Setting robot for assisting ophthalmic surgery

Abstract

A system includes an actuator, one or more diagnostic devices configured to make ophthalmic measurements, and one or more treatment devices configured to assist in an ophthalmic treatment of an eye of a patient. A controller is coupled with the actuator and configured to cause the actuator to move the one or more diagnostic devices and the one or more therapeutic devices into and out of a region in front of the eye of the patient. The ophthalmic treatment may be a LASIK or SMILE treatment with ametropia and / or eye geometry measured using a diagnostic device.

Description

Cross Reference to Related Applications

[0001] This application claims priority to U.S. Provisional Application No. 63 / 579,265, filed August 28, 2023, which is incorporated by reference herein in its entirety. BACKGROUND

[0002] The present disclosure relates generally to performing ophthalmic surgery.

[0003] Common ophthalmic surgical treatments include cataract surgery, glaucoma treatment, retinal detachment surgery, vitrectomy, and retinal reattachment surgery. The structure of the eye is extremely small and delicate. As a result, ophthalmic surgery is extremely complex and requires years of training for an ophthalmic surgeon. As a result, the time an ophthalmic surgeon spends in the operating room is a very valuable resource.

[0004] Reducing the time demands on an ophthalmic surgeon in providing ophthalmic surgical treatment would be a progress in the art. SUMMARY

[0005] In certain embodiments, a system includes one or more patient workstations configured to assist in performing ophthalmic treatment. The system includes a setup robot, the one or more patient workstations being within a range of motion of the setup robot. A controller is coupled with the setup robot and configured to cause the setup robot to prepare the one or more patient workstations for ophthalmic treatment. BRIEF DESCRIPTION OF DRAWINGS

[0006] So that the manner in which the above recited features of the present disclosure can be understood in detail, a more particular description of the disclosure, briefly summarized above, can be had by reference to embodiments, some of which are illustrated in the appended drawings. It is to be noted, however, that the appended drawings illustrate only example embodiments and are therefore not to be considered limiting of its scope, as the disclosure can admit to other equally effective embodiments.

[0007] Figure 1A is a schematic illustration of an operating environment including a setup robot in accordance with certain embodiments.

[0008] Figure 1B illustrates a setup robot including a robotic arm mounted to a rail in accordance with certain embodiments.

[0009] Figure 1C is an illustration showing a device for removing tools from packaging in accordance with certain embodiments.

[0010] Figure 1D illustrates a tray containing supplies for ophthalmic treatment in accordance with certain embodiments.

[0011] Figure 1EA component for operating a setup robot is shown in accordance with certain embodiments.

[0012] Figure 2A is a schematic diagram of an alternative operating environment including a setup robot in accordance with certain embodiments.

[0013] Figure 2B A setup robot with a ground engaging member is shown in accordance with certain embodiments.

[0014] Figure 2C A component for operating a setup robot is shown in accordance with certain embodiments.

[0015] Figure 3 is a process flow diagram of a method for operating a setup robot in accordance with certain embodiments.

[0016] Figure 4 A setup robot is shown in accordance with certain embodiments.

[0017] Figure 5 A setup robot is shown in accordance with certain embodiments.

[0018] For ease of understanding, the same reference numbers have been used in the different drawings to designate the same elements. It is contemplated that elements and features of one embodiment can be beneficially incorporated into other embodiments without further recitation. DETAILED DESCRIPTION

[0019] With reference to Figure 1A and Figure 1B The operating environment 100 includes two or more workstations 102a, 102b, each including a patient support 104, such as a bed, chair, or other type of support, for supporting a patient 106. Although the systems and methods disclosed herein are advantageously used with multiple workstations 102a, 102b, a single workstation 102a can also be used.

[0020] Each workstation 102a, 102b can further include other equipment, such as a surgical microscope 108 mounted to an adjustable stand 110. The surgical microscope can be implemented as a NGENUITY 3D visualization system provided by Alcon Inc. of Fort Worth, Texas. In some embodiments, a single surgical microscope 108 is used with an adjustable stand 110, facilitating movement of the surgical microscope 108 between workstations 102a, 102b.

[0021] Each workstation 102a, 102b can further include a table 112 for holding surgical supplies and a disposal station 114. The disposal station 114 can include some or all of the following: a waste bin, an autoclave, a collection bin for items to be sterilized elsewhere, a hazardous material disposal bin, or other containers for storing or processing used surgical supplies.

[0022] One or more setup robots 116 can be positioned in the operating environment 100. In the illustrated embodiment, a single setup robot 116 is used. In use, the setup robot 116 prepares one workstation 102a, 102b while the other workstation 102a, 102b is in use. However, in other embodiments, a setup robot 116 is provided for each workstation 102a, 102b.

[0023] In the illustrated embodiment, the setup robot 116 includes a robotic arm 118. The robotic arm 118 can be a serial-link robotic arm and can have between 4 and 8 or possibly more degrees of freedom. The degrees of freedom can be sufficient to position an end effector 120 of the robotic arm 118 in any three-dimensional position and orientation within a work envelope of the robotic arm 118. The degrees of freedom can include one or more degrees of freedom of a gripper, a tool changer, or other component included in the end effector 120.

[0024] As shown, the end effector 120 can be a gripper for grasping and releasing objects. The end effector 120 can be any structure configured to selectively secure and release objects. The end effector 120 can be configured to selectively secure or release objects having structures or features specifically designed to interface with the end effector 120. The end effector 120 can incorporate magnets, vacuum pads, or any other type of attachment structure for selectively securing and releasing objects. Figure 1B

[0025] In the illustrated embodiment, the robotic arm 118 is mounted to a rail 122 by a rail actuator 124. In other embodiments, the robotic arm 118 can be manually moved along the rail 122 and automatically or manually locked in place, omitting the rail actuator 124. The rail actuator 124 includes a motor and a gear, wheel, or other structure driven by the motor that engages the rail 122 to move a base 126 of the robotic arm 118 along the rail 122 to a plurality of different positions. The rail 122 can be mounted to the floor, ceiling, or wall of the operating environment 100. Multiple rails and corresponding actuators can be used to implement a two- or three-dimensional translation stage.

[0026] ​Precise positioning of the end effector 120 can be performed in several different ways. In a first embodiment, the end effector 120 is positioned using an obstacle detector, taking advantage of the known mapping of the robot 116's kinematic state and the object's position within the operating environment 100. In this embodiment, no camera or other local positioning system (LPS) is used. In a second embodiment, one or more cameras 128 are mounted on or near the end effector 120 (e.g., within 15 cm of the end effector and rigidly coupled to it). Images from the one or more cameras 128 can then be processed to determine the position and orientation of the end effector 120 and used as feedback for controlling the robot arm 118. In a third embodiment, cameras 130 are distributed around the operating environment, placing the end effector 120 within the camera's field of view. The end effector 120 of the robot arm 118 and possible links and / or joints may have markings to facilitate identification from images from the cameras 130. The images from camera 130 can then be processed to determine the position and orientation of end effector 120, and used to control robotic arm 118 to achieve the desired position and orientation of end effector 120.

[0027] Supply area 132 (e.g., a workbench) may be positioned within the operating environment, within the operational envelope of setup robot 116. Supply area 132 may hold multiple trays 134. Each tray contains supplies for ophthalmic treatments. In some scenarios, multiple trays 134 are used for a single ophthalmic treatment. Supply area 132 may include a gate 136 that allows trays 134 to drop, slide, or otherwise move into pick-up area 138. For example, trays 134 may be arranged according to the scheduling of ophthalmic treatments so that setup robot 116 can retrieve each tray 134 for each scheduled ophthalmic treatment.

[0028] In use, when surgeon 140 performs surgery on patient 106 in workstation 102b, robot 116 is set to retrieve tray 134 for the next ophthalmic treatment and load tray 134 onto operating table 112 of workstation 102a.

[0029] In some embodiments, each workstation 102a, 102b may include a console 144 that provides ports for connecting tubes 146 for conducting vacuum pressure or infusing fluid, ports for connecting wires 148 for power supply, or other types of ports. Setting up the robot can prepare workstations 102a, 102b for surgery by connecting each tube 146 and wire 148 between the console 144 (or other housing for ports) and instruments (such as instruments in tray 134).

[0030] refer toFigure 1C Each tray 134 may include a recess 150. Part or all of the recess 150 may accommodate an item 152 to be used during ophthalmic treatment. Each item may be an instrument, consumable, structure to be implanted, or other item to be used during ophthalmic treatment.

[0031] There are many items 152 that can be used to perform a variety of ophthalmic treatments, such as phacoemulsification and IOL placement, vitrectomy, glaucoma surgery, retinal reattachment, refractive surgery (laser-assisted in situ keratomileusis (LASIK), small incision lenticule extraction (SMILE), implantable contact lens (ICL), etc.) or ophthalmic treatments. A non-limiting list of possible items 152 includes the following: • Side-cutting instruments • Local or injectable anesthetic and the corresponding syringe or other dispenser • Capsule scissors • Balanced salt solution (BSS) •Centurion handheld device • Silicone, metal, or polymer flushing / suction (I / A) heads • Ophthalmic viscoelastic • Trypan blue and its applicator Surgical forceps • OVD removal tool • Fluid Management System (FMS) Suite • Metal or plastic handles • Pre-loaded disposable or reusable internal optical lens (IOL) injector • Main cutting instrument • Injection / Water Separation Tool • Sutures • Placing orders

[0032] In some embodiments, the layout of the tray 134 is known, such that the controller setting the robot 116 does not need to visually identify items within each recess 150. Instead, the controller can simply position the end effector at a known location in the recess 150 containing the item 152 and lift the item 152 from the tray. The recess 150 and / or the item 152 therein may further include markings, text, or other computer-readable symbols that can be used to identify the item 152 located in a particular recess 150.

[0033] refer to Figure 1DItem 152 may be positioned naked in tray 134 (i.e., ready for use) or may be contained within protective packaging. Therefore, setup robot 116 can be configured to remove item 152 from the corresponding package 154. For example, setup robot 116 may include a removal tool 156. Removal tool 156 may include, for example, a gripping structure 158 for grasping package 154 and a cutting tool 160 configured to cut package 154 (such as the scissor blade, single blade, or other type of cutting tool shown). Once cut, end effector 120 can remove item 152 from package 154. Before or after cutting package 154, removal tool 156 may flip package 154 or tilt package 154 at an angle (e.g., 25 to 65 degrees, such as 45 degrees) with the cutting end facing downwards to release item 152 onto a surface for end effector 120 to pick up.

[0034] Other configurations are also possible. For example, the item can be packaged in a container, and the removal tool 156 can be configured to dock with the container (e.g., by unscrewing the lid, pressing a button to open the lid, prying open a spring-loaded cover, inserting a pin to open the lid, or otherwise opening the container) to allow access to the item 152 contained therein.

[0035] Package 154 and article 152 may have markings 162, which may help identify the article 152 contained in package 154 and may help determine the orientation of package 154 based on the characteristic expressions of package 154 and markings 162 in images received from cameras 128, 130.

[0036] refer to Figure 1E Some or all of cameras 128, 130, setting robot 116, and retrieval tool 156 may be connected to controller 172 via wires or wirelessly. Controller 172 may be implemented as a general-purpose computer, a programmable logic controller (PLC), or other electronic device programmed to perform the functions of controller 172 as described herein.

[0037] The controller 172 can store or access the tray layout 174 for each tray 134 to be used for each ophthalmic treatment. The tray layout 174 may include identification of each tray 134 (e.g., markings, text, or other symbols attached to the tray 134) to make the tray 134 identifiable. The tray layout 174 may include position specifications for recesses 150 and identification of items 152 positioned within each recess 150.

[0038] In some embodiments, to further facilitate the identification of item 152, controller 172 may store or access instrument library 176. For each type of item 152, instrument library 176 may include: information such as markings, text or other symbols that uniquely identify item 152, the position of each item 152 in each tray layout 174, a three-dimensional model of item 152 (enabling identification of item 152 from images from cameras 128, 130), one or more two-dimensional images from different angles, or other data that helps the machine identify each type of item 152.

[0039] In use, the controller 172 can evaluate images from one or both of cameras 128 and 130, and determine by detecting recognition data in the images that the tray 134 in the pickup area 138 is the correct tray for the scheduled ophthalmic treatment, causing the setup robot 116 to grasp the tray 134 and move it to the operating table 112 of the workstations 102a and 102b where the ophthalmic treatment is scheduled. Figure 1A As shown, the range of motion of the robotic arm 116 along the guide rail 122 enables the robot 116 to place the tray 132 on the operating table 112 of the two workstations 102a and 102b.

[0040] The controller 172 may be further programmed to identify used items 152 returned to the tray 132 from images from one or both of the cameras 128 and 130, and to move the used items 152 to the disposal workstation 114 for disposal or disinfection for subsequent use.

[0041] In some embodiments, controller 172 is programmed to pick up item 152 from tray 132 and pass item 152 to surgeon 140. For example, controller 172 may be configured with voice command 178. The voice command may specify an action and an identifier for item 152, for example, action: pass, item identifier: intraocular lens insertion device. Possible actions may include passing item 152 from tray 132 to surgeon, receiving item 152 from surgeon and passing item 152 to treatment workstation 114, or other actions described below. Controller 172 may be coupled to microphone 180, which is present in operating environment 100 and positioned to detect voice commands from surgeon 140. A single microphone 180 may be present, or each workstation 102a, 102b may have a corresponding microphone 180.

[0042] Figure 2A and Figure 2BAn alternative operating environment 200 is shown. The operating environment 200 may include workstations 102a, 102b, a patient support 104, a surgical microscope 108, a support 110, an operating table 112, one or more treatment workstations 114, and cameras 128, 130 as described above.

[0043] In operating environment 200, a setup robot 202 may be used. The setup robot 202 may include a robotic arm 118 as described above. Operating environment 200 may further include a retrieval tool 156 as described above. The robotic arm 118 may include an end effector 120 and a camera 128 as described above. A base 126 of the robotic arm 118 may be mounted to an actuated ground joint 204 configured to move the base 126 along the ground of operating environment 200 in one or more dimensions. The ground joint 204 may be specifically implemented as wheels, treads, articulated legs, or any other means for inducing translational movement on a flat surface.

[0044] The setting robot 202 or setting robot 116 described above can be used without the pre-packaged tray 132. Instead, images from cameras 128 and 130 are used. For example, the end effector 120 of the robotic arm 118 and camera 128 can be used to identify, grasp, and place items 152 located in the supplies area 206 but not necessarily in the tray 132. Items 152 can be located in a box along with other items 152 of the same type. Items 152 can be located in a dispenser configured to dock with the end effector 120. Items 152 can also be placed on a flat surface. When the disposal station 114 is an autoclave or other type of cleaning device, the disposal station 114 can also be used as the supplies area 132 from which items 152 are retrieved after cleaning and / or sterilization using the setting robot 202.

[0045] refer to Figure 2C At the same time, still refer to Figure 2AHowever, controller 210 can access treatment plan 212, which lists the identifiers of items 152 to be placed on operating tables 112 of workstations 102a, 102b for use in the ophthalmic treatments specified by treatment plan 212. These identifiers can reference the instrument library 176 as described above, allowing controller 210 to access models, images, markings, or other data, enabling controller 210 to recognize the characteristic representations of each item 152 in the images from cameras 128, 130. Therefore, controller 210 can use instrument library 176 to identify each item 152 listed in the treatment plan from the images from cameras 128, 130, causing setup robot 202 to grasp each item 152 with end effector 120 and transfer each item 152 to the operating table 112 of workstations 102a, 102b where the ophthalmic treatment specified by treatment plan 212 is located. In a similar manner, controller 210 can instruct setup robot 202 to transfer items 152 to disposal workstation 114.

[0046] Regarding the operating environment 100, the controller 210 can be connected to the microphone 180 and detect and execute the voice commands in the output of the microphone 180 according to the voice commands 178 stored or accessed by the controller 210 as described above.

[0047] Figure 3 Method 300 is shown, which can be executed by controller 172 of operating environment 100 or controller 210 of operating environment 200 in conjunction with human actions as described below.

[0048] Method 300 includes preparing supply areas 132, 206 in step 302. For operating environment 100, step 320 may include arranging one or more trays 134 relative to a gate 136 for distribution to a pickup area 318 via the gate 136. For operating environment 200, step 320 may include arranging an item 152 in the supply area 206, placing it in a box, a designated location, and / or any location, while identifying the item 152 through image analysis of images from cameras 128, 130. Step 320 may be performed by a person, setting robots 116, 202, or other robots or other types of machines.

[0049] Method 300 may include receiving, in step 304, one of the following: (a) a treatment plan 212 specifying an identifier of an article 152 to be used in the ophthalmic treatment specified by the treatment plan 212; and (b) an identifier of a tray 134 containing the article 152 to be used in the ophthalmic treatment. Step 304 may include receiving an identifier of a tray layout 174 or other data describing the tray layout 174, such as the position and size of recesses and an identifier of an article 152 positioned within a recess 150 of the tray 134.

[0050] For operating environment 200, method 300 may include step 306 identifying a feature representation of the item 152 specified in the treatment protocol in an image of the item area 206 received from one or both of cameras 128, 130. Step 306 may include using information provided in the instrument library 176 and associated with the identification of the item 152 included in the treatment protocol 212. In an embodiment where the item 152 is located in packaging 154, step 306 may include opening packaging 154 and, for example, removing the item 152 using a removal tool 156.

[0051] Method 300 may further include transferring, in step 308, the items identified in step 306 to the operating table 112 of workstations 102a, 102b scheduled for ophthalmic treatments specified by treatment protocol 212. Step 308 is performed by setup robots 116, 202. Since the end effectors 120 of setup robots 116, 202 may only be able to grasp a single item 152 at a time, steps 306 and 308 may be repeated for each item 152 specified in treatment protocol 212. For operating environment 100, step 308 includes transferring the tray 134 identified in step 304 and the items 152 contained on the tray to the operating table 112.

[0052] In some embodiments, method 300 may include connecting supply lines (pneumatic tubing 146 and / or electrical wire 148) to one or more articles in article 152 in step 310. Step 310 may be performed using setup robots 116, 202, or may be performed by a human operator. In some embodiments, method 300 may end after step 308 or after step 310.

[0053] refer to Figure 4 and Figure 5 Continue to refer to Figure 3 In some embodiments, robots 116 and 202 are configured to perform functions in addition to workstations 102a and 102b for ophthalmic treatment.

[0054] For example, method 300 may include receiving a voice command in step 312. For example, microphone 180 may detect the statement spoken by surgeon 140. Therefore, step 312 may include decoding the command in the statement and the identifier of item 152. Therefore, method 300 may include using end effector 120 to pick up item 152, such as an instrument, referenced in the statement in step 314, and using setup robots 116, 202 to transfer item 152 to surgeon 140, treatment station 114, or another location specified by the command in the statement in step 316. For example, as... Figure 4 As shown, robots 116 and 202 are configured to pick up items 152 from the operating table 112 and transfer items 152 to the hands of the surgeon 140.

[0055] In some instances, when a surgeon 140 performing ophthalmic treatment at workstation 102b utters a voice command, setup robots 116, 202 can be in the process of preparing workstation 102a. Accordingly, setup robots 116, 202 can interrupt the workstation preparation, execute the voice command, and then return to the setup of workstation 102a.

[0056] refer to Figure 5 Another voice command can instruct controllers 172, 210 to keep the instrument 500 held in the surgeon's hand 502 stationary. The surgeon 140 can instruct controllers 172, 210 to keep the instrument 500 stationary when a portion 504 of the instrument 500 is placed within the patient's eye 506. For example, the instrument 500 can provide illumination or infuse fluid while the surgeon 140 is using another instrument. Alternatively, the surgeon 140 may need to take a short break or pause ophthalmic treatment for other reasons.

[0057] In response to a voice command, controllers 172, 210 can cause end effector 120 to grasp instrument 500. Controllers 172, 210 can actuate end effector 120 without causing unacceptable movement of instrument 500 (e.g., translational or rotational movement exceeding a predetermined threshold). End effector 120 may include a docking structure 508 configured to smoothly engage with instrument 500 without causing unacceptable movement. Similarly, instrument 500 may include a marker 510, allowing feature representation of marker 510 to be detected in images from cameras 128, 130 for precise positioning of end effector 120 relative to instrument 500, thereby avoiding unacceptable movement of instrument 500. Additional considerations

[0058] The foregoing description is provided to enable any person skilled in the art to practice the various embodiments described herein. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be applied to other embodiments. For example, changes can be made to the function and arrangement of the elements discussed without departing from the scope of this disclosure. Various examples may be appropriately omitted, substituted, or added to various procedures or components. Furthermore, features described with respect to some examples may be combined in some other examples. For example, any number of aspects set forth herein can be used to implement an apparatus or practice. Additionally, the scope of this disclosure is intended to cover such apparatus or methods practiced using other structures, functions, or structures and functions other than or different from the aspects of this disclosure set forth herein. It should be understood that any aspect of this disclosure may be embodied by one or more elements of the claims.

[0059] As used herein, the phrase “at least one of a series of items” refers to any combination of those items, including a single member. For example, “at least one of a, b, or c” is intended to cover a, b, c, ab, ac, bc, and abc, as well as any combination of multiples of the same element (e.g., aa, aaa, aab, aac, abb, acc, bb, bbb, bbb, cc, and ccc, or any other order of a, b, and c).

[0060] As used herein, the term "determine" encompasses a wide variety of actions. For example, "determine" can include calculation, operation, processing, derivation, investigation, searching (e.g., searching in a table, database, or other data structure), ascertainment, etc. Furthermore, "determine" can include receiving (e.g., receiving information), accessing (e.g., accessing data in memory), etc. Additionally, "determine" can include parsing, selecting, picking, building, etc.

[0061] The methods disclosed herein include one or more steps or actions for implementing the methods. The method steps and / or actions may be interchanged without departing from the scope of the claims. In other words, unless a specific order of steps or actions is specified, the order and / or use of specific steps and / or actions may be modified without departing from the scope of the claims. Furthermore, the various operations of the above methods can be performed by any suitable means capable of performing the corresponding functions. These means may include various hardware and / or software components and / or modules, including but not limited to circuits, application-specific integrated circuits (ASICs), or processors. Typically, where operations are illustrated in the figures, those operations may have corresponding means and functional components with similar numbering.

[0062] The various illustrative logic blocks, modules, and circuits described in connection with this disclosure may be implemented or executed using a general-purpose processor, digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA) or other programmable logic device (PLD), discrete gate or transistor logic, discrete hardware components, or any combination thereof, designed to perform the functions described herein. The general-purpose processor may be a microprocessor, but alternatively, the processor may be any commercially available processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors incorporating a DSP core, or any other such configuration.

[0063] The processing system can be implemented using a bus architecture. Depending on the specific application and overall design constraints of the processing system, the bus can include any number of interconnect buses and bridges. The bus can link together various circuits, including processors, machine-readable media, and input / output devices. User interfaces (e.g., keypads, displays, mice, joysticks, etc.) can also be connected to the bus. The bus can also link various other circuits, such as timing sources, peripherals, voltage regulators, power management circuits, etc., which are well known in the art and will therefore not be described further. The processor can be implemented using one or more general-purpose and / or special-purpose processors. Examples include microprocessors, microcontrollers, DSP processors, and other circuit systems capable of executing software. Those skilled in the art will recognize how best to implement the described functions of the processing system according to the specific application and the overall design constraints imposed on the system as a whole.

[0064] If implemented in software, functionality can be stored or transmitted as one or more instructions or code on or through a computer-readable medium. Software should be interpreted broadly as instructions, data, or any combination thereof, whether referred to as software, firmware, middleware, microcode, hardware description language, or others. Computer-readable media includes both computer storage media and communication media (such as any medium that facilitates the transfer of computer programs from one place to another). The processor may be responsible for managing the bus and general processing, including the execution of software modules stored on the computer-readable storage medium. The computer-readable storage medium may be coupled to the processor, allowing the processor to read information from and write information to the storage medium. Alternatively, the storage medium may be integrated into the processor. For example, a computer-readable medium may include a transmission line, a carrier wave modulated by data, and / or a computer-readable storage medium on which instructions separate from the wireless node are stored, all accessible to the processor via a bus interface. Alternatively or additionally, the computer-readable medium or any portion thereof may be integrated into the processor, for example, in cases where it may have a cache and / or a general-purpose register file. Examples of machine-readable storage media may include RAM (random access memory), flash memory, ROM (read-only memory), PROM (programmable read-only memory), EPROM (erasable programmable read-only memory), EEPROM (electrically erasable programmable read-only memory), registers, disks, optical disks, hard disks, or any other suitable storage media, or any combination thereof. Machine-readable media may be embodied in computer program products.

[0065] Software modules can include single or multiple instructions and can be distributed across several different code segments, across different programs, and across multiple storage media. Computer-readable media can include multiple software modules. Software modules include instructions that, when executed by a device such as a processor, cause the processing system to perform various functions. Software modules can include transmission modules and reception modules. Each software module can reside in a single storage device or be distributed across multiple storage devices. For example, when a triggering event occurs, a software module can be loaded from a hard disk drive into RAM. During the execution of a software module, the processor can load some instructions into a cache to improve access speed. Then, one or more cache lines can be loaded into a general-purpose register file for processor execution. When referring to the functionality of a software module, it should be understood that this functionality is implemented by the processor when executing the instructions from that software module.

[0066] The following claims are not intended to be limited to the embodiments shown herein, but are given the full scope consistent with the language of the claims. In the claims, unless specifically stated otherwise, references to singular elements are not intended to mean “one and only one,” but rather “one or more.” Unless otherwise specifically stated, the term “some” means one or more. No element of any claim will be interpreted in accordance with 35 U.SC §112(f) unless it is expressly stated using the phrase “means for…” or, in the case of a method claim, using the phrase “steps for…”. All structural and functional equivalents of the elements of the various aspects described throughout this disclosure that are known to or will be known hereafter by one of ordinary skill in the art are expressly incorporated herein by reference and are intended to be covered by the claims. Furthermore, regardless of whether such disclosure is expressly stated in the claims, the disclosure herein is not intended to be dedicated to the public.

Claims

1. A system comprising: One or more patient workstations, the one or more patient workstations being configured to assist in ophthalmic treatment; The robot is set up, and the one or more patient workstations are within the range of motion of the robot. as well as A controller, which is connected to the setup robot and configured to enable the setup robot to prepare the one or more patient workstations for the ophthalmic treatment.

2. The system as claimed in claim 1, wherein, The one or more patient workstations include patient support components.

3. The system as described in claim 1, wherein, The one or more patient workstations include one or more surgical microscopes.

4. The system as claimed in claim 1, wherein, The one or more patient workstations include a workbench for holding at least one of the items used or consumed during the ophthalmic treatment.

5. The system as described in claim 4, wherein, The controller is configured to cause the setup robot to transfer the items from the supplies area to the workbench of each of the one or more patient workstations.

6. The system of claim 5, wherein, The article includes at least one of supplies consumed during the ophthalmic treatment and instruments used during the ophthalmic treatment.

7. The system of claim 5, wherein, The controller is configured to cause the setup robot to transfer a tray loaded with the items to the workbench of each of the one or more patient workstations.

8. The system of claim 7, wherein, Each tray includes multiple recesses configured to store items.

9. The system of claim 5, wherein, The controller is configured to cause the setup robot to individually grasp one of the items and transfer the item to the workbench of one of the one or more patient workstations.

10. The system of claim 9, further comprising one or more cameras, said one or more cameras being coupled to the controller, said controller being configured to: Receive images from the one or more cameras; and Identify objects in images from the one or more cameras.

11. The system of claim 4, further comprising one or more microphones connected to the controller, the controller further configured to: Detecting the statements spoken by the surgeon in one or more outputs of the one or more microphones; and The robot is configured to execute the voice commands contained in the statement.

12. The system of claim 11, wherein, The controller is further configured to: Detect the item identifier in the statement; and The robot is configured to pick up and transfer the item indicated by the item identifier from the items.

13. The system of claim 11, wherein, The controller is further configured to enable the setup robot to execute the voice command by keeping the object held by the surgeon in place.

14. A method comprising: The controller device instructs the robot to prepare the first workstation for the first ophthalmic treatment of the first patient in the first workstation; as well as During the first ophthalmic treatment, the controller device instructs the setup robot to prepare the second workstation for a second ophthalmic treatment for the second patient.

15. The method of claim 14, further comprising: The robot transfers one or more items to a workbench in the first workstation, the one or more items including at least one of materials consumed during the first ophthalmic treatment or instruments used during the first ophthalmic treatment.

16. The method of claim 15, wherein, Transferring the one or more items to the workbench includes transferring the tray containing the one or more items.

17. The method of claim 15, further comprising: The controller device detects the surgeon's commands; as well as In response to the detected command, the controller device instructs the setup robot to transfer one of the one or more items from the workbench to the surgeon's hand.

18. The method of claim 17, further comprising: In response to the command, the controller device instructs the setup robot to pause preparations for the second workstation.

19. The method of claim 14, further comprising: The controller device detects the surgeon's commands; as well as In response to the detected command, the controller device instructs the setup robot to keep the instruments held in the surgeon's hand stationary.

20. The method of claim 19, wherein, The device includes a portion that is inserted into the eye of the first patient.

Images