Kinematic Structures and Sterile Drapes for Robotic Microsurgical Procedures.

Abstract

The aim is to perform microsurgery procedures using robots. SOLUTION: An apparatus and method are described for performing a procedure on a patient's body part using a tool (21). A robotic unit (20) includes a base (27), an end effector (30), and a tool mount (92) configured to hold the tool so that the tool is coaxial with the end effector. The end effector is coupled to the base via a plurality of articulated arms (32). Each of the articulated arms (32) includes a rotatable arched link (64) adjacent the end effector that is configured to accommodate rolling of the end effector about an axis that is not coaxial with the longitudinal axis of the tool. Other applications are also described.

Description

[Technical field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application is U.S. Provisional Patent Application No. 63 / 195,429, by Gil et al., entitled “Kinematic structures for robotic microsurgical procedures,” filed June 1, 2021; and This application claims priority to U.S. Provisional Patent Application No. 63 / 229,593 by Gil et al., entitled "Sterile drapes for robotic microsurgical procedures," filed on August 5, 2021.

[0002] Both of the above US provisional applications are hereby incorporated by reference.

[0003] Some applications of the present invention relate generally to medical devices and methods, and more particularly, to devices and methods for performing robotic microsurgical procedures. [Background technology]

[0004] Cataract surgery consists of removing the eye's natural lens that has developed opacity (known as a cataract) and replacing it with an intraocular lens. Such surgery usually involves several standard steps that are performed in sequence.

[0005] In the first step, the patient's face around the eyes is disinfected (usually with an iodine solution) and the face is covered with a sterile drape to expose only the eye. Once disinfection and draping are complete, the eye is anesthetized using a local anesthetic, usually administered in the form of eye drops. The eye is then exposed using a retractor that holds the upper and lower eyelids open. One or more incisions (usually two or three incisions) are made in the cornea of ​​the eye. The incisions are usually made using a specialized blade called a keratome blade. At this stage, lidocaine is usually injected into the anterior chamber of the eye to further anesthetize the eye. Following this step, a viscoelastic injection is administered through the corneal incision. The viscoelastic injection is administered to stabilize the anterior chamber and to help maintain intraocular pressure for the remainder of the procedure, as well as to expand the lens capsule.

[0006] In a later step known as capsulorhexis, a portion of the anterior lens capsule is removed. Various enhanced techniques have been developed to perform capsulorhexis, including laser-assisted capsulorhexis, zepto-assisted incision (using precise nano-pulse technology), and marker-assisted capsulorhexis (where the cornea is marked using a defined marker to indicate the desired size for the capsule opening).

[0007] It is then common to inject a fluid wave through the corneal incision to slice through the outer layer of the cataract, in a step known as hydrodissection. In a subsequent step known as hydrodelineation, the outer, softer epi-nucleus of the lens is separated from the inner, harder endo-nucleus by injection of a fluid wave. The next step is ultrasonic emulsification of the lens in a process known as phacoemulsification. The nucleus of the lens is first fragmented using a chopper, after which the outer fragments of the lens are broken and removed, usually using an ultrasonic phacoemulsification probe. A separate tool is also usually used to perform aspiration during phacoemulsification. Once phacoemulsification is complete, the remaining cortical (i.e., outer layer of the lens) material is aspirated from the capsule. During phacoemulsification and aspiration, the aspirated fluid is usually supplemented by irrigation with a balanced salt solution to maintain fluid pressure in the anterior chamber. In some cases, the capsule is polished if deemed necessary. An intraocular lens (IOL) is then inserted into the capsule. The IOL is usually foldable and inserted in a folded state, after which it is deployed inside the capsule. At this stage, the viscoelastic material is usually removed using a suction device that was previously used to aspirate the fluid from the capsule. If necessary, the incision is closed by increasing intraocular pressure, forcing the incision closed by pressing the inner tissue against the outer tissue. Summary of the Invention

[0008] According to some applications of the present invention, a robotic system is configured for use in a microsurgical procedure, such as intraocular surgery. Typically, when used in intraocular surgery, the robotic system includes a first and a second robotic unit. In some applications, each of the robotic units includes an end effector, typically configured to securely hold any one of a plurality of different tools thereon. In some applications, the end effector is coupled to a tool mount configured to hold (directly or indirectly) the tool. Typically, the end effector is configured to insert the tool into the patient's eye such that entry of the tool into the patient's eye is via an incision point and the tip of the tool is disposed within the patient's eye.

[0009] In some applications, two articulated arms (i.e., arms including multiple links connected to each other via joints) are disposed on one side of the end effector and configured to movably support the end effector. Typically, multiple arm motors are associated with the two articulated arms. In some applications, the robotic unit is configured to rotate the tool about its own axis to compensate for rolling of the end effector relative to the base of the robotic unit. Typically, it is desirable to prevent the tool (especially a tool that is not rotationally symmetric) from rolling relative to the patient's eye. In some applications, rather than preventing the end effector from rotating relative to the base of the robotic unit, the end effector is allowed to roll relative to the base, but such rolling of the end effector is compensated for by rolling the tool about its own axis relative to the end effector. In some applications, the robotic unit is configured to rotate the tool about its own axis for another or additional reason, e.g., to perform a surgical procedure.

[0010] Typically, the robot unit is actively driven to move the end effector along the x-axis, y-axis, z-axis, and by pitch and yaw angular motions, with rolling of the end effector being an undesirable by-product of such motions. In some applications, a computer processor calculates the amount of roll the tool should undergo relative to the end effector. For example, the computer processor may calculate that due to the motion of the articulated arm (e.g., translational motion along the x-axis, y-axis, and / or z-axis, and / or pitch and / or yaw angular motions), the end effector will undergo a roll of +20 degrees relative to the base. In response, the computer processor may rotate the tool about its own axis by -20 degrees relative to the end effector.

[0011] In some applications, instead of or in addition to rolling the tool relative to the end effector, the end effector itself is rolled. Typically, in such cases, the end effector rolls about an axis that is not coaxial with the longitudinal axis of the tool. Thus, the end effector undergoes rolling about an axis that is eccentric with respect to its longitudinal axis. In some applications, the robotic unit comprises an end effector motor configured to roll the end effector about an eccentric axis. Typically, the robotic unit comprises at least five arm motors. In some applications, the computer processor operates the arms to compensate for the axis that is the center of the end effector roll and is not coaxial with the tool axis. In this way, the end effector rotates about the eccentric axis, but the tool itself rolls about its own axis.

[0012] In some such applications, each of the articulated arms includes a rotatable arched link adjacent the end effector. The rotatable arched link is configured to rotate to accommodate the rolling of the end effector about its axis. Typically, as the end effector rotates, it pushes the arched link to rotate, and the end effector is received by the concave curved surface of the arched link. Such reception of the rolling of the end effector is typically desirable, especially in view of a robot unit in which the rolling of the end effector is configured to be eccentric with respect to its own axis. For example, if instead of the rotatable arched link there is a straight link arranged perpendicular to the axis of the end effector, the end effector can only rotate in a relatively narrow angular range before being blocked by the link. In contrast, with the configuration described herein, the end effector can typically roll more than 180 degrees, e.g., more than 250 degrees, or more than 300 degrees, about the eccentric axis.

[0013] In some applications, a sterile drape is provided between (a) the robotic arms and end effectors disposed in a non-sterile zone on a first side of the sterile drape, and (b) the tool mounts and tools disposed in a sterile zone on a second side of the sterile drape. Typically, the sterile drape is disposed around and sealed to the drape plate. In some applications, the drape plate is coupleable to the end effectors and is coupled (or coupleable) to the tool mounts. The drape plate typically serves as an interface between (a) the robotic arms and end effectors disposed in a non-sterile zone on a first side of the sterile drape, and (b) the tool mounts and tools disposed in a sterile zone on the second side of the sterile drape.

[0014] In some applications, a tool motor is disposed within the non-sterile zone of the end effector. The tool motor typically directly operates (e.g., rotates) a motion transmission part (such as a pin or shaft). The motion transmission part is configured to transmit the motion of the motor to a first gear (e.g., a spur gear (i.e., a toothed wheel) or a worm gear), which rotates a second gear (typically a spur gear (i.e., a toothed wheel)) to rotate the tool relative to the end effector. (Depending on the application, the second gear may be incorporated into the tool itself or may be incorporated into or coupled to the tool sleeve.) Typically, the motion transmission part is mechanically coupled to the first gear such that the interface between the motion transmission part and the first gear is sealed (e.g., via an O-ring). Thus, the rotational motion of the tool relative to the end effector is generated by a motor disposed within the non-sterile zone. The rotational motion generated by the motor is transmitted to the tool via an interface that maintains a seal between the non-sterile zone and the sterile zone.

[0015] In some applications, a linear tool motor is disposed within the non-sterile zone. The linear tool motor typically moves a tool actuation arm in a linear manner. The tool actuation arm is typically disposed within the non-sterile zone and configured to linearly push a portion of the tool (such as a plunger of a syringe) by pushing the portion of the tool through the sterile drape. In some applications, a portion of the sterile drape disposed at the interface of the tool actuation arm and the pushed portion of the tool is configured to have a higher stiffness and / or durability than other portions of the drape. For example, a sticker may be applied to the portion to increase the stiffness and / or durability of the portion relative to other portions of the sterile drape. Alternatively, the drape may be treated (e.g., with a heat treatment or a chemical treatment) at the portion to increase the stiffness and / or durability of the portion relative to other portions of the sterile drape. Thus, linear motion of the portion of the tool is generated by a linear tool motor disposed within the non-sterile zone. The linear motion generated by the motor is transferred to the portion of the tool through the drape to maintain a seal between the non-sterile zone and the sterile zone.

[0016] Thus, in accordance with some applications of the present invention, there is provided an apparatus for performing a procedure on a part of a patient's body using a tool, the apparatus comprising: With the base, An end effector; a tool mount configured to hold a tool; a plurality of articulated arms used to couple the end effector to the base, each of the articulated arms including a rotatable arched link adjacent the end effector configured to accommodate rolling of the end effector about an axis that is not coaxial with the longitudinal axis of the tool; An apparatus is provided that includes a robot unit comprising:

[0017] For some applications, the apparatus further comprises one or more arm motors configured to move the articulated arm; Calculating the rolling of the end effector relative to the base about an axis that is not coaxial with the longitudinal axis of the tool as a result of the movement of the articulated arm; The tool is caused to roll about its own longitudinal axis by driving one or more arm motors to move the articulated arm in a manner that compensates for rolling of the end effector about an axis that is not coaxial with the longitudinal axis of the end effector and the tool. a computer processor configured to: It further comprises:

[0018] For some applications, each of the rotatable arched links defines a concave surface, and the rotatable arched links are configured to accommodate rolling of the end effector by rotating such that the end effector is received in the concave surface of the rotatable arched link.

[0019] For some applications, the apparatus further includes an end effector motor configured to directly roll the end effector relative to the base, and the rotatable arched link is configured to passively rotate in response to the end effector being actively rolled by the end effector motor.

[0020] For some applications, the apparatus further includes a sterile drape and a drape plate configured such that the articulated arm and end effector are disposed in a non-sterile zone on a first side of the sterile drape and the tool mount is coupled to the end effector such that the tool mount is disposed within a sterile zone on a second side of the sterile drape.

[0021] In some applications, the drape plate is configured to be coupled to the end effector such that all motion drives of the robotic unit configured to operate the end effector are disposed in a non-sterile zone on a first side of the sterile drape.

[0022] For some applications, the rotatable arched link is configured to rotate to accommodate rolling of the end effector through an angle of greater than 180 degrees.

[0023] For some applications, the rotatable arched link is configured to rotate to accommodate a roll of the end effector through an angle of greater than 300 degrees.

[0024] For some applications, each of the plurality of articulated arms further includes a first linear link adjacent a first end of the rotatable arched link and a second linear link adjacent a second end of the rotatable arched link for coupling the end effector to the rotatable arched link, the second linear link being disposed at an angle relative to the first linear link.

[0025] For some applications, the apparatus further includes a motor within at least one of the arms configured to roll the rotatable arched link relative to the first linear link, and an angle between the first linear link and the second linear link is configured such that rolling of the rotatable arched link relative to the linear link results in rolling of the end effector.

[0026] According to some applications of the present invention, an apparatus for performing a procedure on a part of a patient's body using a robotic unit including an end effector and a base, a tool mount configured to hold a tool, a tool motor configured to roll the tool relative to the end effector, and one or more robotic arms configured to move the end effector relative to the base, comprising: a drape plate configured to be disposed between the tool mount and the end effector; a sterile drape disposed around and sealed to the drape plate, the sterile drape configured to form an interface between a non-sterile zone on a first side of the sterile drape and a sterile zone on a second side of the sterile drape such that the tool mount is disposed within the sterile zone and the one or more robotic arms and tool motors are disposed within the non-sterile zone; at least one gear mechanism configured to be disposed within the sterile zone and configured to roll the tool relative to the end effector; a motion transfer section configured to transfer motion from the tool motor to at least one gear mechanism while maintaining a seal between the sterile zone and the non-sterile zone; There is further provided an apparatus comprising:

[0027] For some applications, the apparatus may further comprise: actuating the end effector relative to the base by moving the one or more arms; Calculate the resulting rolling of the end effector relative to the base; Driving the tool motor to roll the tool relative to the end effector to compensate for the resulting rolling of the end effector relative to the base. The device further comprises at least one computer processor configured to:

[0028] In some applications, the motion transmission part includes a shaft, the tool motor is configured to rotate the shaft, and the at least one gear mechanism includes a first gear driven to rotate by the shaft and a second gear driven to rotate by the first gear.

[0029] For some applications, the interface between the shaft and the first gear is sealed to maintain a seal between the sterile zone and the non-sterile zone.

[0030] For some applications, the first gear is disposed in the drape plate.

[0031] In some applications, the second gear is integrated into the tool.

[0032] For some applications, the apparatus further includes a tool sleeve configured to be disposed about the tool, the second gear being mounted to the tool sleeve.

[0033] In some applications, the motion transmission part includes a shaft, the tool motor is configured to rotate the shaft, and the at least one gear mechanism includes a worm gear driven to move linearly by the shaft and a gear driven to rotate by the linear motion of the first gear.

[0034] For some applications, an interface between the shaft and the worm gear is sealed to maintain a seal between the sterile zone and the non-sterile zone. For some applications, the worm gear is disposed within the drape plate. For some applications, the gear is integrated into the tool. For some applications, the apparatus further includes a tool sleeve configured to be disposed around the tool, the gear being integrated into the tool sleeve.

[0035] For some applications, the apparatus may further comprise: a linear tool motor configured to move at least a portion of the tool linearly relative to the end effector; a tool actuation arm configured to be moved linearly by a linear tool motor to move at least a portion of the tool linearly relative to the end effector; Equipped with The sterile drape is configured to form an interface such that the linear tool motor is disposed within the non-sterile zone and the tool actuation arm is disposed within the non-sterile zone.

[0036] For some applications, a portion of the sterile drape configured to be disposed at the interface of the tool actuation arm and the portion of the tool being pushed is configured to have greater stiffness and / or durability than other portions of the drape.

[0037] According to some applications of the present invention, an apparatus for performing a procedure on a part of a patient's body using a robotic unit including an end effector, a tool mount configured to hold a tool such that the tool is coaxial with the end effector, a linear tool motor configured to move at least a portion of the tool linearly relative to the end effector, and one or more robotic arms configured to move the end effector, comprising: a drape plate configured to be disposed between the tool mount and the end effector; a sterile drape disposed around and sealed to the drape plate, the sterile drape configured to form an interface between a non-sterile zone on a first side of the sterile drape and a sterile zone on a second side of the sterile drape such that the tool mount is disposed within the sterile zone and the one or more robotic arms and linear tool motors are disposed within the non-sterile zone; a tool actuation arm configured to be disposed within the non-sterile zone and configured to be moved linearly by a linear tool motor to linearly move at least a portion of the tool relative to the end effector; Equipped with An apparatus is further provided in which a portion of a sterile drape configured to be disposed at an interface between a tool actuation arm and a portion of a tool to be pushed is configured to have greater stiffness and / or durability than other portions of the drape.

[0038] For some applications, the device includes a sticker attached to a portion of the sterile drape, the sticker configured to increase the stiffness and / or durability of the portion relative to other portions of the sterile drape.

[0039] For some applications, a portion of the sterile drape is heat treated to increase the stiffness and / or durability of the portion relative to other portions of the sterile drape.

[0040] For some applications, a portion of the sterile drape is chemically treated to increase the stiffness and / or durability of the portion relative to other portions of the sterile drape.

[0041] For some applications, a portion of the sterile drape includes alternative or additional materials from other portions of the sterile drape to increase the stiffness and / or durability of the portion relative to other portions of the sterile drape.

[0042] For some applications, the apparatus further includes an automatic tool actuation arm folding mechanism configured to cause the tool actuation arm to automatically fold in response to retracting a given distance from the tool mount.

[0043] According to some applications of the present invention, an apparatus for performing a procedure on a part of a patient's body using a robotic unit including an end effector, a tool mount configured to hold a tool such that the tool is coaxial with the end effector, and a linear tool motor configured to move at least a portion of the tool linearly relative to the end effector, comprising: a tool actuation arm configured to be moved linearly by a linear tool motor to linearly move at least a portion of the tool relative to the end effector; an automatic tool actuation arm folding mechanism configured to automatically fold the tool actuation arm in response to retracting the tool actuation arm a given distance from the tool mount; There is further provided an apparatus comprising:

[0044] For some applications, the automatic tool actuation arm folding mechanism includes a spring mechanism.

[0045] For some applications, the tool includes a syringe with a plunger, and the tool actuation arm is configured to linearly push the plunger of the syringe.

[0046] For some applications, the tool actuation arm is configured to be collapsible so that the tool mount can accommodate larger tools without requiring removal and / or manual folding of the tool actuation arm.

[0047] In some applications, the robotic unit is configured to perform cataract surgery using multiple tools including a phacoemulsification probe, and the tool actuation arm is configured such that the tool mount can be folded to accommodate the phacoemulsification probe without requiring removal and / or manual folding of the tool actuation arm.

[0048] For some applications, the apparatus further includes an automatic tool actuation arm deployment mechanism configured to automatically deploy the tool actuation arm in response to the tool actuation arm approaching the tool mount.

[0049] For some applications, the automated tool actuation arm deployment mechanism includes a spring mechanism.

[0050] In accordance with some applications of the present invention, an apparatus for performing a procedure on an eye of a patient using a tool, comprising: base, End effector, a tool mount configured to hold a tool; a plurality of articulated arms used to couple the end effector to the base, the articulated arms being configured to permit movement of the end effector relative to the base, such as rolling the end effector relative to the base; At least one arm motor configured to move the articulated arm; and at least one tool motor configured to rotate the tool relative to the end effector about a longitudinal axis of the tool; A robot unit having The arm motor is driven to move the articulated arm to move the end effector relative to the base; Calculate the resulting rolling of the end effector relative to the base; The tool motor is driven to roll the tool about its own longitudinal axis to compensate for the resulting rolling of the end effector relative to the base. at least one computer processor configured to There is further provided an apparatus comprising:

[0051] For some applications, the robotic unit is configured to perform at least a portion of a cataract surgery on the patient's eye.

[0052] The present invention will be more fully understood from the following detailed description of examples of its application, taken together with the drawings. [Brief description of the drawings]

[0053] [Figure 1] FIG. 1 is a schematic diagram of a robotic system configured for use in microsurgical procedures, such as intraocular surgery, in accordance with some applications of the present invention. [Figure 2A] 1 is a schematic diagram of a robotic unit for use in a robotic system, in accordance with some applications of the present invention. [Figure 2B] 1 is a schematic diagram of a robotic unit for use in a robotic system, in accordance with some applications of the present invention. [Figure 3A] FIG. 13 is a schematic diagram of a robotic unit configured to roll a tool about its own axis to compensate for rolling of an end effector of the robotic unit relative to a base of the robotic unit, in accordance with some applications of the present invention. [Figure 3B] FIG. 13 is a schematic diagram of a robotic unit configured to roll a tool about its own axis to compensate for rolling of an end effector of the robotic unit relative to a base of the robotic unit, in accordance with some applications of the present invention. [Figure 4A] 1A-1C are schematic diagrams of a robotic unit having an end effector configured to roll about an axis, in accordance with some alternative applications of the present invention. [Figure 4B]1A-1C are schematic diagrams of a robotic unit having an end effector configured to roll about an axis, in accordance with some alternative applications of the present invention. [Figure 4C] 1A-1C are schematic diagrams of a robotic unit having an end effector configured to roll about an axis, in accordance with some alternative applications of the present invention. [Figure 5A] 4A and 4B at various stages of a rolling motion of an end effector of the robotic unit, according to some alternative applications of the present invention. [Figure 5B] 4A and 4B at various stages of a rolling motion of an end effector of the robotic unit, according to some alternative applications of the present invention. [Figure 5C] 4A and 4B at various stages of a rolling motion of an end effector of the robotic unit, according to some alternative applications of the present invention. [Figure 6A] 1A-1C are schematic diagrams of a robotic unit having an end effector configured to roll about an axis that is not coaxial with its own longitudinal axis, according to some alternative applications of the present invention. [Figure 6B] 1A-1C are schematic diagrams of a robotic unit having an end effector configured to roll about an axis that is not coaxial with its own longitudinal axis, according to some alternative applications of the present invention. [Figure 7A] 6C are schematic diagrams of the robotic unit of FIGS. 6A and 6B at various stages of a rolling motion of an end effector of the robotic unit, according to some alternative applications of the present invention. [Figure 7B] 6C are schematic diagrams of the robotic unit of FIGS. 6A and 6B at various stages of a rolling motion of an end effector of the robotic unit, according to some alternative applications of the present invention. [Figure 7C] 6C are schematic diagrams of the robotic unit of FIGS. 6A and 6B at various stages of a rolling motion of an end effector of the robotic unit, according to some alternative applications of the present invention. [Figure 8]FIG. 13 is a schematic diagram of a sterile drape and drape plate for use with a robotic unit that is not configured to rotate tools within the end effector, in accordance with some applications of the present invention. [Figure 9] 1 is a schematic diagram of a sterile drape and drape plate for use with a robotic unit configured to rotate a tool within an end effector, in accordance with some applications of the present invention. [Figure 10A] 1A-1C are schematic diagrams of a sterile drape and drape plate for use with a robotic unit configured to rotate a tool within an end effector, in accordance with some alternative applications of the present invention. [Figure 10B] 1A-1C are schematic diagrams of a sterile drape and drape plate for use with a robotic unit configured to rotate a tool within an end effector, in accordance with some alternative applications of the present invention. [Figure 10C] 1A-1C are schematic diagrams of a sterile drape and drape plate for use with a robotic unit configured to rotate a tool within an end effector, in accordance with some alternative applications of the present invention. [Figure 11A] 10A, 10B, and 10C are photographs of sterile drapes and drape plates generally similar to those shown generally in FIGS. 10A, 10B, and 10C, according to some applications of the present invention. [Figure 11B] 10A, 10B, and 10C are photographs of sterile drapes and drape plates generally similar to those shown generally in FIGS. 10A, 10B, and 10C, according to some applications of the present invention. [Figure 12A] 13A-13C are schematic diagrams of a sterile drape and drape plate for use with a robotic unit configured to rotate a tool within an end effector, in accordance with some further alternative applications of the present invention. [Figure 12B] 13A-13C are schematic diagrams of a sterile drape and drape plate for use with a robotic unit configured to rotate a tool within an end effector, in accordance with some further alternative applications of the present invention. [Figure 13]1 is a schematic diagram of an end effector with an automatically collapsible tool actuation arm for linearly pushing a tool or part thereof, in accordance with some applications of the present invention. FIG. [Figure 14A] 1A-1C are schematic diagrams of an automatically collapsible tool actuation arm at various stages of its movement relative to a tool mount, in accordance with some applications of the present invention. [Figure 14B] 1A-1C are schematic diagrams of an automatically collapsible tool actuation arm at various stages of its movement relative to a tool mount, in accordance with some applications of the present invention. [Figure 14C] 1A-1C are schematic diagrams of an automatically collapsible tool actuation arm at various stages of its movement relative to a tool mount, in accordance with some applications of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0054] Reference is now made to FIG. 1, which is a schematic diagram of a robotic system 10 configured for use in a microsurgical procedure, such as intraocular surgery, according to some applications of the present invention. Typically, when used in intraocular surgery, the robotic system 10 includes a first and a second robotic unit 20 (configured to hold a tool 21), as well as an imaging system 22, a display 24, and a control component 26 (e.g., a pair of control devices such as joysticks as shown) that allow a user (e.g., a medical professional) to control the robotic unit 20. Typically, the robotic system 10 includes one or more computer processors 28, through which the components of the system and the user (e.g., a medical professional) operatively interact with one another. In some applications, each of the first and second robotic units is supported by a base 27, as shown in the figure. The scope of the present application includes mounting the first and second robotic units in any of a variety of different positions relative to one another.

[0055] Typically, the movement of the robotic unit (and / or control of other aspects of the robotic system) is at least partially controlled by a user (e.g., a medical professional). For example, the user may receive images of the patient's eye and the robotic unit and / or tools disposed therein via the display 24. Typically, such images are acquired by the imaging system 22. In some applications, the imaging system 22 is a stereoscopic imager and the display 24 is a stereoscopic display. Based on the received images, the user typically performs steps of the procedure. In some applications, the user provides commands to the robotic unit via the control component 26. Typically, such commands include commands to control the position and / or orientation of tools disposed within the robotic unit and / or commands to control operations performed by the tools. For example, the commands may control a phacoemulsification tool (e.g., the operating mode and / or suction power of the phacoemulsification tool) and / or an injector tool (e.g., which fluid (e.g., viscoelastic fluid, saline, etc.) should be injected and / or at what flow rate). Alternatively or additionally, a user may input commands to control the imaging system (e.g., zoom, focus, and / or xy positioning of the imaging system). In some applications, the commands include controlling an IOL manipulator tool, such as the tool to manipulate an IOL in the eye for precise positioning of the IOL in the eye.

[0056] Reference is now made to FIGS. 2A and 2B, which are schematic illustrations of a robotic unit 20 for use in the robotic system 10, according to some applications of the present invention. In some applications, each of the robotic units includes an end effector 30. The end effector is typically configured to securely hold any one of a number of different tools 21 (shown in FIG. 1) thereon. In some applications, the end effector is coupled to a tool mount configured to hold (directly or indirectly) the tool, e.g., as described in more detail below. Typically, the end effector is configured to insert the tool into the patient's eye such that entry of the tool into the patient's eye is through an incision point and the tip of the tool is disposed within the patient's eye.

[0057] In some applications, two articulated arms 32 (i.e., arms including a plurality of links 34 connected to each other via joints 36) are disposed on one side of the end effector 30 and configured to movably support the end effector. Typically, the computer processor detects three-dimensional movement of the patient's eye by analyzing images acquired by the imaging system 22 (which is typically a stereoscopic imaging system, as described above). In some applications, in response to the detection of the patient's eye movement, the computer processor drives the robotic unit to move the tool such that the entry of the tool into the patient's eye is still made through the incision point even when the patient's eye undergoes three-dimensional movement. Typically, even when the patient's eye undergoes three-dimensional movement, the computer processor drives the robotic unit to perform at least a portion of the procedure on the patient's eye by moving the tip of the tool in a desired manner relative to the eye to perform a portion of the procedure, while the entry of the tool into the patient's eye is kept fixed at the incision point. In this way, the robotic unit is located at the incision point and acts to provide a dynamic remote center of motion around which the tool's movement is centered. Typically, the remote motion center moves in coordination with the movement of the eye. Alternatively or additionally, the computer processor is configured to detect when the eye is in a given position and to time the execution of certain functions by the robotic unit such that those functions are executed when the eye is in a given position.

[0058] Typically, multiple arm motors are associated with the two articulated arms 32. Although not shown in Figures 2A and 2B, the positions of the arm motors are shown in Figures 3B, 4C, and 6B. In some applications, the multiple arm motors move the end effector in five degrees of freedom (e.g., translational motion along the x-axis, y-axis, and z-axis, as well as pitch and yaw angular motion). In the example shown in Figures 2A to 2B, it can be observed that each link 34 of at least one of the articulated arms 32 of the robot system includes two parallel bars 40 extending between vertical joints 42, with a vertical joint disposed between each pair of adjacent links. In some applications, the arrangement of the parallel bars and vertical joints keeps the ends of each joint of a given articulated arm parallel to each other as the arm moves (as shown in the transition from Figure 2A to Figure 2B). This, in turn, prevents the end effector from rolling relative to the base 27. In other words, the arrangement of parallel bars and vertical joints mechanically decouples the roll of the end effector from the translational and pitch-yaw angular motions of the end effector. In some applications, it may be desirable to prevent the end effector from rolling relative to the base 27 in order to prevent the tool 21 from rolling relative to the patient's eye. In particular, for tools that are not rotationally symmetric, it may be desirable to prevent the tool from rolling relative to the patient's eye. In some applications, each of the articulated arms is configured in the manner described above. Alternatively, only one of the articulated arms is configured in the manner described above.

[0059] Reference is now made to Figures 3A and 3B, which are schematic illustrations of a robotic unit 20 configured to rotate a tool 21 about its own axis to compensate for rolling of the end effector 30 of the robotic unit relative to the base 27 of the robotic unit, according to some applications of the present invention. (Figure 3B does not include many of the reference numbers in order to focus specifically on the typical locations of the arm motors in the robotic unit.) As mentioned above, it is typically desirable to prevent a tool (particularly a tool that is not rotationally symmetric) from rolling relative to the patient's eye. For procedures performed on the eye (such as cataract surgery), many of the tools are not rotationally symmetric and the dimensions of the surgical space are relatively small. In some applications, rather than preventing the end effector from rotating relative to the base 27 (e.g., as described with reference to Figures 2A and 2B), the end effector is allowed to roll relative to the base, but such rolling of the end effector is compensated for by rolling the tool about its own axis 50 relative to the end effector. In some applications, the robotic unit is configured to rotate the tool about its own axis for alternative or additional reasons, for example to perform a surgical procedure.

[0060] For example, as shown in Figures 3A and 3B, none of the articulated arms 32 includes a parallel bar configuration as described above with reference to Figures 2A-2B. Thus, the robotic unit is configured to move the end effector with six degrees of freedom (e.g., translational motion along the x-, y-, and z-axes, as well as pitch, yaw, and roll angular motions). Typically, the robotic unit is actively driven to move the end effector along the x-, y-, and z-axes, as well as with pitch and yaw angular motions, but rolling of the end effector is an undesirable by-product of such motion. More typically, the robotic unit includes at least five arm motors M1-M5, as shown in Figure 3B.

[0061] In some applications, the computer processor 28 (shown in FIG. 1 ) calculates the amount of roll that the tool should undergo relative to the end effector. For example, the computer processor 28 may calculate that due to the movement of the articulated arm (e.g., translational motion along the x-axis, y-axis, and / or z-axis, and / or pitch and / or yaw angular motion), the end effector will undergo a roll of +20 degrees relative to the base. In response, the computer processor may drive the tool to rotate -20 degrees about its own axis 50 relative to the end effector. The tool is typically held by the end effector (or by the tool mount) such that the tool is coaxial with the end effector (or coaxial with the tool mount). Thus, the longitudinal axis 50 of the tool is typically also the longitudinal axis of the end effector (or of the tool mount). Thus, in the example shown in FIGS. 3A and 3B , the longitudinal axis 50 of the tool, which is the axis of rotation of the tool, is coaxial with the end effector longitudinal axis.

[0062] 3A and 3B, in some such applications, the tool motor 52 is configured to roll the tool relative to the end effector. In some applications, the tool motor rolls the tool relative to the end effector through an arrangement of gears 54 as shown in the figures.

[0063] Reference is now made to Figures 4A, 4B, and 4C, which are schematic illustrations of a robotic unit 20 in which the end effector 30 is configured to roll about an axis 60 that is not coaxial with its own longitudinal axis 50, according to some applications of the present invention. In some applications, the end effector is coupled to (or forms an integral structure with) a tool mount 92 configured to hold a tool, as shown in Figure 4B. Figure 4C is similar to Figure 4B, but many of the reference numbers are not included in Figure 4C to focus specifically on the typical locations of the arm motors in the robotic unit. Reference is also made to Figures 5A, 5B, and 5C, which are schematic illustrations of the robotic unit of Figures 4A, 4B, and 4C at various stages of the rolling motion of the end effector 30, according to some alternative applications of the present invention. Note that in some of the figures (e.g., Figures 5a to 5C), the robotic arm 32 has symbols (e.g., symbols A1 and B1). These symbols are included to indicate the orientation of the robotic arm in each figure.

[0064] In some applications, instead of or in addition to rolling the tool relative to the end effector, the end effector itself is rolled. Typically, in such cases, the end effector rolls about an axis 60 that is not coaxial with the axis 50 of the tool 21 and the end effector 30. (Thus, the end effector undergoes eccentric rolling with respect to its longitudinal axis.) In some applications, the robotic unit includes an end effector motor 62 configured to roll the end effector about axis 60 (shown in FIG. 4A). Typically, the robotic unit includes at least five arm motors, the positions of which are shown diagrammatically in FIG. 4C by dashed circles labeled M1-M5. In some applications, the computer processor drives the arms to move in a manner that compensates for the axis 60 not being coaxial with the tool axis. Thus, the end effector rotates about axis 60 via the end effector motor 62, but the tool itself rolls about its own axis.

[0065] In some such applications, each of the articulated arms 32 includes a rotatable arched link 64 adjacent the end effector 30. The rotatable arched link is configured to rotate to accommodate the end effector's rolling about its axis 60. This may be observed by observing the transition from FIG. 5A to FIG. 5B and from FIG. 5B to FIG. 5C. As shown, when the end effector rotates, it pushes against the arched link, causing it to rotate so that the end effector is received by the concave curved surface 66 of the arched link. Such end effector rolling reception is typically desirable, especially in view of robotic units in which the end effector's rolling is configured to be eccentric with respect to its own axis. For example, if instead of the rotatable arched link there is a straight link disposed perpendicular to the end effector's axis, the end effector may only be able to rotate about its axis 60 in a relatively narrow range of angles before being blocked by the link. In contrast, with the configuration shown in Figures 4A to 5C, the end effector can typically roll more than 180 degrees about axis 60, such as more than 250 degrees, or more than 300 degrees.

[0066] Reference is now made to Figures 6A and 6B, which are schematic illustrations of a robotic unit 20 in which the end effector 30 is configured to roll about an axis 70 that is not coaxial with its own longitudinal axis 50, according to some applications of the present invention. Figure 6B is similar to Figure 6A, but many of the reference numbers are not included in Figure 6B, in order to focus specifically on the typical locations of the arm motors in the robotic unit. Reference is also made to Figures 7A, 7B, and 7C, which are schematic illustrations of the robotic unit of Figure 6 at various stages of a rolling motion of the end effector 30, according to some alternative applications of the present invention.

[0067] As described with reference to FIGS. 4A-5C, in some applications, each of the articulated arms includes a rotatable arched link 64 adjacent the end effector 30. The rotatable arched link is configured to rotate to accommodate rolling of the end effector about the axis 70, generally as described above. In some such applications, a first linear link 80 is disposed adjacent a first end 82 of the rotatable arched link, and a second linear link 84 is disposed adjacent a second end 86 of the rotatable arched link (the end effector is coupled to the rotatable arched link via the second linear link 84). As shown in FIG. 6A, in some applications, the second linear link is disposed at an angle α with respect to the first linear link 80.

[0068] Typically, the robot unit includes at least five arm motors, the positions of which are shown diagrammatically in FIG. 6B by dashed circles labeled M1-M5. In some applications, the robot unit includes an additional motor mounted near the linear link 80 or linear link 84 of one arm. For example, the robot unit may include an additional motor mounted either at the location indicated by the dashed circle labeled M6A or at the location indicated by the dashed circle labeled M6B in FIG. 6B. The additional motor is configured to roll the rotatable arched link 64 relative to the linear links 80 and 84. Typically, the second linear link is disposed at an angle α with respect to the first linear link, such that the rolling of the rotatable arched link 64 relative to the linear link 80 pivots the second linear link relative to the first linear link. This causes the end effector to roll about the axis 70. This may be observed in the transition from FIG. 7A to FIG. 7B and from FIG. 7B to FIG. 7C. Typically, in such applications, the computer processor 28 calculates how to move the links of the arm to roll the end effector about axis 70 in a desired manner. As the end effector rotates, it is received in the concave curved surfaces 66 of the arched links, as described with reference to Figures 4A-5C. Typically, with the configuration shown in Figures 6A-7C, the end effector can roll more than 180 degrees (eccentrically relative to its own axis) about axis 70, such as more than 250 degrees, or more than 300 degrees.

[0069] Reference is now made to FIG. 8, which is a schematic illustration of a sterile drape 88 and drape plate 90 for use with a robotic unit 20 not configured to rotate a tool 21 within the end effector 30, according to some applications of the present invention. For example, the sterile drape and drape plate shown in FIG. 8 may be used with a robotic unit as described with reference to FIGS. 4A-4C and / or with reference to FIGS. 6A-6B, whereby rotation of a tool is typically accomplished by rotating the end effector rather than rotating the tool relative to the end effector. Typically, in such cases, all of the motion drives (motors, gears, etc.) of the robotic unit configured to drive movement of the end effector, and the end effector 30 itself, are disposed within a non-sterile zone on a first side of the sterile drape (i.e., the side of the sterile drape on which the arm of the robotic unit is disposed). A tool mount 92 (configured to hold a tool directly or indirectly) is disposed within the sterile zone on a second side of the sterile drape and is connectable to the drape plate. Typically, a sterile drape is disposed around and sealed to the drape plate. The drape plate is connectable (or connected) to both the end effector and the tool mount. For example, the end effector 30 may be configured to be disposed in a non-sterile zone at the end of the arm and connected to one side of the drape plate, and the tool mount may define a portion 94 on its underside configured to be connected to a second side of the drape plate. Typically, the drape plate 90 serves as an interface between (a) the arm 32 and end effector 30, which are disposed in a non-sterile zone on a first side of the sterile drape, and (b) the tool mount 92 and tool 21, which are disposed in a sterile zone on a second side of the sterile drape. When a drape plate is coupled to both the end effector and the tool mount, movement of the arm and end effector (generated in the non-sterile zone) is transferred through the drape plate to the tool mount 92 and tool 21 (both of which are disposed in the sterile zone). (Note that in some cases the tool itself is disposed in the tool mount.Alternatively, as shown, the tool is disposed within a tool sleeve 23 that is disposed within a tool mount 92.

[0070] Reference is now made to Figure 9, which is a schematic illustration of a sterile drape 96 and drape plate 98 for use with a robotic unit that rotates a tool within an end effector, according to some applications of the present invention. For example, the sterile drape and drape plate shown in Figure 9 may be used with a robotic unit such as those described with reference to Figures 3A-3B, which show examples of a robotic unit 20 configured to rotate a tool 21 about its own axis. In some such examples, at least a portion of the motion drives (e.g., motors, gears, etc.) of the robotic unit configured to drive movement of the end effector and / or tool are disposed within the sterile zone (i.e., the plane of the drape shown in Figure 9). In some applications, tool motor 52 and / or gears 54A and 54B (configured to roll the tool relative to the end effector) are disposed within the sterile zone. (Note that in some instances the tool itself has built-in gears and is rotated directly by gear 54A which is driven to rotate by the motor. Alternatively, as shown, the tool is disposed within tool sleeve 23 which includes or is coupled to gear 54B which is rotated by gear 54A.) In some applications, a linear tool motor 100 configured to drive a portion of the tool in a linear motion is disposed within the sterilization zone. The linear tool motor is typically configured to linearly move a portion of the tool (such as a syringe plunger 120) via a tool actuation arm 110. Examples of linear tool motors and portions of tool actuation arms are described in more detail below.

[0071] Typically, all parts of the apparatus configured to be disposed within the sterile zone are configured to be disposable and / or sterilizable (e.g., via autoclaving). In the application shown in Figure 9, typically tool motor 52, gear 54A, tool sleeve 23 (and gear 54B), linear tool motor 100, and tool actuation arm 110 are all configured to be disposable and / or sterilizable (typically via autoclaving). Typically, tool motor 52 and linear tool motor 100 are powered via a sealed electrical connector that passes through a sterile drape and / or by an external cable.

[0072] Typically, a sterile drape 96 is disposed around and sealed to a drape plate 98. In some applications, the arm 32 and end effector 30 (arm and end effector not shown in FIG. 9 ) are disposed in a non-sterile zone and the drape plate 98 is coupleable to the end effector. Typically, the drape plate 98 serves as an interface between (a) the end effector 30 and arm 32 (not shown in FIG. 9 ), which are disposed in a non-sterile zone on a first side of the sterile drape, and (b) the tool mount 92 and tool 21, which are disposed in a sterile zone on a second side of the sterile drape. When the drape plate is coupled to both the end effector and the tool mount, movement of the arm and end effector (generated in the non-sterile zone) is transferred through the drape plate 98 to the tool mount 92 and tool 21 (both disposed in the sterile zone). However, as explained above, in applications such as that shown in FIG. 9, movement of the tool (or part thereof) relative to the end effector is effected from within the sterile zone via tool motor 52 and / or linear tool motor 100.

[0073] Reference is now made to Figures 10A, 10B, and 10C, which are schematic illustrations of a sterile drape 102 and drape plate 104 for use with a robotic unit 20 configured to rotate a tool 21 within an end effector 30, according to some alternative applications of the present invention. Typically, the drape plate 104 serves as an interface between (a) the arm 32 (not shown in Figures 10A-10C) and end effector 30, which are disposed within a non-sterile zone on a first side of the sterile drape, and (b) the tool mount 92 and tool 21, which are disposed within a sterile zone on a second side of the sterile drape.

[0074] In some applications, a tool motor 52 (shown in FIGS. 10B-10C ) is disposed in the end effector 30 in the non-sterile zone. The tool motor 52 typically directly drives and rotates a motion transmission 106 (such as a pin or shaft). The motion transmission is configured to transmit the rotational motion of the motor to a first gear (i.e., spur gear) 54A, which rotates a second gear (i.e., spur gear) 54B, thereby driving the tool to rotate relative to the end effector. In some applications, the first gear is disposed in (e.g., integrated into) the drape plate. As discussed above, the second gear 54B can be integrated into the tool itself or integrated into or coupled to the tool sleeve 23. Typically, the motion transfer member 106 is mechanically coupled to the first gear 54A such that the interface between the motion transfer member and the first gear 54A is sealed (e.g., via an O-ring 108 as shown in FIG. 10C) to maintain a seal between the sterile and non-sterile zones. Thus, in the example shown in FIGS. 10A-10C, rotational motion relative to the end effector of the tool is generated by a motor 52 disposed in the non-sterile zone. The rotational motion generated by the motor is transferred to the tool via the interface that maintains the seal between the non-sterile and sterile zones.

[0075] 10A, in some applications, a linear tool motor 100 is disposed within a non-sterile zone. The linear tool motor 100 typically drives a tool actuation arm 110 to move linearly. In such applications, the tool actuation arm 110 is typically disposed within a non-sterile zone and configured to linearly push a portion of the tool (such as a syringe plunger 120) by pushing the portion of the tool through a sterile drape 102. In some applications, a portion 114 of the sterile drape disposed at the interface between the tool actuation arm and the pushed portion of the tool is configured to have a higher stiffness and / or durability than other portions of the drape. For example, a sticker 116 may be applied to the portion 114 to increase the stiffness and / or durability of the portion relative to other portions of the sterile drape. Alternatively, the drape may be treated (e.g., with a heat treatment or a chemical treatment) at the portion 114 to increase the stiffness and / or durability of the portion relative to other portions of the sterile drape. Alternatively, the drape may include alternative or additional materials in portion 114 relative to other portions of the drape to increase stiffness and / or durability of said portion relative to other portions of the sterile drape. Thus, in the example shown in Figures 10A-10C, linear motion of a portion of the tool is generated by a linear tool motor 100 disposed within the non-sterile zone. The linear motion generated by the motor is transferred through the drape to said portion of the tool to maintain a seal between the non-sterile and sterile zones.

[0076] Typically, a sterile drape 102 is disposed around and sealed to a drape plate 104. Typically, the drape plate 104 is coupleable to an end effector and is coupled (or coupleable) to a tool mount 92. When the drape plate is coupled to both the end effector and the tool mount, movement of the arm and end effector (generated in the non-sterile zone) is transferred through the drape plate to the tool mount and tool (both of which are disposed in the sterile zone).

[0077] Reference is now made to Figures 11A and 11B, which are photographs of a sterile drape 102 and a drape plate 104 similar to those shown generally in Figures 10A, 10B, and 10C, according to some applications of the present invention. Figure 11A is a photograph showing the sterile drape and drape plate as viewed from the sterile zone. As can be seen, the tool mount 92 is shown, which in the example shown is integrated into the drape plate 104. Also shown is a sticker 116. As explained above, the sticker is configured to be affixed to a portion of the sterile drape disposed at the interface between the tool actuation arm and the pressed part of the tool, and is configured to have a higher stiffness and / or durability than other portions of the drape. It can also be observed that the drape 102 is shaped to be placed above the arm of the robot unit. Figure 11B is a photograph showing the sterile drape and drape plate as viewed from the non-sterile zone. As can be seen, the underside of the drape plate is typically shaped to define a housing 122. The housing typically houses gear 54A. The housing portion is typically disposed at the end of an arm and is configured to be coupled to an end effector 30 (shown in FIG. 10A) that supports tool motor 52. For example, the housing portion may be coupled to the end effector via a snap lock mechanism.

[0078] Reference is now made to Figures 12A and 12B, which are schematic illustrations of a sterile drape 124 and a drape plate 126 for use with a robotic unit in which a tool rotates within an end effector, according to some further alternative applications of the present invention. The apparatus shown in Figures 12A-12B is generally similar to that shown and described with respect to Figures 10A-10C, with the following differences: In the apparatus shown in Figures 12A-12B, the tool motor 52 is configured to drive a worm gear 128 to move linearly (e.g., up and down) to drive and rotate a gear 54B (typically embedded in or coupled to the tool 21 or tool sleeve 23). As described with reference to Figures 10A-10C, typically the tool motor 52 is disposed on the end effector 30 disposed within the non-sterile zone. The tool motor 52 typically directly drives a linear motion transmission 130 (such as a pin or shaft) to move linearly (e.g., up and down). The motion transmission is configured to transmit linear motion of the motor to the worm gear 128, which drives the tool to rotate relative to the end effector by rotating gear (i.e., spur gear) 54B. In some applications, the worm gear is disposed (e.g., embedded) within the drape plate. Typically, the linear motion transmission 130 is mechanically coupled to the worm gear 128 such that the interface between the linear motion transmission and the worm gear 128 is sealed (e.g., via an O-ring 132, as shown in FIG. 12B) to maintain a seal between the sterile zone and the non-sterile zone. Thus, in the example shown in FIGS. 12A-12B, the motion of the tool relative to the end effector is generated by the motor 52, which is disposed within the non-sterile zone. The linear motion generated by the motor is transmitted to the sterile zone via the interface that maintains the seal between the non-sterile zone and the sterile zone. The linear motion is then converted to a rotational motion of the tool relative to the end effector.

[0079] Reference is now made to FIG. 13, which is a schematic illustration of an end effector 30 with a tool actuation arm 110 for linearly pushing a tool or a portion thereof, according to some applications of the present invention. In some applications, the tool actuation arm is configured to automatically fold in response to being retracted a given distance from the tool mount 92. Reference is also made to FIGS. 14A, 14B, and 14C, which are schematic illustrations of an automatically collapsible tool actuation arm at various stages of its movement relative to the tool holding portion of the end effector, according to some applications of the present invention. As explained above, typically, the tool actuation arm 110 is configured to linearly push a portion of a tool (such as a plunger 120 of a syringe). Typically, a linear tool motor 100 drives the arm to move linearly via a transmission shaft 134 (shown in FIG. 13). In some applications, the tool actuation arm is configured to automatically fold in response to being retracted a given distance from the tool mount 92, as shown in the transition from FIG. 14A to FIG. 14B and from FIG. 14B to FIG. 14C. In this manner, the tool actuation arm may automatically fold to accommodate insertion of a larger tool, such as a phacoemulsification probe, into the tool mount without requiring removal and / or manual folding of the tool actuation arm. Typically, the tool actuation arm is configured to automatically fold by actuation of an automatic tool actuation arm deployment mechanism, such as a spring mechanism. More typically, in response to the tool actuation arm approaching the tool mount, the tool actuation arm is configured to automatically deploy (e.g., by actuation of an automatic tool actuation arm deployment mechanism, such as a spring mechanism). In some applications, rather than being configured to automatically fold, the arm is configured to move in a different manner to accommodate insertion of a larger tool, such as a phacoemulsification probe, into the tool mount without requiring removal and / or manual movement of the tool actuation arm. For example, the arm may be configured to automatically retract, e.g., using an electromechanical actuator, a spring mechanism, or the like.

[0080] It should be noted that the scope of the present application includes combining the sterile drape, drape plate, and tool actuation arm elements shown in each of the figures with one another. Purely by way of example, the tool actuation arm shown in Figures 13-14C may be combined with any one of the examples of sterile drapes and drape plates described with reference to Figures 9-12B.

[0081] Although some applications of the present invention are described for cataract surgery, the scope of this application includes the mutatis mutandis application of the devices and methods described herein to other medical procedures. In particular, the devices and methods described herein for other medical procedures may be applied to other microsurgical procedures such as general surgery, orthopedic surgery, gynecology, otorhinolaryngology, neurosurgery, oral and maxillofacial surgery, plastic surgery, podiatry surgery, vascular surgery, and / or pediatric surgery performed using microsurgical techniques. In some such applications, the imaging system includes one or more microscopic imaging units.

[0082] It should be noted that the scope of this application includes the mutatis mutandis application of the devices and methods described herein to intraocular procedures other than cataract surgery, which may include collagen cross-linking, endothelial keratoplasty (e.g., DSEK, DMEK, and / or PDEK), DSO (graft-free corneal ablation), laser-assisted corneal transplantation, corneal transplantation, LASIK / PRK, SMILE, pterygium, ocular surface cancer treatment, secondary IOL placement (suture, transconjunctival, etc.), iris repair, IOL repositioning, IOL exchange, keratoplasty, minimally invasive glaucoma surgery (MIGS), limbal stem cell transplantation, astigmatic keratotomy, limbal relaxing incision (LRI), amniotic membrane transplantation (AMT), glaucoma surgery (e.g., trABs, tuBes, minimally invasive glaucoma surgery), automated lamellar keratoplasty (ALK), anterior vitrectomy, and / or pars plana anterior vitrectomy.

[0083] Applications of the invention 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, such as computer processor 28. For purposes of this description, a computer usable or computer readable medium may be any apparatus that can contain, store, transmit, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. The medium may be an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system (or apparatus or device) or propagation medium. Typically, the computer usable or computer readable medium is a non-transitory computer usable or computer readable medium.

[0084] Examples of computer-readable media include semiconductor or solid state memory, magnetic tape, removable computer diskettes, random access memory (RAM), read-only memory (ROM), rigid magnetic disks, and optical disks. Current examples of optical disks include compact disk-read only memory (CD-ROM), compact disk-read / write (CD-R / W), DVDs, and USB drives.

[0085] A data processing system suitable for storing and / or executing program code will include at least one processor (e.g., computer processor 28) coupled directly or indirectly to memory elements via a system bus. The memory elements may include local memory used during the actual execution of the program code, bulk storage, and cache memory for temporary storage of at least some of the program code to reduce the number of times the code must be retrieved from bulk storage during execution. The system is capable of reading instructions according to the present invention on a program storage device and performing the method of the present invention according to these instructions.

[0086] Network adapters may be coupled to a processor to enable the processor to be coupled to other processors, remote printers, or storage devices through intervening private or public networks. Modems, cable modems, and Ethernet cards are just a few of the types of network adapters currently available.

[0087] Computer program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages, such as JAvA, SMAlltAlk, C++, and conventional procedural programming languages, such as the C programming language or a similar programming language.

[0088] It will be understood that the algorithms described herein may be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine whereby the instructions executed by the processor of the computer (e.g., computer processor 28) or other programmable data processing apparatus produce means for performing the functions / actions specified in the algorithms described herein. These computer program instructions may also be stored on a computer readable medium (e.g., a non-transitory computer readable medium) and may direct a computer or other programmable data processing apparatus to function in a particular manner, whereby the instructions stored on the computer readable medium produce an article of manufacture including instruction means for performing the functions / actions specified in the algorithms. The computer program instructions may also be loaded into a computer or other programmable data processing apparatus to cause the computer or other programmable apparatus to perform a series of operational steps to produce a computer implemented process whereby the instructions executing on the computer or other programmable apparatus provide a process for performing the functions / actions specified in the algorithms described herein.

[0089] The computer processor 28 is typically a hardware device that is programmed with computer program instructions to create a special purpose computer. For example, when programmed to execute the algorithms described with reference to the figures, the computer processor 28 typically functions as a special purpose robotics system computer processor. Typically, the operations described herein as being performed by the computer processor 28 change the physical state of a memory, which is an actual physical item, resulting in a different magnetic polarity, charge, etc., depending on the memory technology used. In some applications, the operations described as being performed by a computer processor are performed by multiple computer processors that are coupled together.

[0090] It will be understood by those skilled in the art that the present invention is not limited to what has been particularly shown and described above, but rather the scope of the present invention includes both combinations and subcombinations of the various features described in the foregoing specification, as well as variations and modifications thereof that are not in the prior art and that would occur to those skilled in the art upon reading the foregoing description.

Claims

1. 1. An apparatus for performing a procedure on a part of a patient's body using a robotic unit comprising an end effector and a base, a tool mount configured to hold a tool, a tool motor configured to roll the tool relative to the end effector, and one or more robotic arms configured to move the end effector relative to the base, comprising: a drape plate configured to be disposed between the tool mount and the end effector; a sterile drape disposed around and sealed to the drape plate, the sterile drape configured to form an interface between a non-sterile zone on a first side of the sterile drape and a sterile zone on a second side of the sterile drape such that the tool mount is disposed within the sterile zone and the one or more robotic arms and the tool motors are disposed within the non-sterile zone; at least one gear mechanism configured to be disposed within the sterilization zone and configured to roll the tool relative to the end effector; a motion transfer section configured to transfer motion from the tool motor to the at least one gear mechanism while maintaining a seal between the sterile zone and the non-sterile zone; An apparatus comprising:

2. moving the one or more arms to move the end effector relative to the base; calculating the resulting roll of the end effector relative to the base; Driving the tool motor to roll the tool relative to the end effector to compensate for the resulting rolling of the end effector relative to the base. The apparatus of claim 1 , further comprising at least one computer processor configured to:

3. 3. The apparatus of claim 1 or claim 2, wherein the motion transmission part comprises a shaft, the tool motor is configured to rotate the shaft, and the at least one gear mechanism includes a first gear driven to rotate by the shaft, and a second gear driven to rotate by the first gear.

4. 4. The apparatus of claim 3, wherein an interface between the shaft and the first gear is sealed to maintain a seal between the sterile zone and the non-sterile zone.

5. The apparatus of claim 3 , wherein the first gear is disposed within the drape plate.

6. The apparatus of claim 3 , wherein the second gear is integrated into the tool.

7. The apparatus of claim 3 , further comprising a tool sleeve configured to be disposed about the tool, the second gear being mounted to the tool sleeve.

8. 3. The apparatus of claim 1 or claim 2, wherein the motion transmission part comprises a shaft, the tool motor is configured to rotate the shaft, and the at least one gear mechanism includes a worm gear driven for linear movement by the shaft, and a gear driven for rotation by the linear movement of the first gear.

9. 9. The apparatus of claim 8, wherein the interface between the shaft and the worm gear is sealed to maintain a seal between the sterile zone and the non-sterile zone.

10. The apparatus of claim 8 , wherein the worm gear is disposed within the drape plate.

11. The apparatus of claim 8 , wherein the gear is integrated into the tool.

12. The apparatus of claim 8 , further comprising a tool sleeve configured to be disposed about the tool, the gear being mounted to the tool sleeve.

13. a linear tool motor configured to move at least a portion of the tool linearly relative to the end effector; a tool actuation arm configured to be moved linearly by the linear tool motor to cause linear movement of the at least a portion of the tool relative to the end effector; Further comprising:

3. The apparatus of claim 1 or claim 2, wherein the sterile drape is configured to form the interface such that the linear tool motor is disposed within the non-sterile zone and the tool actuation arm is disposed within the non-sterile zone.

14. 14. The apparatus of claim 13, wherein a portion of the sterile drape configured to be disposed at an interface between the tool actuation arm and the portion of the tool being pushed is configured to have greater stiffness and / or durability than other portions of the drape.

15. 1. An apparatus for performing a procedure on a part of a patient's body using a robotic unit comprising an end effector, a tool mount configured to hold the tool coaxially with the end effector, a linear tool motor configured to move at least a portion of the tool linearly relative to the end effector, and one or more robotic arms configured to move the end effector, a drape plate configured to be disposed between the tool mount and the end effector; a sterile drape disposed around and sealed to the drape plate, the sterile drape configured to form an interface between a non-sterile zone on a first side of the sterile drape and a sterile zone on a second side of the sterile drape such that the tool mount is disposed within the sterile zone and the one or more robotic arms and the linear tool motors are disposed within the non-sterile zone; a tool actuation arm configured to be disposed within the non-sterile zone and configured to be moved linearly by the linear tool motor to linearly move the at least a portion of the tool relative to the end effector; Equipped with An apparatus configured such that a portion of the sterile drape configured to be disposed at an interface between the tool actuation arm and the portion of the tool being pushed has greater stiffness and / or durability than other portions of the drape.

16. 16. The apparatus of claim 15, wherein the apparatus comprises a sticker affixed to the portion of the sterile drape, the sticker configured to increase stiffness and / or durability of the portion relative to the other portion of the sterile drape.

17. 16. The apparatus of claim 15, wherein the portion of the sterile drape is heat treated to increase stiffness and / or durability of the portion relative to the other portion of the sterile drape.

18. 16. The apparatus of claim 15, wherein the portion of the sterile drape is chemically treated to increase stiffness and / or durability of the portion relative to the other portion of the sterile drape.

19. 16. The apparatus of claim 15, wherein the portion of the sterile drape includes alternative or additional material from the other portion of the sterile drape to increase stiffness and / or durability of the portion relative to the other portion of the sterile drape.

20. The apparatus of claim 15 , further comprising an automatic tool actuation arm folding mechanism configured to automatically fold the tool actuation arm in response to retracting a given distance from the tool mount.

21. 1. An apparatus for performing a procedure on a part of a patient's body using a robotic unit comprising an end effector, a tool mount configured to hold the tool coaxially with the end effector, and a linear tool motor configured to move at least a portion of the tool linearly relative to the end effector, a tool actuation arm configured to be linearly moved by the linear tool motor to linearly move at least a portion of the tool relative to the end effector; an automatic tool actuation arm folding mechanism configured to automatically fold the tool actuation arm in response to retracting a given distance from the tool mount; An apparatus comprising:

22. The apparatus of claim 21 , wherein the automatic tool actuation arm folding mechanism comprises a spring mechanism.

23. 22. The apparatus of claim 21, wherein the tool comprises a syringe with a plunger, and the tool actuation arm is configured to linearly push the plunger of the syringe.

24. 22. The apparatus of claim 21, wherein the tool actuation arm is configured to be collapsible such that the tool mount can accommodate larger tools without requiring removal and / or manual folding of the tool actuation arm.

25. 22. The apparatus of claim 21, wherein the robotic unit is configured to perform cataract surgery using multiple tools including a phacoemulsification probe, and the tool actuation arm is configured to be collapsible such that the tool mount can accommodate the phacoemulsification probe without requiring removal and / or manual folding of the tool actuation arm.

26. 26. The apparatus of claim 21, further comprising an automatic tool actuation arm deployment mechanism configured to automatically deploy the tool actuation arm in response to the tool actuation arm approaching the tool mount.

27. 27. The apparatus of claim 26, wherein the automated tool actuation arm deployment mechanism comprises a spring mechanism.

28. 1. An apparatus for performing a procedure on an eye of a patient using a tool, comprising: base, End effector, a tool mount configured to hold the tool; a plurality of articulated arms used to couple the end effector to the base, the articulated arms being configured to permit movement of the end effector relative to the base, such as rolling the end effector relative to the base; At least one arm motor configured to move the articulated arm; and at least one tool motor configured to rotate the tool relative to the end effector about a longitudinal axis of the tool; A robot unit having The arm motor is driven to move the articulated arm, thereby operating the end effector relative to the base; calculating the resulting roll of the end effector relative to the base; Driving the tool motor to roll the tool about its own longitudinal axis to compensate for the resulting rolling of the end effector relative to the base. At least one computer processor configured to An apparatus comprising:

29. 30. The apparatus of claim 28, wherein the robotic unit is configured to perform at least a portion of a cataract surgery on the patient's eye.

30. 30. The apparatus of claim 28, wherein the robotic unit is configured for use with tools that are not rotationally symmetric.

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