Controlling surgical tools to perform microsurgery robotically

Abstract

Apparatus and method for performing robotic surgery on a part of a subject's body using a robotic unit (20) holding a surgical instrument (21). A processor (28) executes a process for engaging a control component tool (32) with the surgical instrument (21), such that movement of the control component tool (32) by the operator causes a corresponding movement of the robotic unit (20) with the surgical instrument (21). In response to a first input from the operator, the processor (28) disengages the control component tool (32) from the surgical instrument (21) such that movement of the control component tool (32) does not cause any movement of the surgical instrument (21), and in response to a second input from the operator, the processor re-executes the process of engaging the control component tool (32) with the surgical instrument (21). Other applications are also described.

Description

[0001] Cross-references to related applications This patent application claims priority to U.S. Provisional Patent Application No. 63 / 568,216, filed March 21, 2024, entitled “Engagement of microsurgical robotic system,” and to Levinson's U.S. Provisional Patent Application No. 63 / 698,118, filed September 24, 2024, entitled “Controlling asurgical tool,” the disclosures of which are incorporated herein by reference.

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

[0003] background Robotic surgery has significantly advanced the field of surgery by providing enhanced precision, control, and minimally invasive incisions for complex medical procedures. Over the past few decades, robot-assisted systems have been developed with a focus on improving the accuracy, safety, and effectiveness of surgical procedures across a wide range of medical specialties. However, despite these tremendous advances, certain specialized surgical areas, particularly microsurgery, still face challenges that limit the full potential of these systems.

[0004] Microsurgery involves performing highly precise surgical procedures on extremely small structures, such as blood vessels, nerves, or tissues, typically less than a few millimeters in size. These delicate operations require a combination of exceptional fine motor skills, a steady hand, and superior depth perception, while maintaining a clear and magnified view of the surgical site. Historically, microsurgery was primarily performed by human surgeons using traditional handheld instruments, heavily reliant on the operator's skill and experience. Despite the surgeon's best efforts, inherent limitations such as tremors, fatigue, and human error often compromised outcomes.

[0005] Recent advances in robotic systems have introduced various forms of assistance to overcome these challenges, including improved visualization, remote control, and the use of advanced actuators for precise motor movements. However, the adoption of robotic systems in microsurgery remains in its early stages due to the unique requirements of the procedure. Specifically, the difficulty in maintaining constant, precise instrument control over extended periods and the ability to perform a variety of movements with exceptional flexibility remain significant obstacles to the successful application of robotic systems in microsurgery.

[0006] Cataract surgery involves removing the eye's natural lens, which has become cloudy (called a cataract), and replacing it with an artificial lens. This surgery typically involves a number of standard steps that are performed in sequence.

[0007] In the initial steps, the patient's face around the eyes is disinfected (usually with an iodine solution), and the face is covered with a sterile drape, leaving only the eyes exposed. Once disinfection and draping are complete, the eyes are typically anesthetized with a local anesthetic, administered as liquid eye drops. The eyeball is then exposed using a speculum that keeps the upper and lower eyelids open. One or more (e.g., 2-3) incisions are made in the cornea, typically including at least one larger incision with a three-plane configuration. The incisions are usually made using a specialized blade called a corneal knife blade. Subsequently, another anesthetic (e.g., lidocaine) is injected into the anterior chamber of the eye through the corneal incision. Following this step, the pupil is dilated, and a viscoelastic injection is administered via the corneal incision. The viscoelastic injection is performed to stabilize the anterior chamber and help maintain intraocular pressure during the remainder of the procedure, and also to dilate the lens capsule.

[0008] In a subsequent stage known as capsulorhexis, a portion of the anterior capsule of the lens is removed using one or more tools inserted through a corneal incision. Various enhancement techniques have been developed for performing capsulorhexis, such as laser-assisted capsulorhexis, zepto-rhexis (which utilizes precision nanopulse technology), and marker-assisted capsulorhexis (where predefined markers are used to mark the cornea to indicate the desired size of the capsule opening).

[0009] Subsequently, fluid waves are typically injected through a corneal incision to dissect the outer cortex of the cataract in a step called hydrodissection. In a subsequent step called hydrodelineation, fluid waves are injected to separate the softer outer nucleus of the lens from the harder inner nucleus. In the next step, phacoemulsification is performed. First, a chopper is used to break up the lens nucleus, and then, typically, an ultrasonic phacoemulsification probe is used to break up and remove the outer fragments of the lens. When phacoemulsification is complete, the remaining lens cortex (i.e., the outer layer of the lens) and viscoelastic material are aspirated from the capsule. During phacoemulsification and aspiration, the aspirated fluid is usually replaced with a balanced salt flushing solution to maintain fluid pressure in the anterior chamber.

[0010] In some cases, if deemed necessary, the capsule is polished. An intraocular lens (IOL) is then inserted into the capsule. The IOL is typically foldable and is inserted in a folded configuration before unfolding inside the capsule. If necessary, one or more incisions are sealed by increasing pressure inside the spherical part of the eye (i.e., the eyeball), such that internal tissue presses against the external tissue of the incision, forcing the incision to close.

[0011] Overview According to some applications of this disclosure, a robotic system is provided for performing robotic surgery (e.g., microsurgery, such as intraocular surgery) on parts of a subject's body. Typically, in addition to an imaging system, one or more displays, and control unit units, the robotic system includes one or more robotic units configured to hold surgical instruments, controlled by one or more operators (e.g., healthcare professionals, such as doctors and / or nurses) via the control unit units. Typically, the robotic system includes at least one computer processor through which the system's components and operators can operatively interact with each other.

[0012] Typically, a control unit unit includes one or more control units configured to correspond to a specific robot unit in a robotic system. For example, the system may include a first robot unit and a second robot unit, and the control unit unit may include a first control unit and a second control unit. Typically, each control unit includes an arm and a control unit tool, the arm comprising multiple links connected to each other via joints (e.g., rotary or linear joints), to which the control unit tool is coupled. (Typically, the control unit tool is directly coupled to only one of the links.) A computer processor determines the XYZ position and orientation of a portion (e.g., the end effector) of the control unit tool and drives the corresponding robot unit to move the portion (e.g., the end effector) of the surgical tool held by the robot unit to track any changes in that position and orientation. Specifically, the processor calculates the corresponding coordinates of a portion (e.g., the end effector) of the surgical tool by applying a transformation to the coordinates of the portion (e.g., the end effector) of the control unit tool, thereby driving the robot unit to move the surgical tool in accordance with the operator's movement of the control unit tool.

[0013] At the start of a surgical procedure, the processor executes a process for engaging the control component tool with a surgical instrument, such that movement of the control component tool by the operator causes a corresponding movement of the robotic unit with the surgical instrument as described above. In some embodiments, this process includes displaying images of body parts and surgical instruments, overlaying icons representing the control component tool on the images, such that the position and orientation of the icons track the position and orientation of the control component tool, and engaging the control component tool with the surgical instrument in response to the operator aligning the icons with the surgical instrument in the image.

[0014] In some cases, during surgery, the operator may wish to temporarily disengage the control component tool from the surgical instrument, for example, to move the control component tool to a more convenient location within the control component tool's workspace. To meet this need, in some embodiments, the processor is configured to disengage the control component tool from the surgical instrument in response to a first input from the operator, such that movement of the control component tool does not cause any movement of the surgical instrument, and to re-engage the control component tool with the surgical instrument in response to a second input from the operator. In some embodiments, the operator provides the first input by pressing an input interface such as a button or foot pedal, and provides the second input by releasing the input interface.

[0015] In some embodiments, when the control component tool is temporarily disengaged from the surgical instrument, the operator may bring one of the links of the control component tool or linkage into contact with a surface, such that the surface supports the control component tool or linkage. After the control component tool is re-engaged with the surgical instrument, the operator continues to use the control component tool to control the surgical instrument, while the surface supports the control component tool or linkage. Advantageously, the surface helps stabilize the control component tool. Alternatively or additionally, to help stabilize the control component tool, the processor, in response to input from the operator, increases the resistance of the control component tool to the forces applied to it by the operator. In such applications, the processor typically increases the resistance of the control component tool to the forces applied to it by the operator without preventing movement of the control component tool.

[0016] In some cases, when replacing one surgical instrument with another that has a different preferred orientation (e.g., different preferred pitch), the operator changes the orientation (e.g., pitch) of the control component tool. However, given that the operator's hand position typically does not change significantly, this change in orientation usually results in a change in the position of the end effector of the control component tool. If the processor maintains the same transformation through which it transforms the control component tool coordinates to the surgical instrument coordinates, then the surgical instrument coordinates will undesirably jump.

[0017] To address this challenge, in some embodiments, the processor is configured to use different transformations for different tool types. Specifically, the processor is configured to automatically or in response to manual input identify the type of surgical tool held by the robotic unit. In response to the identified type, the processor selects a transformation from a plurality of predefined transformations. Advantageously, the predefined transformations are configured to take into account different preferred orientations for different types of surgical tools, thereby minimizing changes in the coordinates of the surgical tools when one surgical tool is replaced by another.

[0018] Other embodiments restrict the movement of the control component tool relative to a specific type of movement, such as translational movement in one or more directions, for example, to move the surgical tool away from sensitive areas of the body or to prevent the surgical tool from moving laterally into the edge of an incision. Specifically, the processor is configured to receive from the operator an input indicating that at least one type of movement of the surgical tool should be restricted, but other types of movement of the surgical tool should not be restricted. In response to the input, the processor restricts the movement of the control component tool relative to that type of movement, but does not restrict movement relative to other types of movement.

[0019] Therefore, according to some applications of this disclosure, an apparatus is provided for performing robotic surgery on a part of a subject's body using a robotic unit that holds surgical instruments, the apparatus comprising: - Control component tools; and - Processor, which is configured as follows: -- The process of engaging the control component tool with the surgical instrument is performed in such a way that movement of the control component tool by the operator causes a corresponding movement of the robotic unit with the surgical instrument: --- Displays an image showing representations of surgical instruments. --- Overlay icons representing control tools on the image, such that the position and orientation of the icons track the position and orientation of the control tools, and --- In response to the operator aligning the icon with the representation of the surgical tool in the image, the control component tool engages with the surgical tool. -- In response to the first input from the operator, the control component tool is disengaged from the surgical instrument, such that movement of the control component tool does not cause any movement of the surgical instrument, and -- In response to a second input from the operator, the process of engaging the control component tool with the surgical instrument is re-executed.

[0020] In some embodiments, the processor is configured to display a representation of a surgical tool by displaying an icon representing a surgical tool.

[0021] In some embodiments, the processor is configured to display a representation of surgical instruments by displaying images of the surgical instruments.

[0022] In some embodiments, the processor is configured to display a representation of surgical instruments by displaying images of body parts and surgical instruments.

[0023] In some embodiments, surgical instruments include ophthalmic surgical instruments.

[0024] In some embodiments, the device further includes a plurality of links connected to each other via one or more joints and connected to a control component tool. Furthermore, the processor is configured to re-execute the process of engaging the control component tool with the surgical instrument after the operator has brought one of the links of the control component tool or linkage into contact with the surface, such that when the control component tool is re-engaged with the surgical instrument, the surface supports one of the links of the control component tool or linkage.

[0025] In some embodiments, the device further includes an input interface, and an operator provides a first input by pressing the input interface and a second input by releasing the input interface.

[0026] In some embodiments, the input interface is selected from the group of input interfaces consisting of buttons and foot pedals.

[0027] In some embodiments, the input interface includes buttons located on the control component tool.

[0028] According to some embodiments of this disclosure, a method for performing robotic surgery on a part of a subject's body using a robotic unit that holds surgical instruments is also provided, the method comprising: - The process of engaging the control component tool with the surgical instrument is performed in such a way that movement of the control component tool by the operator causes a corresponding movement of the robotic unit with the surgical instrument: -- Displays an image showing representations of surgical instruments. -- Overlay icons representing control tools on the image, such that the position and orientation of the icons track the position and orientation of the control tools, and -- In response to the operator aligning the icon in the image with the surgical instrument, the control component tool engages with the surgical instrument; - In response to the first input from the operator, the control component tool is disengaged from the surgical instrument, such that movement of the control component tool does not cause any movement of the surgical instrument; and - In response to a second input from the operator, the process of engaging the control component tool with the surgical instrument is re-executed.

[0029] In some embodiments, displaying an image representing a surgical instrument includes displaying icons representing the surgical instrument.

[0030] In some embodiments, an image showing a representation of surgical tools includes an image showing the surgical tools.

[0031] In some embodiments, images showing representations of surgical instruments include images showing parts of the body and surgical instruments.

[0032] In some embodiments, surgical instruments include ophthalmic surgical instruments.

[0033] In some embodiments, The control component is tool-connected to multiple links, which are interconnected via one or more joints, and Re-engaging the control component tool with the surgical instrument involves re-engaging the control component tool with the surgical instrument after the operator has brought one of the links of the control component tool or linkage into contact with the surface, such that when the control component tool is re-engaged with the surgical instrument, the surface supports one of the links of the control component tool or linkage.

[0034] In some embodiments, the operator provides a first input by pressing the input interface and a second input by releasing the input interface.

[0035] In some embodiments, the input interface is selected from the group of input interfaces consisting of buttons and foot pedals.

[0036] In some embodiments, the input interface includes buttons located on the control component tool.

[0037] According to some embodiments of this disclosure, a computer software product is also provided, comprising a tangible, non-transitory computer-readable medium storing program instructions that, when read by a processor, cause the processor to perform robotic surgery on a part of a subject's body using a robotic unit holding surgical instruments in such a way that: - The process of engaging the control component tool with the surgical instrument is performed in such a way that movement of the control component tool by the operator causes a corresponding movement of the robotic unit with the surgical instrument: -- Displays an image showing representations of surgical instruments. -- Overlay icons representing control tools on the image, such that the position and orientation of the icons track the position and orientation of the control tools, and -- In response to the operator aligning the icon in the image with the surgical instrument, the control component tool engages with the surgical instrument. - In response to the first input from the operator, the control component tool is disengaged from the surgical instrument, such that movement of the control component tool does not cause any movement of the surgical instrument; and - In response to a second input from the operator, the process of engaging the control component tool with the surgical instrument is re-executed.

[0038] In some embodiments, displaying an image representing a surgical instrument includes displaying icons representing the surgical instrument.

[0039] In some embodiments, an image showing a representation of surgical tools includes an image showing the surgical tools.

[0040] In some embodiments, the image showing a representation of surgical instruments includes images showing parts of the body and the surgical instruments.

[0041] In some embodiments, surgical instruments include ophthalmic surgical instruments.

[0042] In some embodiments, The control component is tool-connected to multiple links, which are interconnected via one or more joints, and Re-engaging the control component tool with the surgical instrument involves re-engaging the control component tool with the surgical instrument after the operator has brought one of the links of the control component tool or linkage into contact with the surface, such that when the control component tool is re-engaged with the surgical instrument, the surface supports one of the links of the control component tool or linkage.

[0043] In some embodiments, the operator provides a first input by pressing the input interface and a second input by releasing the input interface.

[0044] In some embodiments, the input interface is selected from the group of input interfaces consisting of buttons and foot pedals.

[0045] In some embodiments, the input interface includes buttons located on the control component tool.

[0046] According to some embodiments of this disclosure, an apparatus is also provided for performing robotic surgery on a part of a subject's body using a robotic unit that holds surgical instruments, the apparatus comprising: - Multiple links that are connected to each other via one or more joints; - A control component tool that is connected to a linkage; and - Processor, which is configured as follows: -- This engages the control component tool with the surgical instrument, so that the operator's movement of the control component tool causes a corresponding movement of the robotic unit towards the surgical instrument. -- In response to the first input from the operator, the control component tool is disengaged from the surgical instrument, such that movement of the control component tool does not cause any movement of the surgical instrument, and -- In response to a second input from the operator, after the operator contacts one of the control component tools or links with the surface, the control component tool is re-engaged with the surgical instrument, such that the surface supports one of the control component tools or links.

[0047] In some embodiments, the surface is horizontal.

[0048] In some embodiments, one of the links of the control component tool or the other is supported by a surface, while the operator’s hand holding the control component tool is supported by another surface.

[0049] In some embodiments, the processor is also configured to drive the robotic unit after the control component tool and the surgical tool have re-engaged, to move the surgical tool in a manner corresponding to the movement of the control component tool while supporting one of the links on the surface.

[0050] In some embodiments, the movement of the control component tool is not surface-constrained even when the surface supports one of the links of the control component tool or the link.

[0051] In some embodiments, One of the links in the control component tool or linkage includes a compression spring and a retractable portion connected to the compression spring, and The surface supports a link of the control component tool or linkage at the retractable portion, such that when the link of the control component tool or linkage is pushed against the surface, the retractable portion retracts and the spring is compressed.

[0052] In some embodiments, The control component tool is installed on the top of one of the links, and The retractable part is located at the bottom end of one of the links.

[0053] In some embodiments, the device further includes a surface to which the linkage is mounted.

[0054] In some embodiments, the retractable portion is positioned at the end of the control component tool.

[0055] In some embodiments, the device further includes a surface and a compression spring, the surface being mounted to the compression spring such that when a link of the control component tool or linkage is pushed against the surface, the surface retracts and the spring is compressed.

[0056] According to some embodiments of this disclosure, a method for performing robotic surgery on a part of a subject's body using a robotic unit that holds surgical instruments is also provided, the method comprising: The processor engages the control component tool, which is connected to multiple links, with the surgical instrument. The multiple links are connected to each other via one or more joints, so that the operator’s movement of the control component tool causes the robot unit to move the surgical instrument accordingly. In response to the first input from the operator, the control component tool is disengaged from the surgical instrument, such that movement of the control component tool does not cause any movement of the surgical instrument; and In response to a second input from the operator, after the operator contacts one of the control component tools or links with the surface, the control component tool is re-engaged with the surgical instrument, such that the surface supports one of the control component tools or links.

[0057] In some embodiments, the surface is horizontal.

[0058] In some embodiments, one of the links of the control component tool or the other is supported by a surface, while the operator’s hand holding the control component tool is supported by another surface.

[0059] In some embodiments, the method further includes: after the control component tool and the surgical tool are re-engaged, driving the robotic unit to move the surgical tool in a manner corresponding to the movement of the control component tool, while surface-supporting one of the links of the control component tool or the linkage.

[0060] In some embodiments, the movement of the control component tool is not surface-constrained even when the surface supports one of the links of the control component tool or the link.

[0061] In some embodiments, One of the links in the control component tool or linkage includes a compression spring and a retractable portion connected to the compression spring, and The surface supports a link of the control component tool or linkage at the retractable portion, such that when the link of the control component tool or linkage is pushed against the surface, the retractable portion retracts and the spring is compressed.

[0062] In some embodiments, The control component tool is installed on the top of one of the links, and The retractable part is located at the bottom end of one of the links.

[0063] In some embodiments, the link is mounted to the surface.

[0064] In some embodiments, the retractable portion is positioned at the end of the control component tool.

[0065] In some embodiments, the surface is mounted to a compression spring such that when one of the links in the control component tool or linkage is pushed against the surface, the surface retracts and the spring is compressed.

[0066] According to some embodiments of this disclosure, a computer software product is also provided, comprising a tangible, non-transitory computer-readable medium storing program instructions that, when read by a processor, cause the processor to perform robotic surgery on a part of a subject's body using a robotic unit holding surgical instruments in such a way that: The control component tool, which is connected to multiple links, is engaged with a surgical instrument. The multiple links are connected to each other via one or more joints, such that movement of the control component tool caused by the operator causes a corresponding movement of the surgical instrument caused by the robotic unit. In response to the first input from the operator, the control component tool is disengaged from the surgical instrument, such that movement of the control component tool does not cause any movement of the surgical instrument; and In response to a second input from the operator, after the operator contacts one of the control component tools or links with the surface, the control component tool is re-engaged with the surgical instrument, such that the surface supports one of the control component tools or links.

[0067] In some embodiments, the surface is horizontal.

[0068] In some embodiments, one of the links of the control component tool or the other is supported by a surface, while the operator’s hand holding the control component tool is supported by another surface.

[0069] In some embodiments, the instructions also cause the processor to drive the robotic unit after the control component tool has re-engaged with the surgical tool, to move the surgical tool in a manner corresponding to the movement of the control component tool while supporting one of the links on the surface.

[0070] In some embodiments, the movement of the control component tool is not surface-constrained even when the surface supports one of the links of the control component tool or the link.

[0071] In some embodiments, One of the links in the control component tool or linkage includes a compression spring and a retractable portion connected to the compression spring, and The surface supports a link of the control component tool or linkage at the retractable portion, such that when the link of the control component tool or linkage is pushed against the surface, the retractable portion retracts and the spring is compressed.

[0072] In some embodiments, The control component tool is installed on the top of one of the links, and The retractable part is located at the bottom end of one of the links.

[0073] In some embodiments, the link is mounted to the surface.

[0074] In some embodiments, the retractable portion is positioned at the end of the control component tool.

[0075] In some embodiments, the surface is mounted to a compression spring such that when one of the links in the control component tool or linkage is pushed against the surface, the surface retracts and the spring is compressed.

[0076] According to some embodiments of this disclosure, an apparatus is also provided for performing robotic surgery on a part of a subject's body using a robotic unit that holds surgical instruments, the apparatus comprising: - Control component tools; and - Processor, which is configured as follows: -- Identify the type of the surgical instrument. -- In response to identifying the type, select a transformation from multiple predefined transformations, and -- By applying the selected transformation to the coordinates of the control component tool to calculate the corresponding coordinates of the surgical tool, the robot unit is driven to move the surgical tool in a manner corresponding to the operator's movement of the control component tool.

[0077] In some embodiments, surgical instruments include ophthalmic surgical instruments.

[0078] In some embodiments, the predefined transformations include corresponding translations that are different from each other.

[0079] In some embodiments, the translations along the vertical axis are different from each other.

[0080] In some embodiments, the processor is configured to apply a selected transformation to the coordinates of the end of the control component tool to calculate the corresponding coordinates of the end of the surgical tool.

[0081] In some embodiments, a predefined transformation maps different corresponding coordinates of the control component tool to the same coordinates of the surgical tool.

[0082] In some embodiments, the predefined transformations correspond to different orientations in which the surgical instruments are held.

[0083] In some embodiments, the predefined transformations correspond to different pitches in which surgical instruments are held during surgical procedures.

[0084] In some embodiments, the processor is configured to select one of a predefined transformation in response to the surgical tool being non-rectangular versus the surgical tool being rectangular.

[0085] In some embodiments, the non-straight type is selected from the group consisting of the following types: ophthalmic nucleus splitters and clamping forceps.

[0086] In some embodiments, the straight type is selected from the group consisting of: intraocular syringes and phacoemulsification handheld devices.

[0087] In some embodiments, the processor is also configured to perform the following operations before identifying the type of surgical instrument: By applying another predefined transformation to the coordinates of the control component tool to calculate the corresponding coordinates of the surgical tool, the robot unit is driven to move another surgical tool in a manner corresponding to the movement of the control component tool. Disengage the control component tool from another surgical instrument so that movement of the control component tool does not cause any movement of the other surgical instrument, and The processor is configured to identify the type of surgical tool in response to the replacement of another surgical tool with another surgical tool when the control component tool is disengaged from it.

[0088] In some embodiments, the application of the selected transformation reduces the required movement of the control component tool, relative to the case where another of the predefined transformations is applied after a surgical tool replaces another surgical tool.

[0089] According to some embodiments of this disclosure, a method for performing robotic surgery on a part of a subject's body using a robotic unit that holds surgical instruments is also provided, the method comprising: The processor identifies the type of surgical instrument; In response to the identification type, the processor selects a transformation from multiple predefined transformations; and By applying a selected transformation to the coordinates of the control component tool to calculate the corresponding coordinates of the surgical tool, the robot unit is driven to move the surgical tool in a manner corresponding to the operator's movement of the control component tool.

[0090] In some embodiments, surgical instruments include ophthalmic surgical instruments.

[0091] In some embodiments, the predefined transformations include corresponding translations that are different from each other.

[0092] In some embodiments, the translations along the vertical axis are different from each other.

[0093] In some embodiments, applying the selected transformation includes applying the selected transformation to the coordinates of the control component tool tip to calculate the corresponding coordinates of the surgical tool tip.

[0094] In some embodiments, a predefined transformation maps different corresponding coordinates of the control component tool to the same coordinates of the surgical tool.

[0095] In some embodiments, the predefined transformations correspond to different orientations in which surgical instruments are held during surgical procedures.

[0096] In some embodiments, the predefined transformations correspond to different pitches in which surgical instruments are held during surgical procedures.

[0097] In some embodiments, selecting a transformation includes selecting one of a predefined transformation in response to the surgical instrument being non-straight versus being straight.

[0098] In some embodiments, the non-straight type is selected from the group consisting of the following types: ophthalmic nucleus splitters and clamping forceps.

[0099] In some embodiments, the straight type is selected from the group consisting of the following: intraocular syringes and phacoemulsification handheld devices.

[0100] In some embodiments, the method further includes performing the following operations before identifying the type of surgical instrument: By applying another coordinate from a predefined transformation to the control component tool to calculate the corresponding coordinates of the surgical tool, the robot unit is driven to move another surgical tool in a manner corresponding to the movement of the control component tool; and This disengages the control component tool from another surgical instrument, ensuring that movement of the control component tool does not cause any movement of the other surgical instrument. Identifying the type of surgical tool includes identifying the type of surgical tool in response to the replacement of another surgical tool by the surgical tool when the control component tool is disengaged from another surgical tool.

[0101] In some embodiments, the application of the selected transformation reduces the required movement of the control component tool, relative to the case where another of the predefined transformations is applied after a surgical tool replaces another surgical tool.

[0102] According to some embodiments of this disclosure, a computer software product is also provided, comprising a tangible, non-transitory computer-readable medium storing program instructions that, when read by a processor, cause the processor to perform robotic surgery on a part of a subject's body using a robotic unit holding surgical instruments in such a way that: Identify the type of surgical instruments. In response to the identified type, a transformation is selected from multiple predefined transformations, and By applying a selected transformation to the coordinates of the control component tool to calculate the corresponding coordinates of the surgical tool, the robot unit is driven to move the surgical tool in a manner corresponding to the operator's movement of the control component tool.

[0103] In some embodiments, surgical instruments include ophthalmic surgical instruments.

[0104] In some embodiments, the predefined transformations include corresponding translations that are different from each other.

[0105] In some embodiments, the translations along the vertical axis are different from each other.

[0106] In some embodiments, the instructions cause the processor to apply a selected transformation to the coordinates of the end of the control component tool to calculate the corresponding coordinates of the end of the surgical tool.

[0107] In some embodiments, a predefined transformation maps different corresponding coordinates of the control component tool to the same coordinates of the surgical tool.

[0108] In some embodiments, the predefined transformations correspond to different orientations in which surgical instruments are held during surgical procedures.

[0109] In some embodiments, the predefined transformations correspond to different pitches in which surgical instruments are held during surgical procedures.

[0110] In some embodiments, the instructions cause the processor to select one of a predefined transformation in response to the surgical tool being non-rectangular versus the surgical tool being rectangular.

[0111] In some embodiments, the non-straight type is selected from the group consisting of the following types: ophthalmic nucleus splitters and clamping forceps.

[0112] In some embodiments, the straight type is selected from the group consisting of the following: intraocular syringes and phacoemulsification handheld devices.

[0113] In some embodiments, the instructions further cause the processor to perform the following operations before identifying the type of surgical instrument: By applying another predefined transformation to the coordinates of the control component tool to calculate the corresponding coordinates of the surgical tool, the robot unit is driven to move another surgical tool in a manner corresponding to the movement of the control component tool. Disengage the control component tool from another surgical instrument so that movement of the control component tool does not cause any movement of the other surgical instrument, and The instruction causes the processor to identify the type of surgical tool in response to the replacement of another surgical tool with another surgical tool when the control component tool is disengaged from it.

[0114] In some embodiments, the application of the selected transformation reduces the required movement of the control component tool, relative to the case where another of the predefined transformations is applied after a surgical tool replaces another surgical tool.

[0115] According to some embodiments of this disclosure, an apparatus is also provided for performing robotic surgery on a part of a subject's body using a robotic unit that holds surgical instruments, the apparatus comprising: - Control component tools; and - Processor, which is configured as follows: -- The robotic unit moves the surgical instruments in a manner that corresponds to the operator's movement of the control components. -- Receive input from the operator, and -- In response to input, increase the resistance of the control component tool to the force applied to the control component tool by the operator, without prohibiting movement.

[0116] In some embodiments, the device further includes an input interface by which an operator provides input by pressing the input interface.

[0117] In some embodiments, the input interface is selected from the group of input interfaces consisting of buttons and foot pedals.

[0118] In some embodiments, the input interface includes buttons located on the control component tool.

[0119] In some embodiments, surgical instruments include ophthalmic surgical instruments.

[0120] In some embodiments, the control component tool is held by the operator's non-dominant hand.

[0121] In some embodiments, the device further includes another control component tool held by the operator's first hand, and the processor is configured to increase resistance when the operator's second hand moves the other control component tool.

[0122] In some embodiments, the device further includes: Multiple links, which are interconnected via one or more joints and connected to a control component tool; and A corresponding motor, which is operably connected to the joint, The processor is configured to increase resistance by increasing the reaction force applied to the joint by the motor.

[0123] According to some embodiments of this disclosure, a method for performing robotic surgery on a part of a subject's body using a robotic unit that holds surgical instruments is also provided, the method comprising: The robotic unit moves the surgical instruments in a manner that corresponds to the operator's movement of the control components. Receive input from the operator; and In response to input, the resistance of the control component tool to the force applied to the control component tool by the operator is increased, without prohibiting movement.

[0124] In some embodiments, the operator provides input by pressing an input interface.

[0125] In some embodiments, the input interface is selected from the group of input interfaces consisting of buttons and foot pedals.

[0126] In some embodiments, the input interface includes buttons located on the control component tool.

[0127] In some embodiments, surgical instruments include ophthalmic surgical instruments.

[0128] In some embodiments, the control component tool is held by the operator's non-dominant hand.

[0129] In some embodiments, the control component tool is held by the operator's first hand, and increasing resistance includes increasing resistance while the operator's second hand moves another control component tool.

[0130] In some embodiments, The control component is connected to multiple links, which are interconnected via one or more joints. The corresponding motor is operably connected to the joint, and Increasing resistance can be achieved by increasing the reaction force applied to the joint by the motor.

[0131] According to some embodiments of this disclosure, a computer software product is also provided, comprising a tangible, non-transitory computer-readable medium storing program instructions that, when read by a processor, cause the processor to perform robotic surgery on a part of a subject's body using a robotic unit holding surgical instruments in such a way that: The robotic unit moves the surgical instruments in a manner that corresponds to the operator's movement of the control components. Receive input from the operator, and In response to input, the resistance of the control component tool to the force applied to the control component tool by the operator is increased, without prohibiting movement.

[0132] In some embodiments, the operator provides input by pressing an input interface.

[0133] In some embodiments, the input interface is selected from the group of input interfaces consisting of buttons and foot pedals.

[0134] In some embodiments, the input interface includes buttons located on the control component tool.

[0135] In some embodiments, surgical instruments include ophthalmic surgical instruments.

[0136] In some embodiments, the control component tool is held by the operator's non-dominant hand.

[0137] In some embodiments, the control component tool is held by the operator's first hand, and increasing resistance includes increasing resistance while the operator's second hand moves another control component tool.

[0138] In some embodiments, The control component is connected to multiple links, which are interconnected via one or more joints. The corresponding motor is operably connected to the joint, and Increasing resistance can be achieved by increasing the reaction force applied to the joint by the motor.

[0139] According to some embodiments of this disclosure, an apparatus is also provided for performing robotic surgery on a part of a subject's body using a robotic unit that holds surgical instruments, the apparatus comprising: - Control component tools; and - Processor, which is configured as follows: -- The robotic unit moves the surgical instruments in a manner that corresponds to the operator's movement of the control components. -- Receive input from the operator indicating that at least one type of movement of the surgical instrument should be restricted, while other types of movement of the surgical instrument are not restricted, and -- In response to this input, restrict the movement of the control component tool relative to this movement type, but do not restrict the movement of the control component tool relative to other movement types.

[0140] In some embodiments, the device further includes an input interface, and the operator provides input by pressing the input interface.

[0141] In some embodiments, the input interface is selected from the group of input interfaces consisting of buttons and foot pedals.

[0142] In some embodiments, the input interface includes buttons located on the control component tool.

[0143] In some embodiments, surgical instruments include ophthalmic surgical instruments.

[0144] In some embodiments, the device further includes: Multiple links, which are interconnected via one or more joints and connected to a control component tool; and The corresponding motor, which is operably connected to the joint, Furthermore, the processor is configured to limit movement by increasing the reaction force applied to the joint by the motor.

[0145] In some embodiments, the processor is configured to restrict movement by disallowing movement of a particular type.

[0146] In some embodiments, the control component tool has multiple degrees of freedom before movement is restricted, and the processor is configured to restrict the movement of the control component tool relative to at least one degree of freedom.

[0147] In some embodiments, the control component tool has six degrees of freedom before movement is restricted.

[0148] In some embodiments, the processor is configured to restrict translational movement of the control component tool in at least one direction, but not to restrict any rotational movement of the control component tool.

[0149] In some embodiments, the orientation is defined relative to the orientation of the control component tool.

[0150] In some embodiments, the direction is along the longitudinal axis of the control component tool.

[0151] In some embodiments, the processor is configured to restrict all translational movements.

[0152] In some embodiments, the processor is configured to inhibit the surgical instruments from moving deeper into parts of the subject's body by restricting movement.

[0153] In some embodiments, the body includes the subject's eyes.

[0154] In some embodiments, the processor is configured to inhibit the movement of surgical instruments into the edge of an incision within the subject's body by restricting movement.

[0155] In some embodiments, the incision includes a corneal incision.

[0156] According to some embodiments of this disclosure, a method for performing robotic surgery on a part of a subject's body using a robotic unit that holds surgical instruments is also provided, the method comprising: The robotic unit moves the surgical instruments in a manner that corresponds to the operator's movement of the control components. Receives input from the operator instructing that at least one type of movement of the surgical instrument should be restricted, while other types of movement of the surgical instrument are not restricted; and In response to this input, the movement of the control component tool is restricted relative to this movement type, but the movement of the control component tool relative to other movement types is not restricted.

[0157] In some embodiments, the operator provides input by pressing an input interface.

[0158] In some embodiments, the input interface is selected from the group of input interfaces consisting of buttons and foot pedals.

[0159] In some embodiments, the input interface includes buttons located on the control component tool.

[0160] In some embodiments, surgical instruments include ophthalmic surgical instruments.

[0161] In some embodiments, The control component is connected to multiple links, which are interconnected via one or more joints. The corresponding motor is operably connected to the joint, and Limiting movement involves increasing the reaction force applied to the joint by the motor.

[0162] In some embodiments, restricting movement includes disallowing movement relative to the movement type.

[0163] In some embodiments, the control component tool has multiple degrees of freedom before restricting movement, and restricting the movement of the control component tool includes restricting the movement of the control component tool relative to at least one degree of freedom.

[0164] In some embodiments, the control component tool has six degrees of freedom before movement is restricted.

[0165] In some embodiments, limiting movement includes limiting translational movement of the control component tool in at least one direction, without limiting any rotational movement of the control component tool.

[0166] In some embodiments, the orientation is defined relative to the orientation of the control component tool.

[0167] In some embodiments, the direction is along the longitudinal axis of the control component tool.

[0168] In some embodiments, limiting translational movement includes limiting all translational movements.

[0169] In some embodiments, the method includes restricting movement to prevent surgical instruments from moving deeper into parts of the subject's body.

[0170] In some embodiments, the body includes the subject's eyes.

[0171] In some embodiments, the method includes preventing surgical instruments from moving into the edge of an incision inside the subject's body by restricting movement.

[0172] In some embodiments, the incision includes a corneal incision.

[0173] According to some embodiments of this disclosure, a computer software product is also provided, comprising a tangible, non-transitory computer-readable medium storing program instructions that, when read by a processor, cause the processor to perform robotic surgery on a part of a subject's body using a robotic unit holding surgical instruments in such a way that: The robotic unit moves the surgical instruments in a manner that corresponds to the operator's movement of the control components. Receives input from the operator instructing that at least one type of movement of the surgical instrument should be restricted, without restricting other types of movement of the surgical instrument, and In response to this input, the movement of the control component tool is restricted relative to this movement type, but the movement of the control component tool relative to other movement types is not restricted.

[0174] According to some embodiments of the present disclosure, a device is further provided for performing surgery on a part of a patient's body using a surgical instrument with an end effector, the device being used in conjunction with a robotic unit configured to move the surgical instrument, the device comprising: - A control unit unit, comprising: -- A control component tool configured to be moved by an operator and having an end cap defined; and -- An inertial measurement unit (IMU) comprising at least one position sensor selected from the group consisting of: a triaxial accelerometer, a triaxial gyroscope, and a triaxial magnetometer, the IMU being configured to generate IMU data indicating the orientation of the end effector of a control component tool; and - Computer processor, the computer processor is configured as follows: -- The position and orientation of the end effector of the control component tool are determined based on data received from the inertial measurement unit from the position sensor. -- The robotic unit moves the end of the surgical instrument within a portion of the patient's body in a manner corresponding to the movement of the end of the control component tool, and -- Recalibrate the inertial measurement unit in response to the control component tool docking with a known orientation within the control component unit.

[0175] According to some embodiments of this disclosure, a method for performing surgery on a part of a patient's body using a surgical instrument with a distal end is also provided, the method being used in conjunction with: - A robotic unit configured to move surgical tools; - A control unit unit, comprising: --Control component tool, which is configured to be moved by the operator and which defines an end effector, and -- An inertial measurement unit (IMU) comprising at least one position sensor selected from the group consisting of: a triaxial accelerometer, a triaxial gyroscope, and a triaxial magnetometer, the IMU being configured to generate IMU data indicating the orientation of the end effector of a control component tool. The method includes: Using a computer processor, the position and orientation of the tool's end effector are determined based on data received from the position sensor by the inertial measurement unit. The robotic unit moves the end of the surgical instrument within a portion of the patient's body in a manner corresponding to the movement of the end of the control component tool, and The inertial measurement unit is recalibrated in response to the control component tool being docked within the control component unit in a known orientation.

[0176] According to some embodiments of this disclosure, a computer software product is also provided for use with the following: - A robotic unit configured to move surgical instruments with end effectors, and - A control unit unit, comprising: -- A control component tool configured to be moved by an operator and defining an end effector, and -- An inertial measurement unit (IMU) comprising at least one position sensor selected from the group consisting of: a triaxial accelerometer, a triaxial gyroscope, and a triaxial magnetometer, the IMU being configured to generate IMU data indicating the orientation of the end effector of a control component tool. Computer software products include tangible, non-transitory, computer-readable media in which program instructions are stored, which, when read by a processor, cause the processor to perform surgery on a part of a patient's body using surgical instruments: - The position and orientation of the end effector of the control component tool are determined based on data received from the inertial measurement unit from the position sensor. - The drive robot unit moves the end of the surgical instrument within a portion of the patient's body in a manner corresponding to the movement of the end of the control component tool, and - Recalibrate the inertial measurement unit in response to the control component tool docking with a known orientation within the control component unit.

[0177] According to some embodiments of this disclosure, a device is further provided for performing surgery on a patient's eye using two or more tools, the device comprising: A first control unit and a second control unit, the first control unit being configured to be operated by a first hand of an operator, and the second control unit being configured to be operated by a second hand of an operator, the first control unit and the second control unit being positioned relative to each other in a given configuration; A first robotic unit and a second robotic unit, the first robotic unit being configured to hold a first tool among two or more tools, the second robotic unit being configured to hold a second tool among two or more tools, the first robotic unit and the second robotic unit corresponding to a first control unit and a second control unit, respectively, the first robotic unit being positioned in a non-standard position relative to the patient's eye, such that the first robotic unit and the second robotic unit are positioned relative to each other in a configuration different from a given configuration; and At least one computer processor is configured to process inputs to each of the first and second control units in order to generate outputs at the corresponding robot unit. The computer processor is configured to convert inputs from an operator regarding movement and motion provided to the first control unit within the tool reference frame of the first control unit into corresponding movement and motion of the first robot unit within the reference frame of the first robot unit.

[0178] In some embodiments, the first robotic unit is configured to insert the first tool into the patient's eye from a position below the patient's eye.

[0179] In some embodiments, the first robotic unit is configured to insert a first tool into the patient's eye via an incision in the cornea of ​​the patient's eye, the incision being configured to treat corneal astigmatism.

[0180] This disclosure will be more fully understood from the following detailed description of embodiments thereof, taken in conjunction with the accompanying drawings, in which: Attached Figure Description

[0181] Figure 1A and Figure 1B This is a schematic diagram of a robotic system for use in some applications of this disclosure, the robotic system being configured for use in microsurgery (e.g., intraocular surgery); Figure 2A This is a schematic diagram of a display for some applications of this disclosure, showing a surgical instrument positioned laterally relative to the patient's cornea; Figure 2B This is a schematic diagram of a display according to some applications of the present disclosure, which shows an enhanced surgical tool overlaid on a laterally placed surgical instrument, such that the end of the enhanced surgical tool is positioned near the end of the surgical instrument. Figure 2C and Figure 2D This is a schematic diagram of a display for some applications of the present disclosure, showing an enhanced control component tool positioned to cover an enhanced surgical tool in order to engage a first control component tool with a robotic system; Figure 2E This is a schematic diagram of a display according to some applications of the present disclosure, which shows a surgical instrument placed above the patient's cornea; Figure 2F This is a schematic diagram of a display according to some applications of the present disclosure, which shows an enhanced surgical instrument overlaid on a surgical instrument placed above it, such that the end of the enhanced surgical instrument is positioned near the end of the surgical instrument. Figure 2G and Figure 2H This is a schematic diagram of a display for some applications of the present disclosure, showing an enhanced control component tool positioned to cover an enhanced surgical tool in order to engage a second control component tool with a robotic system; Figure 2I This is a schematic diagram of a display for some applications of the present disclosure, showing the enhanced control component tool moving away from the enhanced surgical tool in order to disengage the control component tool from the robotic system; Figure 3A This is a schematic diagram of a robotic system marked with a cube according to some applications of this disclosure, the cube indicating the workspace of control components and surgical instruments for illustrative purposes; Figure 3B These are schematic diagrams of robot systems based on some applications of this disclosure, with reference frames used for illustrative purposes. Figure 4A , Figure 4B , Figure 4C and Figure 4DThis is a schematic diagram of a control component unit for some applications of this disclosure; Figure 5A and Figure 5B This is a schematic diagram of a workstation according to some embodiments of the present disclosure; Figure 6 The illustration schematically shows the use of tool type-specific variations according to some embodiments of this disclosure; and Figure 7 This is a flowchart of controlling surgical instruments using tool-type-specific transformations according to some embodiments of the present disclosure.

[0182] Detailed description Now for reference Figure 1A and Figure 1B , Figure 1A and Figure 1B This is a schematic diagram of a robotic system 10 for some applications of this disclosure, configured for microsurgical procedures, such as intraocular surgery. Typically, when used for intraocular surgery, the robotic system 10 includes one or more robotic units 20 and an imaging system 22, the robotic units 20 being configured to hold a tool 21. The system 10 also includes one or more displays 24 and a control unit 26 (e.g., a control unit including a pair of control components, such as...). Figure 1A (As shown in the enlarged portion), one or more displays 24 and control unit 26 are typically located at workstation 84. Using control unit 26, one or more operators 25 (e.g., healthcare professionals, such as physician 25A and / or nurse 25B) control robot unit 20. Typically, robot system 10 includes one or more computer processors 28, via which the system's components and operators 25 can operatively interact with each other.

[0183] Figure 1A and Figure 1B Different configurations of a robotic system 10 configured for ophthalmic surgery are shown. As illustrated, in... Figure 1A In the configuration shown, the first robot unit and the second robot unit are positioned at corresponding lateral positions (i.e., left and right) relative to the operated eye, such that the tool 21 held by the robot unit is positioned at approximately 180 degrees to each other. Figure 1B The configuration shown illustrates a first robotic unit positioned laterally relative to the eye and a second robotic unit positioned above the eye, such that the tool 21 held by the robotic units is set at approximately 90 degrees to each other. (In the context of ophthalmic surgery,) Figure 1BThe lateral position shown is referred to as the "temporal" position. Therefore, the terms "lateral" and "temporal" are used interchangeably in this application. In some cases (not shown), the first robotic unit is positioned laterally relative to the eye, and the second robotic unit is positioned below the eye, such that the tool 21 held by the robotic units is positioned at approximately 90 degrees to each other. Generally, the scope of this disclosure includes the use of any number of robotic units placed relative to any number of corresponding positions relative to the patient, and Figure 1A and Figure 1B The configurations shown should not be construed as limiting the scope of this disclosure in any way.

[0184] Typically, the movement of the robotic unit (and / or control of other aspects of the robotic system) is controlled at least in part by one or more operators (e.g., healthcare professionals, such as physician 25A and / or nurse 25B). For example, an operator may receive images of the patient's eyes and the robotic unit and / or the tools positioned therein via a display 24. Typically, such images are acquired by an imaging system 22. In some applications, the imaging system 22 is a stereoscopic imaging device, and the display 24 is a stereoscopic display. The operator typically performs surgical procedures based on the received images.

[0185] In some applications, the operator provides commands to the robot unit via the control unit 26. For example, Figure 1A and Figure 1B The illustration shows a physician 25A issuing commands to a robotic unit via a control unit 26 while simultaneously viewing images of the patient's eyes and tools 21 on a display 24. Typically, such commands include commands to control the position and / or orientation of tools positioned within the robotic unit, and / or commands to control actions performed by the tools. For example, commands may control blades, phacoemulsification tools (e.g., the operating mode and / or suction power of the phacoemulsification tool), clamps (e.g., opening and closing of the clamps), intraocular lens manipulator tools (e.g., causing the tool to manipulate the intraocular lens within the eye for precise positioning within the eye), and / or syringe tools (e.g., which fluid (e.g., viscoelastic fluid, saline, etc.) should be injected and / or the flow rate). Alternatively or additionally, the operator may input commands to control the imaging system (e.g., zoom, focus, orientation, and / or XYZ positioning of the imaging system).

[0186] Typically, a control unit unit includes one or more control units 30 configured to correspond to a respective robot unit 20 of a robot system. For example, as shown, the system may include a first robot unit and a second robot unit, and as shown, the control unit unit may include a first control unit and a second control unit. Typically, each of the control units is an arm 31, which includes a plurality of links connected to each other via joints. For some applications, such as... Figure 1A As shown, the control unit includes a corresponding control unit tool 32 (which is typically configured to replicate the robotic unit). Typically, a computer processor determines the XYZ position and orientation of the end effector of the control unit tool 32 and drives the robotic unit such that the end effector of the actual tool 21 used to perform the surgery tracks the movement of the end effector of the control unit tool, and that changes in the orientation of the tool 21 track changes in the orientation of the control unit tool. For some applications, movements of the control unit tool performed by the operator are scaled up or down by the computer processor, as described in further detail below.

[0187] In some instances, in this specification and claims, tool 21 is described herein as a "surgical tool." This term is used to distinguish tool 21 from control component tool 32 and should not be construed as limiting in any way the type of tool that can be used as tool 21. The term "surgical tool" should be interpreted to include any tool described herein and / or any other type of tool that a person skilled in the art might conceive of upon reading this disclosure. Generally, for ophthalmic surgery, a surgical tool is an ophthalmic tool, such as one of the ophthalmic tools described above.

[0188] Typically, the right control unit controls the movement of surgical instruments toward the right side of the patient's head when viewed from above (and is usually controlled by the surgeon's right hand), while the left control unit controls the movement of surgical instruments toward the left side of the patient's head when viewed from above (and is usually controlled by the surgeon's left hand).

[0189] As described above, typically, the computer processor determines the XYZ position and orientation of the end effector of the control component tool 32 and drives the robotic unit such that the end effector of the actual tool 21 used to perform the surgery tracks the movement of the end effector of the control component tool, and that changes in the orientation of the tool 21 track changes in the orientation of the control component tool. Therefore, if the orientation of the control component tool changes, the computer processor typically changes the orientation of the surgical instrument to correspond to the change in the orientation of the control component tool. For this purpose, it is generally desirable for the control component tool to engage with the surgical instrument of the robotic unit (such that the movement of the control component tool controls the movement of the surgical instrument), where the orientations of the surgical instrument and the control component tool are substantially similar to each other. If the orientations of the surgical instrument and the control component tool are different, it may cause operator disorientation, potentially leading to discomfort, prolonged surgery time, and erroneous movements due to operator disorientation.

[0190] The operator (e.g., physician 25A) takes over and relinquishes control of the surgical instruments multiple times during the procedure (via control components), particularly when the procedure requires the use of multiple instruments that change during the procedure (as is typical in surgery as described above). Typically, during the procedure, (a) the operator takes over control of the surgical instruments, (b) the operator performs surgical actions using the surgical instruments, (c) the operator relinquishes control of the surgical instruments, (d) the robotic system or the operator (e.g., nurse) removes the surgical instruments from the robotic unit, and (e) the robotic system or the operator places new surgical instruments on the robotic unit and repeats steps (a)-(e).

[0191] Typically, operator control over surgical instruments is limited. For example, the workspace in which an operator can move control components (hereinafter referred to as the "control component workspace") is usually physically constrained by the position in which the operator feels comfortable or even is able to move the control component. Furthermore, the workspace of a surgical instrument (hereinafter referred to as the "instrument workspace") is usually physically constrained by the space in which a robotic arm can move the surgical instrument. Typically, in the presence of multiple control components and corresponding multiple surgical instruments, each of the control component tools has a corresponding control component workspace, and each of the surgical instruments has a corresponding instrument workspace. In some cases, one limitation of the control component workspace of one of the control component tools is its impact on the control component workspace of a second control component tool. Similarly, in some cases, one limitation of the instrument workspace of one of the surgical instruments is its impact on the instrument workspace of a second surgical instrument.

[0192] The control component workspace should allow the control component tool sufficient degrees of freedom of movement, such as the ability to control the movement of surgical instruments within the surgical space. If the operator takes over control of the surgical instruments (via the control component tool) when the control component tool is near the edge of the control component workspace, the movement of the control component tool (and therefore the movement of the surgical instruments) will be restricted. Therefore, it is generally preferred that the operator engages the control component tool with the surgical instruments when the control component tool is positioned and oriented to allow the operator good degrees of freedom of movement for the control component tool.

[0193] Ideally, the tool workspace should cover the space in which the tool is intended to be manipulated for surgical purposes (hereinafter referred to as the "surgical space"). If the operator (via the control component tool) takes over control of the surgical tool when it is at the edge of the tool workspace, the movement of the surgical tool will be restricted. Therefore, it is generally preferred that the operator engages the control component tool with the surgical tool when the surgical tool is positioned and oriented to allow for good freedom of movement.

[0194] In other words, the operator should be able to move the surgical instruments freely to all positions and orientations within the surgical space, without the control components reaching the limits of the control component workspace and the surgical instruments reaching the limits of the tool workspace.

[0195] According to some applications of this disclosure, the control component tool engages with the surgical tool (such that the movement of the control component tool controls the movement of the surgical tool), wherein the surgical tool and the control component tool are oriented substantially similarly to each other, thereby preventing the operator from becoming disoriented. In some applications, the control component tool engages with the surgical tool when the surgical tool and the control component tool are oriented towards the center of the control component workspace and the tool workspace, respectively. Typically, the operator can engage and / or disengage the surgical tool and the control component tool using standard movements of the control component tool without requiring additional external input.

[0196] The following is for reference. Figures 2A-2I This disclosure describes some steps for engaging and disengaging surgical instruments and control components according to some applications of this disclosure.

[0197] In addition to moving control components, the operator can provide input to system 10 using any suitable input interface, such as foot pedal 27, button 33 (e.g., a button on one of the control components), keyboard, mouse, or touchscreen belonging to display 24.

[0198] Now for reference Figure 2A This is a schematic diagram of a display 24 according to some applications of the present disclosure, which shows a surgical instrument 21 placed laterally relative to the patient's cornea 38.

[0199] The process of engaging the control component tool with the surgical instrument, so that the operator's movement of the control component tool causes a corresponding movement of the robotic unit to the surgical instrument, begins with displaying images of the eye and the surgical instrument on the display 24, such as... Figure 2A As shown. Typically, the doctor 25A views the image on monitor 24. (As shown) Figure 1A and Figure 1B As indicated, the imaging system typically acquires an image of the front of the patient's eye, as the imaging system is usually positioned above the patient's eyes. As mentioned above, for some applications, the display 24 is a three-dimensional stereoscopic display. Typically, the imaging system is configured to acquire images covering the entire surgical space, and the display 24 displays the acquired images such that any manipulation of surgical instruments occurs within the field of view displayed on the display 24.

[0200] For some applications, the robotic system is configured (e.g., based on images acquired by imaging system 22) to automatically place surgical instruments in the appropriate location near the patient's cornea. Alternatively or additionally, an operator (e.g., nurse 25B) places the surgical instruments in the appropriate location near the patient's cornea. Typically, the surgical instruments (by the robotic system and / or by the nurse) are positioned near the patient's cornea at a relatively central location within the tool workspace, and / or such that, starting from this initial position within the tool workspace, there is no movement within the control component tool that would cause the instrument to move out of the tool workspace. Therefore, starting from this position typically allows the steps of the procedure to be performed by the surgical instruments to be completed without requiring repositioning of the robotic unit during the surgical steps.

[0201] Now for reference Figure 2B In some applications, once the surgical instrument 21 is positioned near the patient's cornea, the computer processor identifies the surgical instrument and generates an enhanced surgical instrument 40 (i.e., an enhanced image of the surgical instrument) overlaying the surgical instrument itself. Advantageously, the enhanced surgical instrument 40 facilitates the physician's identification of the surgical instrument. Alternatively, the enhanced surgical instrument may not be displayed. In some applications, the physician provides input to the computer processor indicating whether she / he wishes to display the enhanced surgical instrument, and the computer processor controls the image displayed to the physician based on the input.

[0202] Now for reference Figure 2C and Figure 2D , Figure 2C and Figure 2DThis is a schematic diagram of a display 24 for some applications of this disclosure, showing that icon 42 is positioned to cover the enhanced surgical tool 40 so that the first control component tool can engage with the robotic system.

[0203] It should be noted that, although Figure 2C and Figure 2D Images of a patient's eyes and surgical instruments 21 and enhanced surgical instruments 40 are shown; however, the scope of this disclosure includes displaying images that include any representation of surgical instruments to facilitate engagement of control component tools with a robotic system. For example, the display may show only an icon representing a surgical instrument (e.g., an enhanced image of a surgical instrument, such as enhanced surgical instrument 40), or it may show an image of the surgical instrument itself, or it may show an image of the surgical instrument and the patient's eyes, or it may show an icon representing a surgical instrument overlaid on the patient's eyes (e.g., an enhanced image of a surgical instrument, such as enhanced surgical instrument 40).

[0204] In the next step of the joining process, the processor overlays an icon 42 representing the control part tool onto the image. Icon 42 is typically a virtual representation of the control part tool; that is, icon 42 is typically a computer-generated graphic that looks similar to the control part tool. (Therefore, icon 42 is also referred to herein as the “enhanced control part tool”). Alternatively, icon 42 is an image of the control part tool.

[0205] As described above, imaging systems typically acquire an image of the front of the patient's eye because they are usually positioned above the patient's eyes. The view of the patient's eye displayed on the monitor is generally as if viewed from above the patient's head, as this is the perspective doctors are accustomed to seeing during ophthalmic surgery. The monitor 24 is typically oriented towards the doctor's face, and the orientation and position of the icon 42 on the monitor 24 rotate according to the view of the eye displayed on the monitor. Typically, the orientation of the icon 42 within the monitor's reference frame is substantially similar to the orientation of the control component tool within the control component's workspace reference frame. However (since the monitor's reference frame differs from the control component's workspace reference frame), the absolute position of the control component tool is generally independent of the absolute position of the icon.

[0206] The position and orientation of icon 42 track the position and orientation of the control tool; that is, movement of the control tool by the physician causes a corresponding movement of the icon on display 24. In other words, rotation of the control tool by angular rotation (roll, pitch, and / or yaw) causes a corresponding rotation of the icon on display 24, and translational movement of the control tool (along the X, Y, or Z direction) causes a corresponding translational movement of the icon on display 24. For some applications, the translational movement of the icon on display 24 is scaled up or down relative to the translational movement of the control tool.

[0207] Next, the physician aligns the icon in the image with the surgical instrument; that is, the physician moves the control component tool so that the icon aligns with the image of surgical instrument 21 and / or enhanced surgical instrument 40. Typically, an icon is considered aligned with a surgical instrument when (a) the end of the icon overlaps the image of surgical instrument 21 and / or enhanced surgical instrument 40, and (b) the orientation of the icon substantially resembles the orientation of the surgical instrument. In response to this alignment, the processor engages the control component tool with the surgical instrument.

[0208] Typically, the computer processor is configured to position the icon so that when the physician aligns the icon in the image with the surgical instrument, the control part tool itself is positioned relatively centrally within the control part workspace, and / or the control part tool can be moved from that initial position within the control part workspace, for example, moving the surgical instrument to any position within the tool workspace, without the control part tool leaving the control part workspace.

[0209] As mentioned above, it is generally not necessary to perfectly align the icon with the surgical instrument before engagement. Instead, in some applications, when the alignment is close enough, any slight misalignment in position and / or orientation is maintained such that the surgical instrument does not move at the moment of engagement and subsequently follows the surgeon's movements with slight (and often imperceptible) misalignment. Alternatively, a computer processor drives a robotic unit to adjust the position and / or orientation of the surgical instrument to complete the alignment.

[0210] Typically, once the control component tool is engaged with the surgical instrument, the enhanced surgical instrument and / or icon are removed from the image displayed on monitor 24. After engagement, movement of the control component tool by the surgeon causes a corresponding movement of the surgical instrument. In other words, rotation of the control component tool via angular rotation (roll, pitch, and / or yaw) causes a corresponding rotation of the surgical instrument, and translational movement of the control component tool (along the X, Y, or Z direction) causes a corresponding translational movement of the surgical instrument. For some applications, the translational movement of the surgical instrument is scaled down relative to the translational movement of the control component tool.

[0211] Now for reference Figures 2E-2H , Figures 2E-2H Based on some applications and references of this disclosure Figures 2A-2D The described steps are essentially similar to those shown in the diagram, with the second surgical instrument 21 placed above the patient's cornea 38 to perform the procedure. Figures 2E-2H The steps are shown.

[0212] As mentioned above, the view of the patient's eyes displayed on the monitor is typically as if viewed from above the patient's head, because this is the perspective doctors are accustomed to seeing during ophthalmic surgery. Monitor 24 is usually oriented towards the doctor's face, and the orientation and position of the icons on monitor 24 are rotated according to the view of the eyes displayed on the monitor. Therefore, in Figure 2E In the view shown, a second surgical instrument 21 positioned above the patient's cornea 38 appears at the bottom of the display.

[0213] For some applications, the robotic system is configured (e.g., based on images acquired by imaging system 22) to automatically place a second surgical instrument at an appropriate location near the patient's cornea. Alternatively or additionally, an operator (e.g., nurse 25B) places the second surgical instrument at an appropriate location near the patient's cornea. Typically, the surgical instrument (by the robotic system and / or by the nurse) is positioned near the patient's cornea at a relatively central location within the tool workspace, and / or such that from this initial position within the tool workspace, the control component tool does not undergo any movement within the control component workspace that would cause the tool to move out of the tool workspace. Therefore, starting from this position typically allows the steps of the surgery to be performed by the second surgical instrument to be completed without requiring repositioning of the second robotic unit during the surgical steps.

[0214] For some applications, such as Figure 2F As shown, the enhanced second surgical tool 44 is overlaid on the image of the second surgical tool to facilitate the surgeon's identification of the surgical tool. Alternatively, the enhanced second surgical tool may not be displayed. In some applications, the surgeon provides input to the computer processor indicating whether she / he wishes to display the enhanced second surgical tool, and the computer processor controls the image displayed to the surgeon based on the input.

[0215] In the next step of the joining process, the computer processor drives the display 24 to show the second icon 46 overlaid on the image, such as... Figure 2G As shown. The second icon 46 represents the second control component tool, in such a way that the second icon 46 is a virtual representation or actual image of the second control component tool.

[0216] Next, the surgeon aligns the second icon 46 with the surgical instrument 21, that is, the surgeon moves the second control component tool so that the second icon aligns with the image of the second surgical instrument 21 and / or the enhanced second surgical instrument 44. Typically, the second icon is considered aligned with the second surgical instrument when (a) the end of the second icon overlaps the image of the second surgical instrument 21 and / or the enhanced second surgical instrument 44, and (b) the orientation of the second icon substantially resembles the orientation of the second surgical instrument. In response to this alignment, the processor engages the second control component tool with the second surgical instrument.

[0217] Typically, the computer processor is configured to position the second icon such that when the physician aligns the second icon in the image with the second surgical instrument, the second control component tool itself is positioned relatively centrally within the control component workspace, and / or the second control component tool can be moved from this initial position within the control component workspace, for example, by moving the second surgical instrument to any position within the tool workspace, without the second control component tool leaving the control component workspace.

[0218] As described above, it is generally not necessary to perfectly align the second icon with the second surgical instrument before engagement. Instead (as described with reference to the first surgical instrument), in some applications, when the alignment is close enough, any slight misalignment in position and / or orientation is maintained such that the second surgical instrument does not move at the moment of engagement and subsequently follows the surgeon's movements with slight (and often imperceptible) misalignment. Alternatively, a computer processor drives a second robotic unit to adjust the position and / or orientation of the second surgical instrument to complete the alignment.

[0219] Typically, once the second control component tool is engaged with the second surgical instrument, the enhanced second surgical instrument 44 and / or the second icon are removed from the image displayed on monitor 24. After engagement, movement of the second control component tool by the physician causes a corresponding movement of the second surgical instrument. In other words, rotation of the second control component tool via angular rotation (roll, pitch, and / or yaw) causes a corresponding rotation of the second surgical instrument, and translational movement of the second control component tool (along the X, Y, or Z direction) causes a corresponding translational movement of the second surgical instrument. For some applications, the translational movement of the second surgical instrument is scaled down relative to the translational movement of the second control component tool.

[0220] Now for reference Figure 2I The diagram is a schematic representation of a display 24 according to some applications of this disclosure, showing that icon 42 moves away from the enhanced surgical tool 40 so as to disengage the control component tool 32 from the surgical tool 21.

[0221] In some applications, to disengage the control component tool 32 from the surgical tool 21, the control component tool moves toward the edge of the control component workspace and / or the movement of the control component tool causes the surgical tool to move toward the edge of the tool workspace. In some such applications, the computer processor generates disengagement instructions before, during, and / or after disengagement. For example, graphic elements 48 (e.g., stars, crosses, circles, highlights, or other graphic elements) may be displayed to indicate that disengagement has occurred, is occurring, or is about to occur. Alternatively, a circle or ellipse (not shown) may be displayed around the iris (or at different locations), and the computer processor is configured to interpret a portion of the tool (such as the end) leaving the circle as an indication that the operator wishes to disengage the control component tool from the surgical tool. For such applications, the circle or ellipse is typically chosen to be visible within the field of view, but there is generally no reason to move a portion of the tool outside the circle for surgical purposes.

[0222] Despite Figure 2I The first surgical instrument placed horizontally in the middle illustrates the disengagement procedure, but generally similar steps are performed with a surgical instrument placed above it.

[0223] As described above, the operator (e.g., physician 25A) typically takes over and relinquishes control of the surgical instruments multiple times during surgery (via control components), particularly when the surgery requires the use of multiple instruments that change during the procedure (as is typical in ophthalmic surgery as described above). Typically, during the procedure, (a) the operator takes over control of the surgical instruments, (b) the operator performs surgical actions using the surgical instruments, (c) the operator relinquishes control of the surgical instruments, (d) the robotic system or the operator (e.g., a nurse) removes the surgical instruments from the robotic unit, and (e) the robotic system or the operator places new surgical instruments on the robotic unit and repeats steps (a)-(e). Typically, each time the operator takes over control of a new instrument, refer to... Figures 2A-2D or Figures 2E-2H The described steps are performed. Furthermore, typically, the reference is executed each time the operator relinquishes control of the tool. Figure 2I The steps described.

[0224] Typically, the primary objective of the engagement process is to ensure that the control component tool has substantially the same orientation as the surgical instrument before the operator begins to control it. However, the control component tool does not need to be located in any specific position within the control component workspace. In fact, sometimes the operator may wish to briefly disengage the control component tool from the surgical instrument to move it to a new position within the control component workspace, for example, for greater comfort. To address this need, according to some embodiments of this disclosure, the system allows the operator to disengage the control component tool from the surgical instrument simply by providing another input, even without moving the control component tool as described above. In response to this input, the processor disengages the control component tool from the surgical instrument such that movement of the control component tool does not cause any movement of the surgical instrument. Subsequently, in response to another input from the operator, the processor re-executes the process for engaging the control component tool with the surgical instrument, as referenced above. Figures 2A-2H It has been described.

[0225] In some embodiments, the operator presses a foot pedal 27 or button 33 ( Figure 1A The operator provides a first input (for disengagement) by pressing the input interface and a second input (for re-engagement) by releasing the input interface. In other words, the operator continues to press the input interface while moving the control component tool in the disengaged state. When the operator is ready to re-engage the control component tool, the operator releases the input interface.

[0226] In some embodiments, refer to the following: Figures 4A-4D Further described, after the operator brings one of the control component tools or links connected to the control component tool into contact with the surface, the control component tool re-engages with the surgical instrument such that the surface supports the control component tool or link when the control component tool is re-engaged with the surgical instrument. Then, as the operator holds the control component tool, the surface continues to stabilize the control component tool.

[0227] Typically, once the control component tool engages with the surgical instrument of the robotic unit, it will not disengage unless the surgeon performs a disengagement procedure (e.g., as referenced). Figure 2I(This may be done by providing another input, such as via a press-to-input interface, as described above). However, it should be noted that in some cases, even without input from the physician, the control component tool may disengage from the surgical instrument during surgery. For example, the control component tool may disengage from the surgical instrument based on the robotic system detecting an impending collision between the tools or with a part of the patient's body. Typically, in cases where the control component tool is disengaged from the surgical instrument while it is positioned within the instrument's workspace, the physician re-engages the control component tool to the surgical instrument by performing the steps described above.

[0228] Now for reference Figure 3A This is a schematic diagram of a robotic system annotated with a cube according to some applications of this disclosure, the cube indicating, for illustrative purposes, the control component workspace 60 and the tool workspace 62. As mentioned above, operator control over surgical instruments is typically limited. For example, the control component workspace 60 (i.e., the workspace in which the operator can move the control component tool) is typically physically constrained by the position in which the operator feels comfortable or even is able to move the control component tool. Furthermore, the tool workspace 62 (i.e., the workspace for surgical instruments) is typically physically constrained by the space in which the robotic arm can move the surgical instruments.

[0229] The control component workspace 60 should allow the control component tool sufficient degrees of freedom of movement, such as the ability to control the movement of surgical instruments within the surgical space. If the operator takes over control of the surgical instruments (via the control component tool) when the control component tool is near the edge of the control component workspace, the movement of the control component tool (and therefore the movement of the surgical instruments) will be restricted. Therefore, it is generally preferred that the operator engages the control component tool with the surgical instruments when the control component tool is positioned and oriented to allow the operator good degrees of freedom of movement of the control component tool.

[0230] Ideally, the tool workspace 62 should cover the space in which the tool is intended to be manipulated for surgical purposes (hereinafter referred to as the "surgical space"). If the operator (via the control component tool) takes over control of the surgical tool when it is at the edge of the tool workspace, the movement of the surgical tool will be restricted. Therefore, it is generally preferred that the operator engages the control component tool with the surgical tool when the surgical tool is positioned and oriented to allow for good degrees of freedom of movement.

[0231] In other words, the operator should be able to freely move the surgical instrument to all positions and orientations within the surgical space, without the control component tool reaching the limits of the control component workspace and the surgical instrument reaching the limits of the tool workspace. According to some applications of this disclosure, the control component tool engages with the surgical instrument when the surgical instrument and the control component tool are oriented toward the centers of the control component workspace and the tool workspace, respectively.

[0232] For some applications, the size of the control unit workspace differs from the tool workspace. For example, as shown in the figure, the tool workspace can be smaller than the control unit workspace. Typically, for such applications, the movements of the surgical instrument 21 performed by the robot unit 20 are scaled down relative to the movements of the control unit tool 32.

[0233] Now for reference Figure 3B , Figure 3B This is a schematic diagram of a robot system 10 based on some applications of this disclosure. For illustrative purposes, the robot system 10 is annotated with several reference frames. Typically, several reference frames exist within the robot system, and the computer processor transforms the movement between these reference frames. Now referring to... Figure 3B Describe an example.

[0234] exist Figure 3B In the example shown, the display shows an image corresponding to a "superior" surgery, where the image shown to the surgeon appears as if the surgeon is facing the patient's face, with the patient's chin up and forehead down. Typically, in this configuration, when the surgeon moves the right control unit tool in the direction of his / her right hand within the control unit reference frame F2, the right robotic unit moves the surgical tool to the left (within the right robotic unit reference frame F5), and the surgical tool moves to the right on display 24 (within the display reference frame F1). The display shows images captured by the imaging system, which are acquired within the imaging system reference frame F3. Similarly, movement of the left control unit tool causes the left robotic unit to move the left surgical tool (within the left robotic unit reference frame F4).

[0235] Typically, the control unit 26 is physically attached to the same body as the display 24, resulting in a rigid and constant transformation from the control unit reference frame F2 to the display reference frame F1. The imaging system reference frame F3 can be moved relative to the patient. For example, the imaging system can be rotated so that it appears as if the doctor is viewing the eye from an upward and lateral (i.e., temporal) perspective. Generally, regardless of the imaging system reference frame used, movement of the control unit tool within reference frame F2 will result in movement of the surgical instrument in the same direction within the display reference frame F1.

[0236] To achieve proper transformations between reference frames, a computer processor typically receives input indicating the orientation of various reference frames relative to each other. In some applications, the computer processor analyzes images of the robotic unit within images acquired by an imaging system to determine the orientation of the various reference frames relative to each other. Alternatively or additionally, the computer processor receives input from the operator indicating the orientation of the surgical procedure they wish to display on the monitor.

[0237] As mentioned above, typically, the right control unit controls the movement of surgical instruments toward the right side of the patient's head when viewed from above (and is usually controlled by the surgeon's right hand), and the left control unit controls the movement of surgical instruments toward the left side of the patient's head when viewed from above (and is usually controlled by the surgeon's left hand). However, in some cases, the right control unit controls the movement of surgical instruments toward the left side of the patient's head when viewed from above (and is usually controlled by the surgeon's left hand), and the left control unit controls the movement of surgical instruments toward the right side of the patient's head when viewed from above (and is usually controlled by the surgeon's right hand). For example, where it is more intuitive and / or physically easier for the surgeon to use the left control unit to control the right surgical instrument (and vice versa) rather than the other way around (e.g., based on the position of the surgical instrument and / or the surgeon's dominant hand), the surgeon may switch which control unit controls which instrument. Alternatively or additionally, a computer processor or physician may determine that the surgical tool is more likely to perform its designated function while remaining within its range of motion by using the left control component tool to control the right surgical tool (and vice versa), and the computer processor may drive the robotic unit to act accordingly (based on automatic detection by the computer processor or based on input from the physician). Typically, in this case, the computer processor translates input from the physician regarding movement and motion provided within the right control component tool's frame of reference into corresponding movement and motion of the left surgical tool performed by the left robotic unit within its own frame of reference, and / or vice versa.

[0238] In some cases, the computer processor or the surgeon determines that it would be easier to perform the intended function of a surgical instrument by inserting it from below the eye (i.e., by inserting it above the patient's cheek). For some such applications, based on automatic detection by the computer processor, or based on input from the surgeon indicating this is indeed the case, the computer processor drives a selected robotic unit to insert the surgical instrument from the lower position. The computer processor receives input from the surgeon regarding the movements and actions to be performed using the lower-inserted surgical instrument, based on the operator's control of the corresponding control component tool when the control component is in its normal orientation. Typically, in this case, the computer processor translates the surgeon's input regarding the movements and actions provided within the right or left control component tool reference frame into corresponding movements and actions of the selected robotic unit towards the lower-inserted surgical instrument within the selected robotic unit's reference frame.

[0239] For some applications, robotic surgery is performed by creating an incision at a circumferential location within the patient's cornea that is not the standard location for an incision made during typical cataract surgery. For example, an incision may be made at a non-standard circumferential location around the patient's cornea to correct the patient's astigmatism while providing an insertion point (or area) for surgical instruments. Such incisions can include limbal release incisions and / or clear corneal incisions, both of which are techniques known in the art and are typically tailored to the specific corneal morphology of the patient. For example, clear corneal incisions are typically aligned with the steep axis of the cornea. Typically, when such incisions are made during cataract surgery (or other ophthalmic surgeries) and subsequently used for instrument insertion, instruments are inserted and manipulated from the non-standard location. However, control unit units are typically maintained in their conventional positions relative to the imaging system and / or other components of the system (e.g., relative to each other).

[0240] In some such applications, based on automatic detection by the computer processor or on the doctor's input, an incision is made in a non-standard location. The computer processor drives a selected robotic unit to insert its surgical instrument from the non-standard location. The computer processor receives input from the doctor regarding the movements and actions to be performed using the non-standard inserted surgical instrument, based on the operator's control of the selected control unit when the control units are set in their normal positions. Typically, in this case, the computer processor translates the doctor's input regarding the movements and actions provided within the selected control unit's frame of reference into corresponding movements and actions of the selected robotic unit within the selected robotic unit's frame of reference towards the non-standard inserted surgical instrument.

[0241] Now for reference Figure 4A , Figure 4B , Figure 4C and Figure 4D These figures are schematic diagrams of control components 30 according to some applications of this disclosure. Figure 4A and Figure 4B The respective perspective views of the control components are shown. Figure 4C A side view is shown, and Figure 4D A top view is shown.

[0242] The control component 30 includes a control component tool 32 and a plurality of links 54 connected to the control component tool. The links 54 are connected to each other via one or more joints 47, such that the links provide the control component tool with multiple degrees of freedom. For example, in some embodiments, the links 54 provide the control component tool with six degrees of freedom, including three translational degrees of freedom and three rotational degrees of freedom.

[0243] In some embodiments, the link 54 includes a frame 50, which in some embodiments includes two bent arms. The frame 50 is configured to rotate about a first axis of rotation 52X. The link 54 also includes a shaft 53 on which the control component tool 32 is mounted, and one or more support links 55, such as a pair of parallel support links 55, which connect the shaft 53 to the frame 50 and rotate about a second axis of rotation 52Y and about a third axis of rotation 52Z. When the operator moves the control component tool in the XY plane, the frame 50 rotates about the axis of rotation 52X, and the support links 55 rotate about the axis of rotation 52Y. When the operator moves the control component tool along the Z-linear direction, the support links 55 rotate about the axis of rotation 52Z.

[0244] Typically, the control component tool 32 can be moved by the operator to experience pitch, yaw, and roll rotations. The control component tool experiences pitch rotation by rotating about the pitch rotation axis 70 at the joint 47 between the control component tool and the shaft 53, yaw rotation by rotating the shaft 53 about its own axis 72 (which serves as the yaw rotation axis), and roll rotation by rotating about its own longitudinal axis 74 (which serves as the roll rotation axis).

[0245] Typically, the control unit 30 includes at least three rotary encoders positioned at different corresponding joints 47. The rotary encoders detect rotation of the linkage about its axis of rotation and generate signals in response. Alternatively or additionally, an inertial measurement unit 76 is housed within the control unit tool. Typically, the inertial measurement unit includes a three-axis accelerometer, a three-axis gyroscope, and / or a three-axis magnetometer. The inertial measurement unit generates inertial measurement unit signals describing the three-dimensional orientation of the control unit tool. Alternatively or additionally, the control unit includes one or more additional rotary encoders to detect roll, pitch, and / or yaw orientation of the control unit tool 32. Computer processor 28 ( Figure 1AIt receives signals from the rotary encoder and the inertial measurement unit, and calculates the XYZ position and orientation of the end 58 of the control component tool 32 based on these signals.

[0246] In some situations, an operator may want to stabilize control components, requiring a greater force than is normally needed to move them. For example, when an operator moves one control component with one hand, it may be difficult to avoid accidentally moving another control component held by the operator's other hand. Alternatively or additionally, it may be difficult to avoid accidentally moving a control component held by the operator's non-dominant hand.

[0247] To address this challenge, some embodiments allow the operator to input via, for example, by pressing an input interface (such as foot pedal 27 or button 33). Figure 1A The processor provides input. In response to receiving input, the processor increases the resistance of the control component tool to the force applied to it by the operator, without prohibiting movement of the control component tool. Thus, the control component tool is stabilized to prevent accidental movement, but by applying sufficient force, the operator can still move the control component tool if necessary.

[0248] Typically, a corresponding motor is operatively coupled to joint 47, and the processor increases the resistance to the force applied by the operator by increasing the (translational and / or rotational) reaction force exerted on the joint by the motor. Typically, the motor is a direct-drive motor (i.e., a motor that does not transmit motion through gears). Additionally, the motor is typically a linear motor, such as a linear voice coil motor.

[0249] For example, Figures 4A-4D A control unit 30 including motors 56X, 56Y, and 56Z is shown. Motor 56X (and optionally its extension 56XE) is coupled to an angled extension 50E of frame 50. Motor 56Y (and optionally its extension 56YE) passes between two curved arms of frame 50, such that motor 56Y (and optionally its extension 56YE) is coupled to an angled extension 55E of support link 55. Motor 56Z is located at the end of support link 55 opposite to shaft 53.

[0250] In other situations, the operator may wish to restrict (e.g., disallow) at least one type of movement of the surgical instrument, without restricting other types of movement. For example, the operator may wish to prevent the surgical instrument from moving deeper into the eye (or, for other types of surgery, any other part of the body) or into the edge of a corneal incision (or, for other types of surgery, any other incision in the body), but still allow the surgical instrument to translate and / or rotate in other directions.

[0251] To address this challenge, some embodiments allow the operator to input via, for example, by pressing an input interface (such as foot pedal 27 or button 33). Figure 1A The processor is configured to receive input and interpret it as an indication that at least one type of movement of the surgical instrument should be restricted, while other types of movement of the surgical instrument should not be restricted. In response to the input, the processor restricts (e.g., disallows) movement of the control component tool relative to that type of movement, but does not restrict movement relative to other types of movement.

[0252] For example, in some embodiments, the processor restricts the movement of the control component tool relative to at least one of a plurality of (e.g., six) degrees of freedom of the control component tool. As a specific example, in some embodiments, the processor restricts all translational movements (i.e., restricts movement relative to all three translational degrees of freedom) but does not restrict any rotational movements of the control component tool.

[0253] In some embodiments, the point on a surgical instrument through a corneal incision into the eye serves as a virtual pivot point, as rotational movement of the corresponding control tool causes the surgical instrument to pivot relative to that point (to prevent tearing of the corneal incision), as described in U.S. Patent Application Publication 2023 / 0240779, commonly assigned to Golan, the disclosure of which is incorporated herein by reference. (The foregoing references use the term "remote center of motion" instead of "virtual pivot point.") In some embodiments, the processor restricts the movement of the control component tool relative to at least one of a plurality of (e.g., six) degrees of freedom of the control component tool to help the operator maintain the pivot point around which the surgical instrument rotates.

[0254] In some embodiments, the processor restricts translational movement of the control component tool in at least one direction, but does not restrict any rotational movement of the control component tool. For example, as just described above, in some embodiments, the processor restricts all translational movements. Alternatively, for example, the processor restricts translational movements along only one or two of the X, Y, and Z axes. Alternatively or additionally, the processor restricts translational movements in only one direction along any one of the X, Y, and Z axes.

[0255] Instead, the restricted direction is defined relative to the orientation of the control component tool, rather than along the X, Y, or Z axis. For example, in some embodiments, the processor restricts translational movement of the control component tool along or perpendicular to the longitudinal axis 74 of the control component tool (at least in the direction of the end 58). This can help the operator, for example, avoid moving surgical instruments deeper into the eye or into the edge of a corneal incision.

[0256] Typically, as described above, the processor limits the movement of the control component tool by increasing the (translational and / or rotational) reaction force applied to the rotary joint by the motor.

[0257] The processor is configured to use the above reference. Figures 2A-2H The described method, or any other suitable method, engages the control component tool 32 with the surgical instrument. Following this engagement, movement of the control component tool by the operator causes a corresponding movement of the robotic unit with the surgical instrument. As described above... Figure 2I In some embodiments, as described in the context of the above, the processor is also configured to disengage the control component tool 32 from the surgical instrument in response to a first input from the operator, such that movement of the control component tool does not cause any movement of the surgical instrument. After disengagement, in some embodiments, the operator contacts one of the links 54 or the control component tool with a surface such as a horizontal surface, such that the surface supports the control component tool or the link. For example, in some embodiments, the operator contacts the shaft 53 on which the link 54 is mounted with surface 78.

[0258] Next, in response to the second input from the operator, the processor uses the above reference. Figures 2A-2H The described method, or any other suitable method, re-engages the control component tool with the surgical instrument. Advantageously, the surface then stabilizes the control component tool while the operator holds it. This technique for stabilizing the control component tool can alternatively or additionally be used to increase the resistance of the control component tool to forces applied to it by the operator.

[0259] Even more advantageously, some embodiments allow manipulation of the control component tool after re-engagement; that is, while the control component tool or linkage is supported on the surface, the processor drives the robotic unit to move the surgical instrument in accordance with the movement of the control component tool. Typically, in such embodiments, the movement of the control component tool is not constrained by the surface, even when the control component tool or linkage is supported on the surface, allowing the operator to maintain complete control over the surgical instrument.

[0260] For example, in some embodiments, such as Figure 4C As shown, the element of the surface-supported control component 30 (i.e., one of the control component tools or linkages 54) includes a compression spring 79 and a retractable portion 80 connected to the compression spring 79. The surface supports the element at the retractable portion 80 such that when the element is pushed against the surface, as indicated by push symbol 82, the retractable portion retracts and the spring 79 compresses, as indicated by retraction symbol 81. Therefore, even movement toward the surface is not constrained by the surface.

[0261] For example, in some embodiments where the control component tool 32 is mounted to the top of the shaft 53, the retractable portion 80 is positioned at the bottom of the shaft 53. Alternatively, the retractable portion 80 is positioned at the end 58 of the control component tool. In some such embodiments, the end 58 is supported by a surface 86 or 87 of the workstation 84. Figure 5A ).

[0262] In some embodiments, as an alternative to or supplement to the control member 30 including the compression spring 79, the surface is surface-mounted to the compression spring such that when an element of the control member 30 is pushed against the surface, the surface retracts and the spring is compressed.

[0263] Now additional reference Figure 5A and Figure 5B , Figure 5A and Figure 5B This is a schematic diagram of a workstation 84 according to some embodiments of the present disclosure. Figure 5B The workstation is shown with surface 87 removed, making link 54 and surface 78 on which it is mounted visible. In use, surface 87 typically covers surface 78 and link 54, while shaft 53 supports the corresponding control component tool 32, causing the control component tool to hover above surface 86.

[0264] As referenced above Figures 1A-1B The workstation 84 typically includes a control unit 30 and at least one display 24. The operator sits (or stands) behind the control unit, with the control unit positioned between the operator and the display, facing the display. In some embodiments, the workstation 84 also includes a corresponding docking station 88 for each control unit tool 32. When the control unit is not in use, the operator docks the control unit tool in the docking station 88. Figure 5A The enlarged box at the bottom shows one of the control components in its docking position.

[0265] In some embodiments, when the elements of the control component are supported by a surface (e.g., surface 78), the operator's hand holding the control component tool 32 is supported by another surface, thereby achieving even greater stability of the control component tool. For example, in some embodiments, the workstation 84 includes a surface 86 positioned behind the control component. The operator sits (or stands) behind surface 86 and extends over surface 86 to hold the control component tool, such that surface 86 supports the operator's hand.

[0266] As described above, the inertial measurement unit 76 typically includes a three-axis accelerometer, a three-axis gyroscope, and / or a three-axis magnetometer. The accelerometer directly measures acceleration, the gyroscope directly measures angular velocity, and the magnetometer measures magnetic field. Three of each type of sensor are arranged orthogonally relative to each other, thus allowing 3D acceleration, angular velocity, and magnetic field sensing.

[0267] In some embodiments, the combination of the above measurements is used to infer the orientation of the inertial measurement unit (IMU). Specifically, the algorithm typically uses Earth's gravity as a known acceleration, which is fused with gyroscope measurements integrated over time to infer the IMU's orientation. Without continuous correction for orientation by the gravitational acceleration vector, the IMU's orientation output tends to drift. This is because angular information is derived from the gyroscope through numerical integration. Any error in the angular velocity measurements accumulates over time, eventually leading to a very poor estimate of the true orientation. Gravitational acceleration produces "ground truth" to remove drift. If the gravity vector does not change the orientation, the angular change derived from the gyroscope can be ignored.

[0268] However, there is often a possible rotation around the gravity vector that the accelerometer cannot detect. Because the accelerometer cannot sense the rotation of the inertial measurement unit (IMU) around the gravity vector, it may drift. One way to address this drift is to incorporate information from the magnetometer, which provides a second "ground truth" vector, magnetic north, that is linearly independent of gravity. However, this reading can be affected by other magnetic fields around the IMU, which can introduce errors into the reading.

[0269] Therefore, according to some applications of this disclosure, a “true ground” vector that is linearly independent of the gravity vector is derived. Typically, the control component tool docks with a given predetermined orientation, which is usually not vertical. For some applications, sensor 92 (such as a switch, light reflector, etc.) identifies when the control component tool docks. When the control component tool docks, the computer processor recalibrates the inertial measurement unit (IMU) based on two true ground vectors—the gravity vector and the known orientation of the control component tool. Thus, each time the control component tool docks, the IMU is recalibrated so that any drift is corrected.

[0270] For some applications, the computer processor uses the following algorithm to perform recalibration of the inertial measurement unit (IMU). When the control part tool is detected to be docked, the IMU transmits its detected roll axis position to the computer processor. The roll axis is the axis that typically drifts due to a lack of gravity information. The roll axis position is projected onto a horizontal plane (orthogonal to gravity) and compared to the known true tilt angle; that is, the angle at which the control part tool is known to be located in the horizontal plane. Any difference between the measured orientation and the true orientation is obtained by subtracting the measured orientation. In practice, the IMU's measurements are corrected to fit the known true orientation of the control part tool, and this correction is maintained until the next docking of the control part tool, at which point the correction is repeated.

[0271] Now for reference Figure 6 It schematically illustrates the use of tool type-specific variations according to some embodiments of this disclosure.

[0272] Figure 6 Straight surgical instruments 21a and non-straight surgical instruments 21b are shown. In surgical instrument 21a, the functional portion of the tool, including the end 94a, is generally parallel to the handle. In contrast, in non-straight surgical instrument 21b, the functional portion of the tool (including the end 94b) is not parallel to the handle.

[0273] As described above, the processor is configured to drive the robot unit to move the surgical instrument held by the robot unit in correspondence with the operator's movement of the control component tool 32. Specifically, the processor continuously applies transformations, such as affine transformations, to the coordinates of the control component tool to calculate the corresponding coordinates of the surgical instrument. The processor then drives the robot unit to move the surgical instrument to the corresponding coordinates. Typically, the transformed coordinates are the coordinates of the end effector 58, and the corresponding coordinates are the coordinates of the end effector of the surgical instrument. Alternatively, the transformed coordinates are the coordinates of another part of the control component tool, and the corresponding coordinates are the coordinates of another corresponding part of the surgical instrument.

[0274] In many cases, different types of surgical instruments are preferably held in different orientations (e.g., at different pitches) during surgery. For example, in many cases, non-straight surgical instruments are preferably held at a greater pitch than straight instruments; that is, the angle of the handle of a non-straight surgical instrument relative to the horizontal plane is preferably greater than that of a straight surgical instrument. Figure 6 Surgical instrument 21a is shown that is held at an elevation of θ1, and surgical instrument 21b is held at an elevation of θ2 > θ1.

[0275] Furthermore, the operator typically holds the control component tool 32 in a preferred orientation of the surgical instrument controlled by the control component tool. For example, Figure 6 The diagram shows a control component tool held at pitch θ1 when tool 21a is controlled, and a control component tool held at pitch θ2 when tool 21b is controlled. Therefore, whenever a surgical tool is replaced with another surgical tool having a different preferred orientation, the operator changes the orientation (e.g., pitch) of the control component tool. However, given that the operator's hand position typically does not change significantly (e.g., given that the operator's hand remains on surface 86), Figure 5AThis change in orientation typically results in a change in the position of the end 58 (or, alternatively, another part of the control component tool whose coordinates are transformed). If the transformation remains the same, the corresponding coordinates of the surgical tool will change undesirably. For example, when switching from a straight surgical tool 21a to a non-straight surgical tool 21b, the height of the end 58 decreases, causing the corresponding height of the end 94b to also decrease. Conversely, when switching from a non-straight surgical tool 21b to a straight surgical tool 21a, the height of the end 58 increases, causing the corresponding height of the end 94b to also increase.

[0276] To address this challenge, in some embodiments, the processor is configured to use different transformations for different tool types. Specifically, the processor is configured to automatically or in response to manual input identify the type of surgical tool held by the robotic unit. In response to the identified type, the processor selects a transformation from a plurality of predefined transformations, which can be affine or any other suitable type. The processor then drives the robotic unit to move the surgical tool in a manner corresponding to the operator's movement of the control part tool by applying the selected transformation to the coordinates of the control part tool to calculate the corresponding coordinates of the surgical tool. The predefined transformation is configured to minimize variations in the corresponding coordinates of the surgical tool by mapping different corresponding coordinates of the control part tool to the same coordinates of the surgical tool.

[0277] Typically, predefined transformations include corresponding translations that differ from one another, for example, along a vertical axis. For instance, as described above, in some embodiments, the processor applies an affine transformation Az+b to the coordinate vector z of the control component tool, where A is an invertible matrix and b is a translation vector. Typically, A is the same for all predefined transformations, while b is unique for each predefined transformation.

[0278] For example, Figure 6 The processor is shown to use a first transformation T1 for a straight surgical instrument 21a, but a different second transformation T2 for a non-straight surgical instrument 21b. The first transformation T1 has a larger vertical translation relative to the second transformation T2. ​​With the aid of these different transformations, Figure 6 The different coordinates of end 58 shown are mapped to the same corresponding coordinates of the two tools, so that end 94b coincides with end 94a.

[0279] Typically, predefined transformations correspond to different orientations of surgical instruments that are maintained during surgical procedures, such as pitch. For example, in Figure 6 In the diagram, the first transformation T1 corresponds to pitch θ1, while the second transformation T2 corresponds to pitch θ2.

[0280] like Figure 6As shown, in some embodiments, due to the different preferred orientations of these types, the processor selects a different one of predefined transformations in response to the surgical tool being non-straight versus straight. In the context of ophthalmic surgery, examples of non-straight tools include ophthalmic nucleus splitters and clamping forceps. Additional examples of non-straight tool types include corneal knife blades, puncture knives, and / or syringes (e.g., dispersive ophthalmic adhesive surgical device (OVD) syringes, cohesive ophthalmic adhesive surgical device (OVD) syringes, staining syringes, lidocaine syringes, water-separating syringes, and / or antibiotic syringes). Examples of straight tools include intraocular syringes and phacoemulsification handpieces.

[0281] According to some embodiments of this disclosure, further details in this regard are now referred to. Figure 7 It shows that the processor 28 ( Figures 1A-1B The flowchart 96 shows the algorithm executed to control surgical tools using tool-type-specific transformations.

[0282] At the first movement step 98, the processor uses a first predefined transformation to move the first surgical tool. That is, the processor applies the first transformation to the coordinates of the control component tool to calculate the corresponding coordinates of the first surgical tool, thereby driving the robot unit to move the first surgical tool in accordance with the movement of the control component tool. Subsequently, in the disengagement step 100, when the operator provides the necessary input, the processor disengages the control component tool from the first surgical tool, for example, as referenced above. Figure 2I The aforementioned means that the movement of the control component tool does not cause any movement of the first surgical instrument.

[0283] Next, when the control component tool disengages from the first surgical tool, the second surgical tool replaces the first surgical tool. In type identification step 102, in response to the second surgical tool replacing the first surgical tool, the processor identifies the type of the second surgical tool. (As described above, this identification can be automatic or in response to manual input.) Subsequently, in transformation-selecting step 104, the processor selects a second predefined transformation in response to the type of the second surgical tool. Then, in engagement step 106, the processor engages the control component tool to the second surgical tool, for example, as referenced above. Figures 2A-2H Subsequently, in the second movement step 108, the processor uses a second predefined transformation to move the second surgical tool. That is, the processor drives the robot unit to move the second surgical tool in accordance with the movement of the control component tool by applying the second transformation to the coordinates of the control component tool to calculate the corresponding coordinates of the second surgical tool.

[0284] Advantageously, compared to the case where a first transformation is applied after a second surgical instrument replaces a first surgical instrument, the application of a second transformation reduces the required movement of the control component tool after the second surgical instrument replaces the first surgical instrument. For example, it will be assumed that the first surgical instrument is straight and the second surgical instrument is not straight, or vice versa, that the first surgical instrument is not straight and the second surgical instrument is straight. If the same transformation is applied to both tools, the control component tool may need to move a considerable vertical distance after the replacement, as referenced above. Figure 6 The aforementioned. On the other hand, by using different transformations, the required distance was reduced.

[0285] While some applications of this disclosure have been described with reference to cataract surgery, the scope of this application includes the application of the devices and methods described herein, with appropriate modifications, to other medical procedures. Specifically, the devices and methods described herein for other medical procedures can be applied to other microsurgical procedures, such as general surgery, orthopedic surgery, gynecological surgery, otolaryngology surgery, neurosurgery, oral and maxillofacial surgery, plastic surgery, podiatric surgery, vascular surgery, and / or pediatric surgery performed using microsurgical techniques. For some of these applications, the imaging system includes one or more microscopic imaging units.

[0286] It should be noted that the scope of this application includes the application of the apparatus and methods described herein, with appropriate modifications, to intraocular surgeries other than cataract surgery. Such surgeries may include collagen cross-linking, endothelial keratoplasty (e.g., DSEK, DMEK, and / or PDEK), DSO (Descemet's membrane peeling without graft), laser-assisted keratoplasty, keratoplasty, LASIK / PRK, SMILE, pterygium, ocular surface cancer treatment, secondary IOL implantation (sutured secondary IOL implantation, transconjunctival secondary IOL implantation, etc.), iris repair, IOL repositioning, IOL replacement, superficial keratotomy, minimally invasive glaucoma surgery (MIGS), limbal stem cell transplantation, astigmatic keratotomy, limbal retraction and incision (LRI), amniotic membrane transplantation (AMT), glaucoma surgery (e.g., trabeculectomy, tube implantation, minimally invasive glaucoma surgery), automated lamellar keratoplasty (ALK), anterior vitrectomy, and / or pars plana anterior vitrectomy.

[0287] The disclosed applications described herein may take the form of a computer program product accessible from a computer-usable or computer-readable medium (e.g., a non-transitory computer-readable medium) that provides program code for use by or in connection with a computer or any instruction execution system (e.g., computer processor 28). For the purposes of this description, a computer-usable or computer-readable medium can be any means that may include, store, transmit, propagate, or deliver a program for use by or in connection with an instruction execution system, apparatus, or device. The medium may be an electronic medium, a magnetic medium, an optical medium, an electromagnetic medium, an infrared medium, or a semiconductor system (or apparatus or device) or a propagation medium. Typically, a computer-usable or computer-readable medium is a non-transitory computer-usable or computer-readable medium.

[0288] Examples of computer-readable media include semiconductor or solid-state memory, magnetic tape, removable computer floppy disks, random access memory (RAM), read-only memory (ROM), rigid disks, and optical discs. Current examples of optical discs include compact optical disc read-only memory (CD-ROM), compact optical disc read / write (CD-R / W), DVDs, and USB drives.

[0289] A data processing system suitable for storing and / or executing program code will include at least one processor (e.g., computer processor 28) directly or indirectly coupled to memory elements via a system bus. Memory elements may include local memory, mass storage, and cache memory used during actual execution of the program code. The cache memory provides temporary storage for at least some of the program code to reduce the number of times code must be retrieved from the mass storage during execution. The system can read the instructions of the present invention stored on a program storage device and follow those instructions to perform the methods of embodiments of the present disclosure.

[0290] A network adapter can be attached to a processor, enabling the processor to connect to other processors or remote printers or storage devices via an accessed private or public network. Modems, cable modems, and Ethernet cards are just a few of the types of network adapters currently available.

[0291] Computer program code used to perform the operations of this disclosure may be written in any combination of one or more programming languages, including object-oriented programming languages ​​(such as Java, Smalltalk, C++, etc.) and traditional procedural programming languages ​​(such as C or similar programming languages).

[0292] It will be understood that the algorithms described herein can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a processor of a special-purpose computer, or a processor of other programmable data processing apparatus for manufacturing machines, such that the instructions, which execute via the processor of the computer (e.g., computer processor 28) or the processor of the other programmable data processing apparatus, produce means for implementing the functions / actions specified in the algorithms described herein. These computer program instructions can also be stored in a computer-readable medium (e.g., a non-transitory computer-readable medium) that can instruct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable medium produce an article of writing including means of instruction for implementing the functions / actions specified in the algorithm. The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide a process for implementing the functions / actions specified in the algorithms described herein.

[0293] Computer processor 28 is typically a hardware device programmed with computer program instructions to produce a dedicated computer. For example, when computer processor 28 is programmed to execute the algorithms described with reference to the accompanying drawings, computer processor 28 typically acts as a dedicated robotic system computer processor. Generally, the operations performed by computer processor 28 described herein convert the physical state of memory (which is a real physical object) into different magnetic polarities, charges, etc., depending on the memory technology used. For some applications, the operations described as being performed by computer processors are executed by multiple computer processors in combination.

[0294] Those skilled in the art will recognize that this disclosure is not limited to what has been specifically shown and described above. Rather, the scope of protection of this disclosure includes both combinations and sub-combinations of the various features described above, as well as variations and modifications of this disclosure that would occur to those skilled in the art upon reading the foregoing description and are not found in the prior art.

Claims

1. An apparatus for performing robotic surgery on a part of a subject's body using a robotic unit that holds surgical instruments, the apparatus comprising: - Control component tools; and - A processor, which is configured to: -- The process of engaging the control component tool with the surgical instrument is performed in such a way that movement of the control component tool by the operator causes a corresponding movement of the robotic unit with respect to the surgical instrument: --- Displays an image showing a representation of the surgical instruments. --- Overlay an icon representing the control component tool on the image, such that the position and orientation of the icon track the position and orientation of the control component tool, and --- In response to the operator aligning the icon in the image with the representation of the surgical instrument, the control component tool engages with the surgical instrument. -- In response to a first input from the operator, the control component tool is disengaged from the surgical instrument, such that movement of the control component tool does not cause any movement of the surgical instrument, and -- In response to a second input from the operator, the process of engaging the control component tool with the surgical instrument is re-executed.

2. The apparatus according to claim 1, wherein, The processor is configured to display a representation of the surgical instrument by displaying an icon representing the surgical instrument.

3. The apparatus according to claim 1, wherein, The processor is configured to display the representation of the surgical instrument by displaying an image of the surgical instrument.

4. The apparatus according to claim 1, wherein, The processor is configured to display the representation of the surgical instruments by displaying images of body parts and the surgical instruments themselves.

5. The apparatus according to claim 1, wherein, The surgical instruments include ophthalmic surgical instruments.

6. The apparatus of claim 1, further comprising a plurality of links connected to each other via one or more joints and connected to the control component tool. in, The processor is configured to re-execute the process of engaging the control component tool with the surgical instrument after the operator has brought one of the control component tools or the link into contact with the surface, such that when the control component tool is re-engaged with the surgical instrument, the surface supports the control component tool or the link.

7. The apparatus according to any one of claims 1-6, further comprising an input interface, wherein an operator provides the first input by pressing the input interface and provides the second input by releasing the input interface.

8. The apparatus according to claim 7, wherein, The input interface is selected from the group of input interfaces consisting of the following: buttons and foot pedals.

9. The apparatus according to claim 7, wherein, The input interface includes buttons located on the control component tool.

10. An apparatus for performing robotic surgery on a part of a subject's body using a robotic unit that holds surgical instruments, the apparatus comprising: - Multiple links, which are connected to each other via one or more joints; - A control component tool, which is connected to the linkage; and - A processor, which is configured to: -- Engage the control component tool with the surgical instrument, such that movement of the control component tool by the operator causes a corresponding movement of the robotic unit with respect to the surgical instrument. -- In response to a first input from the operator, the control component tool is disengaged from the surgical instrument, such that movement of the control component tool does not cause any movement of the surgical instrument, and -- In response to a second input from the operator, after the operator contacts the control component tool or one of the links with the surface, the control component tool is re-engaged with the surgical instrument such that the surface supports the control component tool or one of the links.

11. The apparatus according to claim 10, wherein, The surface is horizontal.

12. The apparatus according to claim 10, wherein, The surface supports the control component tool or one of the links, while the operator's hand holding the control component tool is supported by the other surface.

13. The apparatus according to any one of claims 10-12, wherein, The processor is also configured to drive the robotic unit after re-engaging the control component tool with the surgical tool to move the surgical tool in correspondence with the movement of the control component tool when the surface supports the control component tool or one of the links.

14. The apparatus according to claim 13, wherein, Even when the control component tool or one of the links is supported on the surface, the movement of the control component tool is not constrained by the surface.

15. The apparatus according to claim 14, in, The control component tool or one of the links includes a compression spring and a retractable portion connected to the compression spring, and The surface supports the control component tool or one of the links at the retractable portion, such that when the control component tool or one of the links is pushed against the surface, the retractable portion retracts and the spring is compressed.

16. The apparatus according to claim 15, in, The control component tool is mounted to the top of one of the links, and The retractable portion is located at the bottom end of one of the links in the linkage.

17. The apparatus of claim 16, further comprising the surface, wherein the link is mounted to the surface.

18. The apparatus according to claim 15, wherein, The retractable portion is located at the end of the control component tool.

19. The apparatus of claim 14, further comprising the surface and a compression spring, wherein the surface is mounted to the compression spring such that when the control member tool or one of the links is pushed against the surface, the surface retracts and the spring is compressed.

20. An apparatus for performing robotic surgery on a part of a subject's body using a robotic unit that holds surgical instruments, the apparatus comprising: - Control component tools; and - A processor, which is configured to: -- Identify the type of the surgical instrument. -- In response to identifying the type, select a transformation from multiple predefined transformations, and -- By applying a selected transformation to the coordinates of the control component tool to calculate the corresponding coordinates of the surgical tool, the robot unit is driven to move the surgical tool in accordance with the operator's movement of the control component tool.

21. The apparatus according to claim 20, wherein, The surgical instruments include ophthalmic surgical instruments.

22. The apparatus according to claim 20, wherein, The predefined transformations include corresponding translations that are different from each other.

23. The apparatus according to claim 22, wherein, The translations are different from each other along the vertical axis.

24. The apparatus according to claim 20, wherein, The processor is configured to apply the selected transformation to the coordinates of the end of the control component tool to calculate the corresponding coordinates of the end of the surgical tool.

25. The apparatus according to claim 20, wherein, The predefined transformation maps the different corresponding coordinates of the control component tool to the same coordinates of the surgical tool.

26. The apparatus according to claim 20, wherein, The predefined transformations correspond to the different orientations in which the surgical instruments are held during the surgical procedure.

27. The apparatus according to claim 26, wherein, The predefined transformations correspond to the different pitches at which the surgical instruments are held during the surgical procedure.

28. The apparatus according to any one of claims 20-27, wherein, The processor is configured to select one of the predefined transformations in response to the surgical tool being non-rectangular versus the surgical tool being rectangular.

29. The apparatus according to claim 28, wherein, The non-straight type is selected from the group consisting of the following types: ophthalmic nucleus splitters and clamping forceps.

30. The apparatus according to claim 28, wherein, The straight type is selected from the group consisting of the following types: intraocular syringes and phacoemulsification handheld devices.

31. The apparatus according to any one of claims 20-27, wherein, The processor is also configured to perform the following operations before identifying the type of the surgical instrument: By applying another predefined transformation to the coordinates of the control component tool to calculate the corresponding coordinates of the surgical tool, the robot unit is driven to move another surgical tool in a manner corresponding to the movement of the control component tool, and Disengage the control component tool from the other surgical instrument such that movement of the control component tool does not cause any movement of the other surgical instrument, and The processor is configured to identify the type of surgical tool in response to the surgical tool replacing the other surgical tool when the control component tool is disengaged from the other surgical tool.

32. The apparatus according to claim 31, wherein, Compared to the case where another of the predefined transformations is applied after the surgical instrument replaces the other surgical instrument, the application of the selected transformation after the surgical instrument replaces the other surgical instrument reduces the required movement of the control component tool.

33. An apparatus for performing robotic surgery on a part of a subject's body using a robotic unit that holds surgical instruments, the apparatus comprising: - Control component tools; and - A processor, which is configured to: -- The robotic unit moves the surgical instrument in a manner corresponding to the operator's movement of the control components. -- Receive input from the operator, and -- In response to the input, increase the resistance of the control component tool to the force applied to the control component tool by the operator, without prohibiting movement.

34. The apparatus of claim 33 further includes an input interface, wherein an operator provides the input by pressing the input interface.

35. The apparatus according to claim 34, wherein, The input interface is selected from the group of input interfaces consisting of the following: buttons and foot pedals.

36. The apparatus according to claim 34, wherein, The input interface includes buttons located on the control component tool.

37. The apparatus according to claim 33, wherein, The surgical instruments include ophthalmic surgical instruments.

38. The apparatus according to any one of claims 33-37, wherein, The control component tool is held by the operator's non-dominant hand.

39. The apparatus according to any one of claims 33-37, further comprising another control component tool, wherein the control component tool is held by a first hand of an operator, and wherein the processor is configured to increase the resistance when the second hand of an operator moves the other control component tool.

40. The apparatus according to any one of claims 33-37, further comprising: Multiple links, the multiple links being connected to each other via one or more joints and the multiple links being connected to the control component tool; and A corresponding motor, which is operatively connected to the joint, The processor is configured to increase the resistance by increasing the reaction force applied to the joint by the motor.

41. An apparatus for performing robotic surgery on a part of a subject's body using a robotic unit that holds surgical instruments, the apparatus comprising: - Control component tools; and - A processor, which is configured to: -- The robotic unit moves the surgical instrument in a manner corresponding to the operator's movement of the control components. -- Receive input from the operator, the input indicating that at least one type of movement of the surgical instrument should be restricted, while other types of movement of the surgical instrument are not restricted, and -- In response to the input, the movement of the control component tool is restricted relative to the movement type, but the movement of the control component tool relative to the other movement types is not restricted.

42. The apparatus of claim 41, further comprising an input interface, wherein an operator provides the input by pressing the input interface.

43. The apparatus according to claim 42, wherein, The input interface is selected from the group of input interfaces consisting of the following: buttons and foot pedals.

44. The apparatus according to claim 42, wherein, The input interface includes buttons located on the control component tool.

45. The apparatus according to claim 41, wherein, The surgical instruments include ophthalmic surgical instruments.

46. ​​The apparatus of claim 41, further comprising: Multiple links, the multiple links being connected to each other via one or more joints and the multiple links being connected to the control component tool; and A corresponding motor, which is operatively connected to the joint, The processor is configured to restrict movement by increasing the reaction force applied to the joint by the motor.

47. The apparatus according to claim 41, wherein, The processor is configured to restrict movement by disallowing movement relative to the movement type.

48. The apparatus according to any one of claims 41-47, wherein, Before restricting movement, the control component tool has multiple degrees of freedom, and the processor is configured to restrict the movement of the control component tool relative to at least one of the degrees of freedom.

49. The apparatus according to claim 48, wherein, Before restricting movement, the control component tool has six degrees of freedom.

50. The apparatus according to any one of claims 41-47, wherein, The processor is configured to restrict the translational movement of the control component tool in at least one direction, but not to restrict any rotational movement of the control component tool.

51. The apparatus according to claim 50, wherein, The direction is defined relative to the orientation of the control component tool.

52. The apparatus according to claim 51, wherein, The direction is along the longitudinal axis of the control component tool.

53. The apparatus according to claim 50, wherein, The processor is configured to restrict all translational movements.

54. The apparatus according to any one of claims 41-47, wherein, The processor is configured to prevent the surgical instruments from moving deeper into parts of the subject's body by restricting the movement.

55. The apparatus according to claim 54, wherein, The body part includes the subject's eyes.

56. The apparatus according to any one of claims 41-47, wherein, The processor is configured to prevent the surgical instruments from moving to the edge of the incision in the subject's body by restricting their movement.

57. The apparatus according to claim 56, wherein, The incision includes a corneal incision.

Images