication assembly 170 be easily removable and replaceable at the working end 172 or mounting rod 175 of the sixth arm joint 163. The ease with which the lubrication assembly 170 can be removed relative to the robotic arm 105 allows for the replacement of faulty lubrication assemblies 170, the removal and sterilization of reusable lubrication assemblies 170 between surgeries, the removal and disposal of single-use, disposable lubrication assemblies 170 after surgery, and / or other advantages applicable depending on the specific application. Also, Figure 3AAs seen in some embodiments, the lubrication assembly 170 includes an illumination element 192 and a camera 195 coupled to or adjacent to a mounting rod 175. The illumination element 192 delivers visible light or another suitable illumination energy from the working end 172 of the robotic arm 105 to the surgical site or another location of interest. The illumination energy reflected from the target site returns to the camera 195, where it is received and transmitted to other elements of the system for processing and display, for example, as a still image or video on a display monitor 110. Specifically, digital signals corresponding to the images received at the camera 195 are processed and sent to the system's display monitor 110, where the surgeon 112, assistant 115, and other personnel involved in the surgery can see and use these digital signals. In some embodiments, the digital signals received at the camera 195 can be used, for example, to continuously track or monitor the relative moisture level of the patient's eye, the position of the lubrication assembly 170 relative to the patient's eye, and / or to assist in targeted lubrication of the patient's eye, as further detailed below.

[0029] In some embodiments, such as Figure 3B The corneal crosslinking augmentation 190 can be coupled or slotted into the augmentation slot 184 of the mounting rod 175. In some embodiments, the corneal crosslinking augmentation 190 includes a UV light source 193 and a 1-degree-of-freedom (DoF) actuator 196 for actuating a syringe 198 disposed within a clip 194. The 1-DoF actuator 196 and the UV light source 193 are connected to electrical connections within a cable 179, which in turn connects to a sub-component controller 188. According to some embodiments, the syringe 198 is fluidly coupled to an output terminal 182 via a tubing that can be external to or internal to the mounting rod 175. In some embodiments, when the 1-DoF actuator 196 is activated by the sub-component controller 188, liquid vitamins or another fluid are applied to the patient's eye through the output terminal 182 according to a known corneal biomechanical algorithm. The UV light source 193 can then be activated to apply UV light to the patient's eye and assist in performing the corneal crosslinking procedure. For example, in some embodiments, the robotic arm 105 may be used to disperse vitamin B2 or riboflavin under a predetermined time schedule or based on accurate imaging processing and corneal biomechanical algorithms. UV light from the UV light source 193 is then applied to the patient's eye, and particularly to the dispersed liquid, until the eye is fully immersed in the dispersed vitamin B2 or riboflavin.

[0030] In some other embodiments, such as Figure 3CThe OCT add-on 200 can be coupled or slotted into the add-on slot 184 of the mounting rod 175. In some embodiments, the OCT add-on 200 includes an optical coherence tomography (OCT) scanner 202. The OCT scanner 202 is connected to an electrical connector within a cable 179, which in turn connects to a sub-component controller 188. The OCT scanner 202 can be enabled by the sub-component controller 188 to scan a patient's eye and assist in the preparation of OCT images, as known in the art. In some embodiments, if the OCT add-on 200 is operational, the OCT scanner 202 may also be able to detect the thickness of water or other fluid buildup on the surface of the eye.

[0031] Figure 4 It is a schematic display Figure 1 A block diagram of the various components of system 100. Figure 1 In the example, the trolley 103 provides a base and physical support for the robotic arm 105, which in turn carries the lubrication assembly 170.

[0032] The trolley 103 further includes a motion controller 210 operable to monitor and control the movement of the links of the robotic arm 105 to move the robotic arm 105, and to calculate the position of the robotic arm and the positions of its joints and links, as well as the position of the lubrication assembly 170. The motion controller 210 can receive control input from a user of the system 100 via a motion control input device 213. During surgery, the motion controller 210 is operable to move the robotic arm 105 to position and orient the lubrication element 175 of the lubrication assembly 170 such that it can be positioned above a desired location on the outer surface of the patient's eye, allowing the distal end of the lubrication element 175 to directly eject or deposit lubricant at the desired location.

[0033] Motion control input device 213 may include hand controls (such as joysticks or keyboards), foot pedals, voice controls, or other suitable devices that can be pre-programmed to control the actuation of robotic arm 105 via various movements and their programs. Some robotic arms 105 may include sufficient internal feedback devices, such as internal force-torque (FT) sensors, so that these robotic arms 105 can be moved as needed by direct movement manually applied by the user to the robotic arm or its corresponding components. Some robotic arms may be equipped with force-torque sensors that are operable to respond to the detection that the force or torque applied to the components of the robotic arm exceeds a predetermined acceptable limit. Such a configuration can help prevent damage to the patient's eyes by preventing accidental contact between the lubrication assembly 170 and the patient's eyes.

[0034] The trolley 103 may also include a light source 215. The light source 215 may be optically coupled to a light element 192 to deliver lighting energy from the light source 215 to the light element 192 at the working end 172 of the lubrication assembly 170.

[0035] The lighting source 215 can typically be optically coupled to the lighting element 192 via one or more delivery optical fibers 217. In some embodiments, lighting energy can be delivered to the lighting element 192 via delivery optical fibers disposed inside a link of the robotic arm 105 and disposed along the length of the link.

[0036] Illumination energy can typically be in the form of visible light, but can also include near-infrared or ultraviolet energy or other illumination energy suitable for the visualization desired in a given application.

[0037] The delivery of illumination energy from illumination source 215 can be controlled by a user-operable illumination control input device 220. These users can use the illumination control input device 220 to adjust, for example, the intensity or type (frequency, etc.) of the illumination energy, as they find most useful in a particular situation. In some embodiments, the illumination control input device 220 includes a physical knob for manually adjusting the characteristics of the illumination energy, such as a physical knob on a handheld controller, foot pedal, trolley 103, surgical console 102, or other suitable device in the operating environment. In some embodiments, the illumination control input device 220 includes a digital knob for manually adjusting the characteristics of the illumination energy, such as a digital control mechanism on display monitor 110, trolley 103, or surgical console 102.

[0038] Illumination energy projected from illumination source 215 is reflected from within the patient's eye back to camera 195 at the working end 172 of lubrication assembly 170. The reflected energy can be transmitted along return fiber 220 (or the same fiber 217 used to deliver the illumination energy) or other suitable elements to image receiving and processing device 225, which can be housed within or at trolley 103 or surgical console 102. Image receiving and processing device 225 may include, for example, an active pixel sensor based on a complementary metal-oxide-semiconductor (CMOS) sensor. Return fiber 220 may preferably be at least partially disposed within the linkage of robotic arm 105, thus further connecting camera 195 to image receiving and processing device 225.

[0039] Image processing control input 228 is typically present and can be used to process control signals before the image is displayed. These controls can be relatively simple. For example, the brightness and contrast of the displayed image can be adjusted by the user.

[0040] More complex adjustments and processing can also be used, with varying degrees of automation. The displayed images can be stabilized or rotated to a more useful orientation for the surgeon. Images from camera 195 can be overlaid or otherwise combined with images from other devices or sensors, including surgical microscopes or other devices used in ophthalmic surgery.

[0041] In some embodiments, the cart 103 may also carry or house additional equipment 230 that can be used with other working elements within the lubrication assembly 170, such as the sub-assembly controller 188. This additional equipment 230 may include, for example, pumps, cans, tubing, and supplies for delivering lubricant via the lubrication assembly 170 to the surgical site or other locations of concern. In some embodiments, the additional equipment 230 may be associated with an additional control input mechanism 233 and may be automated or under the direct or indirect control of a system user.

[0042] In some embodiments, performing ophthalmic surgery using system 100 includes a surgeon 112 and / or assistant 115 placing the lubrication assembly 170 in the appropriate position relative to the patient 107's eye. In some embodiments where the lubrication assembly 170 is coupled to or integrated into a robotic arm 105, placement of the lubrication assembly 170 can be accomplished by directly controlling the robotic arm 105 or remotely controlling the robotic arm via motion controller 210 and motion controller input 213. In other embodiments, the surgeon 112 or assistant 115 can manually hinge the robotic arm 105 in the appropriate position by physically moving each of the links of the robotic arm 105 by hand. Once the robotic arm 105 has been manipulated to place the lubrication assembly 170 in the appropriate position, the robotic arm 105 can be locked in place such that the lubrication assembly 170 remains in a static position throughout the duration of the ophthalmic surgery. In some other embodiments where the lubrication assembly 170 is coupled to or incorporated into the surgical microscope, placement of the lubrication assembly 170 can be accomplished by directly controlling the surgical microscope or remotely controlling the surgical microscope via motion controller 210 and motion controller input 213. In other embodiments, the surgeon 112 or assistant 115 can manually hinge the surgical microscope into place by physically moving it by hand. Similarly, once the surgical microscope has been manipulated to place the lubrication assembly 170 in place, the surgical microscope can be locked in place so that the lubrication assembly 170 remains in a static position throughout the duration of the ophthalmic surgery.

[0043] In some embodiments, after the lubrication assembly 170 has been placed in a first desired position, the lubrication assembly 170 can be selectively adjusted during ophthalmic surgery to move to a second or subsequent desired position and / or its relative position above the patient's eye can be maintained by continuously tracking the relative movement of the patient's eye using a camera 195 disposed on the working end 172 of the lubrication assembly 170. Digital signals corresponding to the images captured by the camera 195 can be sent to an image receiving and processing device 225 and a display 110, where image analysis software continuously compares the received digital signals with digital signals corresponding to the original or correct desired position of the lubrication assembly 170. For example, when the image analysis software detects that the difference between the received digital signals and the digital signals corresponding to the correct desired position exceeds a predetermined threshold, the system 100 alerts the surgeon 112 or assistant 115 via an audible alarm or a message displayed on the display 110, allowing the surgeon or assistant to take corrective action to ensure that the lubrication assembly 170 is manually or via remote or indirect actuation back to its intended position. In some embodiments, when misalignment is detected without input from the surgeon 112 or assistant 115, the system 100 can automatically instruct the robotic arm 105 or surgical microscope to move back to the correct desired position.

[0044] In some embodiments, the dispensing of lubricant from the lubrication assembly 170 can be initiated by direct input from the surgeon 112 or assistant 115 via input 20, such as via a foot pedal or any other analog or digital input device (e.g., a button, switch, keyboard command, etc.), or by auditory commands issued by the surgeon 112 / assistant 115 using a known voice command device.

[0045] In some embodiments, the dispensing of lubricant from the lubrication assembly 170 is determined by a predetermined or time-based schedule. For example, the surgical console 102 or trolley 103 may include a clock and associated software that allows the surgeon 112 or assistant 115 to establish time intervals between each actuation of the release valve to release a predetermined amount of lubricant from the lubricant assembly 170. The lubricant assembly 170 will continuously and automatically dispense lubricant according to the determined time intervals throughout the duration of the ophthalmic surgery. If the surgeon 112 or assistant 115 determines that too much or too little lubricant has been applied, they can adjust or edit the time intervals accordingly until an appropriate amount of lubricant is applied to the patient's eye.

[0046] In some embodiments, the dispensing of lubricant from the lubrication assembly 170 is performed automatically and autonomously according to an image processing scheme. For example, a digital signal corresponding to an image captured by camera 195 can be sent to image receiving and processing device 225 and display 110, where image analysis software continuously detects or monitors the amount of glare within the image, which corresponds to the relative amount of moisture or lubrication on the surface of the patient's eye. In some embodiments, when the detected glare level drops below a predetermined threshold, indicating a low level of moisture or lubrication on the surface of the patient's eye, image receiving and processing device 225 sends a signal to lubrication assembly 170 to dispense or deposit a predetermined amount of lubricant from the lubrication assembly onto the patient's eye. Conversely, when a significant amount of glare has been detected, indicating sufficient lubrication in the patient's eye, no signal is sent to lubrication assembly 170, and therefore no additional lubricant is added to the patient's eye. In some embodiments, the image receiving and processing device 225 may continuously monitor the amount of glare in the received image data, allowing lubricant to be added to the patient's eye in real time during ophthalmic surgery. However, in other embodiments, the image receiving and processing device 225 periodically detects the amount of glare in the received image data according to a predetermined schedule or time interval, allowing lubricant to be potentially added only during selected moments of ophthalmic surgery.

[0047] In some embodiments, the image receiving and processing device 225, which continuously monitors the amount of glare within the received image data, can also simultaneously monitor or track the position of the lubrication assembly 170 relative to the patient's eye or a portion thereof. For example, if a low moisture level is detected in a portion of the patient's eye, the image receiving and processing device 225 can signal the robotic arm 105 to automatically move the lubrication assembly 170 to that specific position, allowing sufficient lubricant to be applied thereon. In some other embodiments, the image receiving and processing device 225 can signal the trolley 103 to issue an audible or visual alarm, which instructs the surgeon 112 / assistant 115 to manually move the lubrication assembly 170 to another specific portion of the patient's eye that requires lubrication. In this way, the relative position of the lubrication assembly 170 to the patient's eye can be adjusted autonomously or manually during ophthalmic surgery, allowing lubricant to be dispensed to the portion of the patient's eye that always requires lubrication the most.

[0048] Because the lubricant dispersion from the lubrication assembly 170 is fully configurable and customizable, surgeons can not only ensure that the patient's eyes are properly lubricated during surgery, but also selectively determine the optimal time to disperse the lubricant.

[0049] The foregoing description has shown, described, and indicated various features and configurations applicable to various examples. However, it should be understood that various omissions, substitutions, and changes may be made to the form and details of the example apparatus without departing from the spirit of this disclosure. It should also be understood that various features of the types described herein can be utilized in various combinations, wherein individual features included are appropriately omitted as needed. Unless expressly required otherwise by the specification, these features should not be considered necessary in any particular combination. As will be appreciated, the elements and combinations described herein can be implemented in various forms, some of which may not provide all the features and benefits described in this disclosure, as some features can be used or practiced separately from other features. Therefore, the scope of protection must be defined primarily by the appended claims rather than the foregoing description, and the scope of these claims must be understood to include the full scope of their legally valid and legally entitled equivalents.

Claims

1. A lubrication assembly for lubricating a patient's eye during an ophthalmic procedure, the lubrication assembly comprising: a mounting bar; an output coupled to the mounting bar; a device coupled to the mounting bar for setting the output to a desired position relative to the patient's eye; a lubrication source fluidly coupled to the output; a cable communicating a lubricant between the lubrication source and the output; and a camera coupled to the mounting bar. The device for setting the output to a desired position relative to the patient's eye comprises a robotic arm coupled to a motion controller operable to move the robotic arm to extend the output to a desired position relative to the patient's eye.

2. The lubricating assembly of claim 1, wherein, The output and the camera are disposed on a working end of the robotic arm.

3. The lubricating assembly of claim 2, wherein, The device for setting the output to a desired position relative to the patient's eye coupled to the mounting bar comprises a surgical microscope.

4. The lubricating assembly of claim 1, wherein, The illumination element is configured to illuminate the patient's eye, and wherein the lubrication assembly is further configured such that illumination reflected from the patient's eye is received by the camera.

5. The lubricating assembly of claim 1, further comprising an illumination element, wherein, 6. The lubrication assembly of claim 1, further comprising an input device configured to dispense lubricant from the output upon actuation of the input device. The camera is coupled to an image receiving and processing device configured to detect an amount of glare within a digital signal corresponding to an image captured by the camera.

7. The lubricating assembly of claim 1, wherein, The output comprises at least one of a needleless syringe, an eye dropper, a pipette, a tube, or a nozzle configured to dispense fluid in a precise and controlled manner.

8. The lubricating assembly of claim 1, wherein, The mounting bar comprises an add-on slot configured to selectively house at least one removable add-on therein.

9. The lubricating assembly of claim 1, wherein, The at least one removable add-on comprises a corneal cross-linking add-on, and wherein the corneal cross-linking add-on comprises a UV light source and a syringe configured to dispense a liquid vitamin or other fluid to facilitate corneal cross-linking.

10. The lubricating assembly of claim 9, wherein, The removable add-on comprises an optical coherence tomography (OCT) scanner.

11. The lubricating assembly of claim 9, wherein, 12. A method for lubricating a patient's eye during an ophthalmic procedure, the method comprising: moving a lubrication assembly to a desired position relative to the patient's eye; selectively dispensing a lubricant from the lubrication assembly onto a desired position of the patient's eye; and monitoring a relative lubrication level of the patient's eye over a duration of the ophthalmic procedure. Moving the lubrication assembly to a desired position relative to the patient's eye comprises actuating a motion controller operable to move a robotic arm comprising the lubrication assembly to the desired position. Moving the lubrication assembly to a desired position relative to the patient's eye comprises actuating a surgical microscope comprising the lubrication assembly to the desired position.

13. The method of claim 12, wherein, ​ 14. The method of claim 12, wherein, ​ 15. The method of claim 12, wherein, Selectively dispensing the lubricant from the lubrication assembly onto a desired location of the patient's eye includes at least one of actuating a foot pedal, actuating a button or switch, or issuing a voice command.

16. The method of claim 12, wherein, Selectively dispensing the lubricant from the lubrication assembly onto a desired location of the patient's eye includes dispensing the lubricant from the lubrication assembly according to a predetermined schedule or time interval.

17. The method of claim 12, wherein, Selectively dispensing the lubricant from the lubrication assembly onto a desired location of the patient's eye includes dispensing the lubricant from the lubrication assembly when a relative lubrication level of the patient's eye is determined to be below a predetermined threshold.

18. The method of claim 12, wherein, Monitoring the relative lubrication level of the patient's eye over a duration of the ophthalmic procedure includes capturing a digital signal corresponding to an image of the patient's eye by a camera disposed on the lubrication assembly.

19. The method of claim 18, wherein, Selectively dispensing the lubricant from the lubrication assembly onto a desired location of the patient's eye includes detecting an amount of glare within the digital signal corresponding to the image of the patient's eye and dispensing the lubricant from the lubrication assembly when the detected amount of glare is determined to be below a predetermined threshold.

20. The method of claim 19, wherein, Detecting an amount of glare within the digital signal corresponding to the image of the patient's eye and dispensing the lubricant from the lubrication assembly includes automatically and autonomously processing the digital signal at an image receiving and processing device to detect the amount of glare within the digital signal and automatically and autonomously dispensing the lubricant from the lubrication assembly when the detected amount of glare is determined to be below a predetermined threshold.

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