Crystal retriever with a rotating storage function

Abstract

This invention relates to a lens extractor with a rotating and retractable function, belonging to the field of medical device technology. It includes a handheld main unit and a disposable end-effector assembly connected via a quick-release interface. The handheld main unit has a built-in control and drive unit and operation buttons. The end-effector assembly comprises an outer sheath and an inner shaft tube arranged coaxially. The distal end of the outer sheath has a guide structure and connects to a retractable tube. The distal end of the inner shaft tube connects to a clamping module with multi-claw synchronous gripping function. During surgery, the clamping module first fixes the lens edge, then the rotating outer sheath, through its guide structure, forcibly curls the lens and wraps it around the inner shaft tube. Finally, the inner shaft tube retracts, pulling the rolled-up lens into the retractable tube, from which it is completely removed through the original small incision. This invention achieves integrated operation of stable gripping, controllable curling, and safe encapsulation of the lens within the eye, fundamentally avoiding the risks associated with enlarging the incision or dividing the lens intraocularly, significantly improving the minimally invasiveness and safety of the surgery.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a crystal extractor with a rotating storage function. Background Technology

[0002] In ophthalmological clinical practice, intraocular lens removal (IOL) is a crucial procedure for managing IOL replacement, dislocation reduction, concurrent myopia correction (such as ICL removal), and postoperative complications (such as refractory uveitis and lens toxicity syndrome). The core objective of this surgery is to safely and completely remove the implanted IOL from the eye cavity while minimizing secondary damage to intraocular tissues. However, this goal faces a classic and acute contradiction in the field of minimally invasive ophthalmic surgery: the inherent conflict between the size of the surgical incision and the safety of the procedure.

[0003] Currently, the mainstream clinical methods for removing intraocular lenses (IOLs) rely primarily on manual manipulation by the surgeon and the use of standard instruments, which has significant limitations. In cases requiring complete removal, surgeons are often forced to enlarge the existing corneal or limbal incision to 4 mm or even larger to accommodate the optic of the lens, which has a standard diameter of approximately 6 mm. This forced incision enlargement directly alters the original biomechanical structure of the cornea, a major cause of unpredictable and potentially persistent postoperative corneal astigmatism, severely impacting the patient's visual quality recovery and often requiring sutures, thus prolonging the healing period. To avoid large incisions, another strategy is to attempt to fragment the lens intraocularly and remove it piece by piece. While this maintains the minimally invasive nature of the incision, this procedure carries extremely high risks in the intraocular environment, especially when the posterior capsule is incomplete due to previous surgery, trauma, or disease. Hard lens fragments can easily fall into the vitreous cavity behind the eye. Such iatrogenic intraocular foreign bodies can cause retinal traction, tears, secondary detachment, and severe proliferative vitreoretinopathy. This often forces patients to undergo more complex and invasive vitrectomy, completely violating the original intention of minimally invasive surgery.

[0004] The limited functionality of existing medical instruments further exacerbates the complexity and uncertainty of the surgery. The entire retrieval process lacks a single, integrated tool, requiring surgeons to rely heavily on personal experience and advanced skills. Within the confined anterior chamber, they must alternately use multiple instruments, such as lens forceps, microscissors, and loops, to grasp, divide, and retrieve the object. This multi-instrument alternation not only involves cumbersome procedures and prolongs surgical time but also increases the risk of accidental mechanical damage to delicate intraocular tissues such as the corneal endothelium, iris, and residual capsular bag. Although implantation injectors or auxiliary devices exist for repositioning dislocated lenses, their design principles and mechanical pathways are geared towards specific unidirectional operations and cannot be reversed or modified to address the comprehensive challenge of "stable grasping, controlled deformation, and safe encapsulation of the retrieved object within the eye." Therefore, when addressing the need for intraocular lens removal, the existing technology system reveals systemic deficiencies in three dimensions: minimally invasiveness, safety, and ease of operation. This forces clinicians to make a difficult choice between "sacrificing corneal optical quality" and "bearing the risk of intraocular lens fallout," urgently requiring an integrated solution that can systematically integrate the above-mentioned core needs and innovate the operational paradigm. Summary of the Invention

[0005] In view of this, the purpose of this invention is to propose a lens extractor with a rotating storage function. By setting up a disposable end-operation component that is quickly connected to a handheld host and integrates a forced curling mechanism consisting of a rotatable outer sheath and its distal curling groove, a clamping module driven by a micro linear actuator, an inner shaft tube that can move independently axially, and a transparent storage tube at the end, this invention solves the problems in the prior art of corneal astigmatism caused by enlarged incisions during intraocular lens removal, the risk of fragments falling out when the lens is split inside the eye, and the complexity and high risk of damage from alternating operation of multiple instruments. This invention enables the safe, complete, and controllable removal of intraocular lenses through a constant micro-incision.

[0006] This invention is achieved through the following technical solution:

[0007] A crystal extractor with a rotation storage function includes a handheld main unit and a disposable end-operation component that can be detachably connected via a quick-release interface.

[0008] The handheld host is internally equipped with a central controller, a micro rotary motor, and a micro linear motor. The outer surface of the handheld host is provided with a clamping button, a curling button, and a status indicator light. The clamping button, the curling button, and the status indicator light are all electrically connected to the central controller.

[0009] The quick-release interface is internally equipped with electrical contacts and a mechanical locking mechanism;

[0010] The output end of the micro rotary motor is connected to the end effector via the quick-release interface, and the output end of the micro linear motor is connected to the end effector via the quick-release interface.

[0011] The end effector assembly includes an outer sheath, an inner shaft, a clamping module, and an end storage tube;

[0012] The inner shaft tube is coaxially inserted inside the outer sheath tube, the distal end of the inner shaft tube extends out of the distal end of the outer sheath tube and is fixedly connected to the clamping module, and the end storage tube is fixedly connected to the outer side of the distal end of the outer sheath tube.

[0013] The proximal end of the outer sheath is connected to the output end of the micro rotary motor via the quick-release interface, and the proximal end of the inner shaft tube is connected to the output end of the micro linear motor via the quick-release interface.

[0014] Furthermore, the handheld host is equipped with an internal mounting frame, on which the central controller, the micro rotary motor, and the micro linear motor are fixedly mounted; the output shaft of the micro rotary motor is connected to a transmission shaft via a first coupling, and the transmission shaft is connected to a rotary coupling mechanism inside the quick-release interface; the output end of the micro linear motor is connected to a linear push rod via a second coupling, and the linear push rod is connected to a linear transmission coupling mechanism inside the quick-release interface.

[0015] Furthermore, the central controller is electrically connected to the micro rotary motor, the micro linear motor, and the micro linear actuator disposed in the clamping module. The central controller is used to control the micro rotary motor, the micro linear motor, and the micro linear actuator according to the instructions of the clamping button and the curling button, and to determine the gripping state by monitoring the operating current of the micro linear actuator.

[0016] Furthermore, two axially extending rolled grooves are formed on the wall of the distal end of the outer sheath; the end collection tube is a transparent tube, and the proximal end of the end collection tube is fixedly connected to the outer sheath through a connecting ring, forming a crystal collection chamber inside the end collection tube.

[0017] Furthermore, the clamping module includes a module base, on which three guide grooves are distributed circumferentially on the side. Each guide groove contains a claw hook unit. Inside the module base, there is an annular micro linear actuator. The three linear output ends of the micro linear actuator are respectively hinged to the corresponding claw hook unit via micro connecting rods.

[0018] Furthermore, each of the claw hook units includes a slider body slidably disposed in the guide groove and a hook-shaped claw head fixedly disposed at the distal end of the slider body, the inner side of the hook-shaped claw head being covered with a silicone soft layer.

[0019] Furthermore, the drive shaft is connected to the outer sheath via the rotary coupling mechanism within the quick-release interface, for transmitting the rotational motion of the micro rotary motor to the outer sheath; the linear push rod is connected to the inner shaft tube via the linear transmission coupling mechanism within the quick-release interface, for transmitting the linear motion of the micro linear motor to the inner shaft tube.

[0020] Furthermore, the central controller is configured to: in response to the instruction of the clamping button, control the micro linear actuator to drive the multiple claw hook units to move synchronously to perform gripping or releasing; in response to the instruction of the curling button, first control the micro rotary motor to drive the outer sheath to rotate, and then control the micro linear motor to drive the inner shaft to retract linearly.

[0021] The beneficial effects of this invention are as follows:

[0022] This invention achieves the following significant benefits by integrating an integrated lens removal device with active rotational forced curling, linear synchronous storage, and stable gripping functions: First, the device fixes one edge of the lens while using specially designed grooves on the rotating outer sheath to continuously and forcefully traction and curl the other edge of the lens. This reliably curls the originally elastic lens material into a compact cylindrical shape outside the tiny incision, fundamentally overcoming the elastic rebound of the lens material and ensuring the certainty and integrity of the curling action, laying a crucial foundation for minimally invasive removal. Second, after curling is complete, an independent linear retraction mechanism smoothly pulls the formed lens roll into the transparent storage tube at the end, achieving immediate encapsulation and protection of the lens. This ensures its stability during removal and completely avoids the risk of lens fragments or the entire lens falling out, rebounding, or scratching intraocular tissues when passing through the incision. Third, this device integrates complex procedures (such as clamping, rotating, dragging, and storing) that traditional surgery requires multiple instruments and is performed in steps into a coherent, automated sequence of actions. This simplifies the surgeon's procedures, significantly reduces reliance on the surgeon's personal experience and skills, minimizes potential damage caused by frequent instrument insertion and removal and alternating operations, and improves the overall smoothness and safety of the surgery. In summary, this invention provides a safe, reliable, and highly controllable minimally invasive removal solution, effectively resolving the core contradiction in existing technologies where minimally invasiveness and operational safety cannot be simultaneously achieved. It reduces surgical risks and has significant clinical value in promoting rapid recovery of postoperative visual quality in patients. Attached Figure Description

[0023] Figure 1 For the overall assembly structure drawing;

[0024] Figure 2 A front view of the overall assembly structure;

[0025] Figure 3 Side view of the overall assembly structure;

[0026] Figure 4 Top view of the overall assembly structure;

[0027] Figure 5 A sectional view of the overall assembly structure;

[0028] Figure 6 This is a diagram of the internal structure of the handheld main unit;

[0029] Figure 7 This is a diagram of the internal structure of the clamping module;

[0030] Figure 8 This is a block diagram showing the relationship between hardware control and transmission.

[0031] Explanation of reference numerals in the attached figures:

[0032] 1. Handheld main unit; 2. Quick-release interface; 3. End effector; 4. Central controller; 5. Miniature rotary motor; 6. Miniature linear motor; 7. Clamping button; 8. Curling button; 9. Status indicator light; 10. Outer sheath; 11. Inner shaft tube; 12. Clamping module; 13. End storage tube; 14. Module base; 15. Guide groove; 16. Claw hook unit; 17. Miniature linear actuator; 18. Miniature connecting rod; 19. Slider body; 20. Hook-shaped claw head; 21. Silicone soft layer; 22. Connecting ring; 23. Crystal storage chamber; 24. First coupling; 25. Drive shaft; 26. Second coupling; 27. Linear push rod; 28. Edge curling groove. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0035] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0036] In the above description of the present invention, it should be noted that the terms "one side," "the other side," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is conventionally placed during use. These terms are used only for the convenience of describing the present invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0037] Furthermore, terms such as "identical" do not imply that components must be absolutely identical; minor differences are permissible. The term "perpendicular" simply means that the positional relationship between components is more perpendicular than "parallel," not that the structure must be perfectly perpendicular; a slight tilt is acceptable.

[0038] like Figure 1-8 As shown, one embodiment of the present invention provides a lens extractor with a rotating storage function. The device consists of two main parts: a reusable, sterilizable handheld unit 1 and a disposable, sterile end-effector component 3 for intraocular manipulation. The handheld unit 1 and the disposable end-effector component 3 are connected and separated quickly and reliably via a quick-release interface 2 integrating precision electrical contacts and a mechanical locking mechanism. This design ensures the stability of power and signal transmission during surgery while meeting the need for rapid replacement of consumables under strict aseptic conditions.

[0039] The handheld unit 1 encapsulates the core control unit and power source of the entire device. Its outer shell is integrally molded from high-strength engineering plastic using an injection molding process, with a non-slip medical-grade silicone layer covering the surface, forming an ergonomically streamlined grip that allows the operator to maintain a stable grip and accurately control angle and force during prolonged, delicate operations. In the upper operating area of ​​the outer shell, there are sequentially arranged clamping buttons 7 and curling buttons for triggering different action commands, as well as status indicator lights 9 for intuitive feedback on the system's operating status. Inside the handheld unit 1, a rigid internal mounting frame precision-milled from aluminum alloy securely houses the central controller 4 (the system's brain), the power module providing stable power to all electronic components, and the drive module (the core power output). The drive module specifically consists of a miniature rotary motor 5 and a miniature linear motor 6 arranged side-by-side, both fixed to the mounting frame with high-performance shock-absorbing washers and anti-loosening screws to minimize the impact of vibration during operation on operational stability. The central controller 4 is a printed circuit board integrating a high-performance microprocessor, non-volatile memory, precision motor drive circuitry, and safety control logic. It connects electrically to the clamping button 7, the curling button 8, the status indicator light 9, the micro rotary motor 5, and the micro linear motor 6 via internal multi-layer shielded cable bundles, enabling bidirectional signal communication. The multi-pin electrical connector inside the quick-release interface 2 is also connected to the central controller 4 via a flexible ribbon cable, used to transmit control commands, drive power, and receive possible simple feedback signals from the disposable end-effector 3 during coupling. The output shaft of the micro rotary motor 5 is securely connected to the proximal end of a high-strength alloy steel drive shaft 25 via a rigid first coupling 24 with high concentricity requirements. The distal end of the drive shaft 25 extends into a precision rotary coupling mechanism inside the quick-release interface 2. When the disposable end-effector 3 is engaged, this coupling mechanism transmits the rotational torque of the drive shaft 25 to the end-effector without loss. The output of the micro linear motor 6 is connected to the proximal end of a surface-hardened linear push rod 27 via a second coupling 26. The distal end of the linear push rod 27 also extends into the quick-release interface 2 and is designed with an axially movable push head.

[0040] The disposable end effector 3 is the key functional terminal for performing complex intraocular procedures. Its overall design ensures it is discarded as medical waste after a single surgical procedure, guaranteeing that each surgery begins in an absolutely sterile state. It is mechanically locked and fully electrically connected to the handheld host 1 via a quick-release interface 2. The core of the end effector 3 is a composite tubular main operating rod structure. The outer layer of this structure is an outer sheath 10, made from a thin-walled medical-grade stainless steel tube through precision drawing and laser cutting. Its outer surface undergoes high-efficiency photoelectrolytic polishing to achieve mirror-like smoothness, minimizing frictional resistance with biological tissue when passing through tiny corneal incisions. The tube tip is tapered to avoid scratching the surface of the eyeball. In the critical functional area furthest from the handheld host 1, closest to the intraocular lens, the outer sheath 10 has a symmetrically arranged rolled groove 28 extending axially along its sides, created using ultra-precision laser cutting. Each crimped groove 28 begins precisely flush with the end face of the outer sheath 10 and extends proximally for a sufficient length. The groove itself is not a simple open groove, but rather a smoothly tapering, hydrodynamically optimized arc-shaped concave channel. The curvature of this channel is rigorously calculated to gently and definitively guide and constrain the edge of the soft artificial lens optics with minimal local stress concentration, allowing it to smoothly embed and follow the channel's trajectory. The proximal end of the outer sheath 10 is tightly engaged and locked with the rotational power transmitted from the handheld host 1 via the first coupling 24 and drive shaft 25 through a high-torque rotary transmission mechanism inside the quick-release interface 2. Therefore, the rotational power generated by the micro rotary motor 5 directly drives the outer sheath 10 to rotate precisely in either the forward or reverse direction around its own central axis without loss.

[0041] The inner layer is an inner shaft tube 11, made of a thinner medical stainless steel tube, which is coaxially inserted into the center of the outer sheath tube 10. The outer diameter of the inner shaft tube 11 is precisely calculated to ensure a uniform and minute annular gap between it and the inner wall of the outer sheath tube 10. This gap ensures that the inner shaft tube 11 can slide smoothly axially inside the outer sheath tube 10, and also ensures that when the outer sheath tube 10 rotates at high speed, the inner shaft tube 11 can remain relatively stationary or move independently without interference. The distal end of the inner shaft tube 11 extends a precisely set distance beyond the opening of the outer sheath tube 10, and through its external thread, it is screwed into and firmly fixed in the internal threaded hole at the proximal center of the module base 14 of a clamping module 12, forming a rigid connection that cannot be rotated relative to each other. The proximal end of the inner shaft tube 11 is connected to a linear actuator 27 driven by a micro linear motor 6 through a second coupling 26 inside the handheld host unit 1 via a linear transmission coupling mechanism inside the quick-release interface 2. Specifically, the push head at the far end of the linear push rod 27 will be embedded in a corresponding socket at the near end of the inner shaft tube 11 during coupling, so that the linear thrust or pull generated by the micro linear motor 6 can efficiently drive the inner shaft tube 11 and the entire clamping module 12 fixed at its end to make precise linear reciprocating motion along the long axis of the device.

[0042] The clamping module 12 is the end effector that directly contacts and secures the intraocular lens. Its core function is to provide stable anchoring and perform final pull-back. Its main body is a conical module base 14, milled from biocompatible titanium alloy using a five-axis CNC machine tool. The conical design facilitates gentle pushing aside of tissues such as the iris when entering the anterior chamber, establishing an operating channel. On the conical side of the module base 14, three identical guide grooves 15 are machined at 120° intervals along the circumference. The cross-section of these guide grooves 15 is designed in a classic "T" shape. This design allows the internal slider to slide freely along the length of the groove while cleverly using the structure of the "T"-shaped head to radially restrict the slider's disengagement, ensuring the accuracy and reliability of the movement. Inside each guide groove 15, a claw hook unit 16 is precisely assembled, which can slide freely and smoothly along the length of the groove. Each claw unit 16, as an independent functional component, consists of a slider body 19, a hook-shaped claw head 20, and a connecting lug with a pin hole. The slider body 19 is made of high-strength, low-friction, and self-lubricating polyetheretherketone (PEEK) material through precision injection molding. Its shape perfectly complements and matches the "T"-shaped cross-section of the guide groove 15, achieving a tight sliding pair without wobbling. The hook-shaped claw head 20 is a miniaturized, high-hardness titanium alloy hook-shaped component, which is firmly integrated into the distal outer side of the slider body 19 using laser micro-welding technology. The side of the hook-shaped claw head 20 facing the central axis of the module base 14, i.e., the inner contact surface, is precision machined into an arc-shaped concave surface that matches the edge thickness and curvature of mainstream intraocular lenses on the market. In order to provide sufficient gripping friction while absolutely avoiding any scratches on the lens surface (especially any heparin coating or smooth polished surface), a layer of ultra-soft, highly elastic medical-grade silicone soft layer 21 is completely and firmly coated on the arc-shaped concave surface through a secondary coating molding process. On the inner side of the proximal end of the slider body 19, there is an integrally formed connecting lug with a micro-precision pin hole.

[0043] To ensure that the three claw hook units 16 perform the extension, grasping, and retraction actions in a strictly synchronized and consistent manner, an annular mounting cavity is machined at the center of the module base 14, utilizing the space formed by its conical structure. Within this cavity, a ring-shaped miniature linear actuator 17 is securely mounted using medical-grade epoxy structural adhesive. This miniature linear actuator 17 can employ a miniature piezoelectric ceramic linear motor or a miniature ball screw stepper motor module, and its annular housing has three evenly distributed linear motion output ends. Each linear output end is hinged to the corresponding claw hook unit 16 via a miniature connecting rod 18 with universal ball joints at both ends, forming a hinged connection through a miniature pin. This ball joint connection effectively compensates for minor angular deviations that may occur during movement, ensuring smooth power transmission. When the central controller 4 sends a pulse command to the micro linear actuator 17 to retract or extend, its three linear output terminals will perform linear displacement in strict synchronization. This will precisely push or pull the three claw hook units 16 through the three micro linkages 18, so that they, like well-trained fingers, will complete the axial movement of extending or retracting in their respective guide grooves 15 in strict synchronization, thereby realizing the opening and closing of the claw hooks.

[0044] Behind the clamping module 12, the distal collection tube 13 serves as the final storage container. The distal collection tube 13 is made of a section of highly transparent medical-grade polycarbonate or cyclic olefin copolymer tubing. Its superior transparency allows the surgeon to directly visually confirm, during the final critical stage of the procedure, that the curled lens has been completely and safely stored within the tube. The proximal end of the distal collection tube 13 is permanently connected to the distal outer wall of the outer sheath 10 via a stainless steel connecting ring 22. The specific assembly process involves first fitting the connecting ring 22 onto the proximal outer wall of the distal collection tube 13, and then using laser penetration welding technology to fuse the connecting ring 22, the tube wall of the distal collection tube 13, and the distal tube wall of the outer sheath 10 into a single unit. This connection method not only provides extremely high structural strength and concentricity but also achieves complete fluid sealing, preventing intraocular fluid from seeping into the instrument. The internal cavity of the distal collection tube 13 forms a clean lens storage chamber 23, the length and inner diameter of which are designed to temporarily accommodate the fully curled artificial lens. The entire disposable end-effector assembly 3 is assembled and tested in a sterile cleanroom, and after undergoing strict ethylene oxide sterilization, it is individually sealed and packaged.

[0045] In this embodiment, preoperative preparation and device connection are performed first. Following standard intraocular ophthalmic surgery procedures, the surgeon creates a tunnel-like self-closing incision approximately 2.8 mm wide at the limbus. Subsequently, a sufficient amount of ophthalmic viscoelastic agent, such as sodium hyaluronate, is injected into the anterior chamber using a blunt needle. The primary purpose is to maintain adequate surgical space and depth in the anterior chamber, while simultaneously providing physical protection and cushioning for the delicate corneal endothelial cells. The surgeon or circulating nurse opens the double-layered sterile packaging bag of the disposable end-effector component 3, removes it aseptically, aligns the interface at the proximal end of the component with the slot of the quick-release interface 2 at the front of the handheld main unit 1, and smoothly pushes it in along the axial direction until a clear mechanical locking "click" is heard. Simultaneously, the status indicator light 9 flashes green once rapidly, indicating that the electrical connection self-test has passed and the system has entered standby mode. At this moment, the miniature rotary motor 5 is connected to the rotary coupler in the quick-release interface 2 through the first coupling 24 and the drive shaft 25, thereby establishing a stable torque transmission path with the outer sheath tube 10; the miniature linear motor 6 is connected to the linear transmission mechanism in the quick-release interface 2 through the second coupling 26 and the linear push rod 27, thereby establishing a reliable linear thrust transmission path with the inner shaft tube 11.

[0046] The second step is the implantation and initial positioning of the device. The surgeon, holding the handheld unit 1 with a standard pen grip, and under high magnification of the surgical microscope, gently and steadily inserts the tip of the end effector 3—the gripping module 12 in its retracted claw position—along with the opening area of ​​the outer sheath 10 with its rolled edge groove 28, into the anterior chamber along the tunnel path of the corneal incision. Supported by the viscoelastic material, the anterior chamber maintains a stable dome-shaped space. The surgeon then fine-tunes their wrist to guide the conical head of the gripping module 12 directly above the midpoint of the upper or lower edge of the target intraocular lens's optics, preparing for grasping.

[0047] The third step is to perform the lens fixation and gripping operation. When the head of the gripping module 12 accurately reaches the predetermined gripping position at the edge of the lens, the surgeon decisively presses the gripping button 7 on the handheld host 1 with their thumb. After receiving the rising edge electrical signal command in real time, the central controller 4 immediately sends a set of preset complex motion sequence control signals of "rapid extension - contact detection - low-speed retraction - torque holding" to the micro linear actuator 17. The micro linear actuator 17 starts instantly, and its three output ends move outward linearly in sync, pushing the three claw hook units 16 along their respective guide grooves 15 through three micro linkages 18, extending smoothly and quickly away from the end collection tube 13. The extension stroke is pre-calibrated according to the lens thickness to ensure that the hook-shaped claw head 20 can completely cross the edge of the lens. After extending into position, the micro linear actuator 17 immediately reverses, and the output ends retract inward synchronously at a lower speed. During this retraction process, the soft, highly elastic silicone layer 21 on the inner side of the hook-shaped claw 20 first contacts and adheres to the edge of the crystal. As the retraction continues, the crystal edge is gently but firmly hooked and pulled towards the conical center area of ​​the module base 14, ultimately achieving a stable three-point clamping grip. Throughout the process, the central controller 4 monitors the current waveform and amplitude changes flowing through the coil of the miniature linear driver 17 in real time via a high-precision analog-to-digital converter. Initially, the current remains low when extended under no-load conditions; when the hook-shaped claw 20 contacts and begins to apply clamping force to the crystal, the load torque increases, the drive current rises significantly, and a plateau is formed. The central controller 4 has a pre-stored safe current threshold range based on a large amount of experimental data. When the real-time current value is detected to reach and stabilize within this plateau range for more than a very short debouncing time, the logic determines that "the grip is successful and the force is safe," and then stops outputting drive current to the miniature linear driver 17, causing it to enter a closed-loop holding state, locking the claw position. At the same time, a constant green light illuminates the status indicator 9, providing clear visual feedback to the operator.

[0048] The specific form of the algorithm for determining successful capture is as follows:

[0049]

[0050] The full meaning and basis for the values ​​of each symbol in the above formula are disclosed below:

[0051] This is an existential quantifier, indicating that "there is at least one starting point". The associated closed interval Indicates from Start, duration is A continuous period of time;

[0052] The debouncing time is typically 100ms. It is used to filter out instantaneous current spikes caused by transient fluctuations in tissue viscosity or electrical noise, ensuring that the judgment result is based on a stable contact state.

[0053] It is a universal quantifier, indicating that for every moment within the interval... All of these must meet the following condition, namely, that the holding current must remain stable during this period;

[0054] The operating current of the miniature linear driver 17 is sampled in real time by the central controller via an analog-to-digital converter, and is expressed in amperes (A).

[0055] The minimum safe gripping current is typically set at 0.15A. This value is derived from the sum of the no-load current of the miniature linear actuator 17 (approximately 0.05A) and the current required to generate the minimum reliable gripping force (approximately 0.10A), with an additional safety margin of 0.05A. When the current is below this value, the friction between the claw and the crystal is insufficient to resist the crystal's rebound force, posing a risk of slippage.

[0056] To ensure a safe gripping current limit, a typical setting is 0.35A. This value was determined through an in vitro pig eye experiment combined with crystal compression failure testing: when the actuator current exceeds 0.40A, the local pressure applied by the claw is close to the yield limit of the crystal material, which may lead to microcracks or permanent deformation of the crystal optics. To ensure absolute safety, 0.35A is used as the upper limit, retaining approximately 12.5% ​​safety margin.

[0057] The clamping button response algorithm process running internally in the central controller based on the above-mentioned decision logic is as follows:

[0058] Step 1: Control the miniature linear actuator 17 to extend at no-load speed The drive claw hook unit extends to its maximum stroke. Ensure that the hook-shaped claw head completely crosses the edge of the crystal;

[0059] Step 2: The drive reverses, retracting at a low speed. The grasp and retraction are performed, and the current is collected in real time at high frequency during the process. ;

[0060] Step 3: Continuously calculate the judgment function When the value is detected to become 1, the drive current output to the miniature linear actuator 17 is immediately stopped, and the current position is locked through the current closed loop to complete the gripping.

[0061] in, For rapid extension speed (typical value 2.0 mm / s). This is the maximum effective stroke of the claw hook (typical value 1.2mm). For a safe retraction speed (typical value 0.3 mm / s), the above parameters are calibrated based on the speed and force control accuracy required for clinical operation.

[0062] The fourth step involves guiding the lens edge into the curling groove and initiating passive forced curling. This is the core action of the procedure. After confirming successful clamping and that the lens is securely held on the clamping module 12, the surgeon does not immediately initiate curling. Instead, a crucial preparatory operation is performed: utilizing the limited intraocular operating space, the surgeon gently lifts and guides the opposite edge of the optical zone of the clamped lens (i.e., the side furthest from the clamping point) into the initial arc-shaped entrance of a curling groove 28 at the distal end of the outer sheath 10 by subtly shifting or rotating the handheld unit 1, and possibly with the aid of auxiliary instruments such as a lens positioning hook. The flexibility of the lens material itself allows its edge to undergo local elastic deformation to conform to the groove shape of the curling groove 28. After this guidance, the lens is essentially "set up" between the fixing point of the clamping module 12 and the traction point of the curling groove 28 of the outer sheath 10. At this point, the surgeon presses the curling button 8 with their thumb. The central controller 4 then executes a completely new automated control program.

[0063] This program strictly follows the following curl button response algorithm:

[0064] Step 1: Confirm the current status After =1, start the miniature rotary motor and make it move at the preset angular velocity. Uniform rotation; the total number of rotations N is given by the formula Confirmed, among which , The rounding up symbol;

[0065] Step 2: After the miniature rotary motor completes N revolutions, it stops immediately and enters the electromagnetic braking state to lock the angle of the outer sheath tube;

[0066] Step 3: Delay Then, start the miniature linear motor and make it move at a speed The inner shaft tube retracts linearly; retraction stroke ;

[0067] Step 4: After the inner tube reaches the target end point of the stroke, the micro linear motor stops working, completing the entire process of crystal curling and storage.

[0068] The meanings and typical values ​​of the parameters in the above algorithm are explained below:

[0069] The rotational angular velocity of the outer sheath is typically 2π rad / s (i.e., 1 revolution per second), balancing winding efficiency and force stability.

[0070] Round up to the desired number of rotations to ensure complete winding;

[0071] The floor symbol, for example =4, to prevent the crystal from not being fully entrained in certain areas due to insufficient rotation;

[0072] This refers to the nominal diameter of the optical component of the artificial lens; the standard size is 6.0 mm.

[0073] The effective winding diameter, in mm, is derived from the combined contribution of the mandrel diameter and the crystal thickness.

[0074] The outer diameter of the inner shaft tube is designed to be 1.2mm.

[0075] This is the center thickness of the crystal optics section, typically 0.3~0.5mm, with the median value of 0.4mm used in calculations;

[0076] This is the thickness increment coefficient, dimensionless, empirically taken as 0.8. It reflects the radial equivalent thickness increase ratio caused by the Poisson effect when the crystal is subjected to forced bending. <1 is because there are tiny gaps between layers during winding;

[0077] The delay of 50ms from rotational stop to linear retraction start is used to eliminate inertial vibration;

[0078] The linear retraction speed of the inner shaft tube is 1.0 mm / s, providing a smooth dragging force;

[0079] The total axial retraction stroke of the inner tube is measured in mm.

[0080] This is the thickness at the crystal edge (including the width of the cross-section at the loop root), approximately 0.25 mm. With each revolution, the axial length increases by the edge thickness, therefore... The basic axial length of the winding drum after winding is ;

[0081] To ensure safe storage, a margin of 0.8mm (range 0.5~1.0mm) is used to guarantee that the crystal is completely detached from the outer sheath and deeply inserted into the storage chamber.

[0082] The program first sends a command to the micro rotary motor 5, driving it to rotate at a preset low speed in one direction at a uniform speed. The rotational torque of the micro rotary motor 5 is efficiently transmitted to the outer sheath 10 through the first coupling 24, the drive shaft 25, and the high-precision gear set in the quick-release interface 2, driving the entire outer sheath 10 to begin rotating around its central axis. Because one edge of the crystal is firmly fixed by the claw hook unit 16 on the clamping module 12, while the other edge is already engaged in the crimped groove 28 of the rotating outer sheath 10, the crystal is instantly placed in a very special mechanical state: one end is anchored, and the other end is pulled by a rotating rigid cylinder with a guide groove. As the outer sheath 10 continues to rotate, the edge of the crystal engaged in the crimped groove 28 is forcibly and continuously rolled into the inner cavity of the outer sheath 10 along the tangential direction of the outer wall of the outer sheath 10 by the rotating groove wall. Furthermore, it naturally wraps around the outer wall of the inner shaft tube 11. Because the process of winding the tube is similar to the reverse operation of a measuring tape, the crystal is rolled back into the cavity around the intermediate shaft like a measuring tape. This "winding" process is not an active deformation of the crystal, but a passive, large-curvature plastic bending that occurs under the forced force of strong external mechanical force. The gradually tapering arc design of the edge groove 28 plays a perfect guiding and converging role, ensuring that the crystal material is smoothly, orderly, and tightly wound layer by layer on the outer wall of the inner shaft tube 11, ultimately forming a highly dense cylindrical crystal roll that is tightly attached to the outer wall of the inner shaft tube 11.

[0083] Radius of curvature of the arc-shaped cross section of the rolled edge groove The design meets the following requirements:

[0084]

[0085] in, This is the elastic modulus of the crystalline material (typical value 2.5 MPa). It is Poisson's ratio (approximately 0.45). The winding torque output by the rotary motor via the transmission chain (design value 2.0mNm). The thickness is at the crystal center. This formula is derived from the thin-plate bending theory to ensure that the channel curvature matches the crystal bending stiffness, thus avoiding crystal breakage caused by local stress concentration.

[0086] The entire curling process is stable and powerful, fundamentally overcoming the tendency of crystalline materials to elastically rebound.

[0087] Step 5: Curling completed and crystal morphology transferred. This occurs when the micro-rotary motor 5 drives the outer sheath tube 10 to rotate a preset number of times. Then, the central controller 4 instructs the miniature rotary motor 5 to stop rotating and enter electromagnetic braking mode. The required number of revolutions is as follows. The calculations have been detailed in the previous step: ;in The definitions and values ​​of all symbols have been fully disclosed.

[0088] At this point, it can be clearly observed under the surgical microscope that the originally flat, disc-shaped intraocular lens has completely detached from the capsule or suspension position and transformed into a regular cylindrical shape tightly wrapped around the outer wall of the inner tube 11. Since the curling is performed around the circumference of the outer wall of the inner tube 11, the center of the lens tube formed after curling naturally forms a hollow channel coaxial with the clamping module 12 and the inner tube 11.

[0089] Step 6: Inner tube retraction and crystal storage. After the curling action is completed, the central controller 4 starts the micro linear motor 6 after a very short delay. Upon receiving the command, the micro linear motor 6 drives the linear push rod 27 through the second coupling 26. The linear push rod 27 then pushes the inner tube 11 coupled with it, causing it to retract linearly at a uniform speed towards the proximal end. Since the clamping module 12 is rigidly fixed to the distal end of the inner tube 11 through the module base 14, and the claw hook unit 16 on the clamping module 12 still firmly grips the initial edge of the crystal, the retraction motion of the inner tube 11 generates a strong axial pulling force. This pulling force acts on the curled crystal tube, effectively dragging the entire crystal tube backward along the axial direction. The dragged crystal tube slides into the opening of the end storage tube 13, which is now stationary, and enters the crystal storage chamber 23 intact. The length and inner diameter of the crystal storage chamber 23 are carefully designed to comfortably accommodate the entire curled crystal tube. When the inner shaft tube 11 retracts to the preset limit safety position (i.e., the clamping module 12 may partially enter the storage tube), the micro linear motor 6 stops working.

[0090] Step 7: Safe Removal of the Device. After completing all the above steps and confirming that the lens is completely housed in the transparent lens storage chamber 23, the surgeon, keeping the handheld unit 1 stable, smoothly and slowly removes the entire end-effector component 3 from the eye along the same trajectory as the original incision. Because the lens shape has changed from a disc shape of approximately 6 mm in diameter to a cylindrical shape of approximately 2.5 to 3 mm in diameter, its maximum cross-sectional area is significantly reduced, allowing it to pass through the initial tiny corneal incision without obstruction, achieving truly minimally invasive and complete removal. Finally, the surgeon presses the prominent mechanical release button on the quick-release interface 2 to safely detach the used, disposable end-effector component 3, which contains the removed intraocular lens, from the handheld unit and place it in the designated medical sharps waste bin. The entire removal procedure is complete. The corneal incision usually closes watertight on its own due to its tunnel structure, requiring no sutures.

[0091] The lens extractor with a rotational storage function provided in this embodiment innovatively transforms the active deformation action of "rotational curling" into a "passive forced retraction" of the lens by the "rotating outer sheath and its curled edge groove," thus solving the fundamental physical problem of flexible material rebound. The curled edge groove structure precisely converts the rotational motion into a powerful and irreversible curling force, ensuring the tightness and completeness of the curl. Subsequently, through the independent linear retraction motion of the inner shaft tube, the formed lens roll is dragged into the storage tube, realizing the separation and coordination of actions, simplifying the mechanical burden of individual components, and improving the overall reliability of the system. This composite working mode of "rotational forced winding and forming" plus "linear axial peeling and storage" is ingeniously conceived and not obvious. It provides a new and highly creative engineering solution for the safe, complete, and controllable removal of intraocular lenses through a constant micro-incision, significantly improving the safety boundaries and operational certainty of the surgery.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A crystal retriever with a rotation storage function, characterized in that: Includes a handheld main unit and disposable end-user components that can be detachably connected via a quick-release interface; The handheld host is internally equipped with a central controller, a micro rotary motor, and a micro linear motor. The outer surface of the handheld host is provided with a clamping button, a curling button, and a status indicator light. The clamping button, the curling button, and the status indicator light are all electrically connected to the central controller. The quick-release interface is internally equipped with electrical contacts and a mechanical locking mechanism; The output end of the micro rotary motor is connected to the end effector via the quick-release interface, and the output end of the micro linear motor is connected to the end effector via the quick-release interface. The end effector assembly includes an outer sheath, an inner shaft, a clamping module, and an end storage tube; The inner shaft tube is coaxially inserted inside the outer sheath tube, the distal end of the inner shaft tube extends out of the distal end of the outer sheath tube and is fixedly connected to the clamping module, and the end storage tube is fixedly connected to the outer side of the distal end of the outer sheath tube. The proximal end of the outer sheath is connected to the output end of the micro rotary motor via the quick-release interface, and the proximal end of the inner shaft tube is connected to the output end of the micro linear motor via the quick-release interface.

2. The crystal retriever with rotation storage function according to claim 1, characterized in that, The handheld host has an internal mounting frame, on which the central controller, the micro rotary motor, and the micro linear motor are fixedly mounted. The output shaft of the micro rotary motor is connected to a drive shaft via a first coupling, and the drive shaft is connected to a rotary coupling mechanism inside the quick-release interface. The output end of the micro linear motor is connected to a linear push rod via a second coupling, and the linear push rod is connected to a linear transmission coupling mechanism inside the quick-release interface.

3. The crystal retriever with rotation storage function according to claim 1, characterized in that, The central controller is electrically connected to the micro rotary motor, the micro linear motor, and the micro linear actuator disposed in the clamping module. The central controller is used to control the micro rotary motor, the micro linear motor, and the micro linear actuator according to the instructions of the clamping button and the curling button, and to determine the gripping state by monitoring the operating current of the micro linear actuator.

4. The crystal retriever with rotation storage function according to claim 1, characterized in that, Two axially extending rolled grooves are formed on the wall of the distal end of the outer sheath; the end collection tube is a transparent tube, and the proximal end of the end collection tube is fixedly connected to the outer sheath through a connecting ring, and a crystal collection chamber is formed inside the end collection tube.

5. The crystal retriever with rotation storage function according to claim 3, characterized in that, The clamping module includes a module base, on which three guide grooves are distributed circumferentially on the side. Each guide groove contains a claw hook unit. Inside the module base is a ring-shaped micro linear actuator. The three linear output ends of the micro linear actuator are respectively hinged to the corresponding claw hook unit via micro connecting rods.

6. The crystal retriever with rotation storage function according to claim 5, characterized in that, Each of the claw hook units includes a slider body slidably disposed in the guide groove and a hook-shaped claw head fixedly disposed at the distal end of the slider body, the inner side of the hook-shaped claw head being covered with a silicone soft layer.

7. The crystal retriever with rotation storage function according to claim 2, characterized in that, The drive shaft is connected to the outer sheath via the rotary coupling mechanism within the quick-release interface, for transmitting the rotational motion of the micro rotary motor to the outer sheath; the linear push rod is connected to the inner shaft tube via the linear transmission coupling mechanism within the quick-release interface, for transmitting the linear motion of the micro linear motor to the inner shaft tube.

8. The crystal retriever with rotation storage function according to claim 6, characterized in that, The central controller is configured to: in response to the instruction of the clamping button, control the micro linear actuator to drive multiple claw hook units to move synchronously to perform gripping or releasing; in response to the instruction of the curling button, first control the micro rotary motor to drive the outer sheath to rotate, and then control the micro linear motor to drive the inner shaft to retract linearly.

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