EYE-MIMIC CAMERA-ASSISTED ROBOT FOR LIVE, VIRTUAL OR REMOTE EYE SURGERY TRAINING APPARATUS AND METHOD - Patent application

Abstract

A method is provided for eye-mimicking camera-assisted robot training. In some implementations, the method includes initializing, by a processor, a robot assembly. The method further includes connecting, by the processor, to one or more computing devices. The method further includes operating, by the processor, the robot assembly. The method further includes simulating, by the processor, eye movements of a human or animal. The method further includes manipulating, by the processor, a laser to execute the determined movement for the eye of the robot assembly. Related systems, methods, and products are also described.

Description

[Technical field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority to U.S. Patent Application No. 63 / 235,574, entitled "Eye Simulating Camera Assisted Robot for Live, Virtual or Remote Eye Surgery Training Apparatus and Method," filed on August 20, 2021, the entire contents of which are incorporated herein by reference.

[0002] The subject matter described herein relates to remote eye surgery training, and more particularly, to an Eye Simulation Camera Analog Robot (OSCAR) for eye surgery training. [Background technology]

[0003] Laser eye therapies (e.g., surgeries) and ophthalmic treatments administered to various locations on the eye may require high levels of accuracy and precision to restore better natural visual accommodation in near, intermediate, and distance vision to the over one billion presbyopic individuals who currently have no therapeutic solution to treat their condition. Hours to years of education and training are essential for successful surgery, procedures, treatments, and the like.

[0004] Current surgical training requires experience with live animals or humans. Animal robotic simulations that can mimic the behavior of live animals or humans can provide the ability to train surgeons in a live or remote environment, without sacrificing animals and preventing human eye complications that may result from early stage surgical experience.

[0005] It is therefore desirable to provide improved systems, devices, and methods for performing simulated eye procedures, including robotic eye structures including, but not limited to, the cornea, iris, trabecular meshwork, retina, ciliary muscle, lens, zonules, sclera, and choroid, to identify, observe, and manipulate important anatomical structures for performing remote procedures on the eye. Summary of the Invention

[0006] In some aspects, methods, computer program products and systems are provided.In one implementation, a remote eye surgery training system is provided.

[0007] The system includes a base plate. The system further includes a face plate coupled to the base plate. The system further includes a data repository and a database capable of communicating with a plurality of external inputs. The system can further collect telemetry data and generate outputs to various external devices. The system can include a controller electronically connected to the at least one processor and configured to receive inputs for controlling an eye position. The system further includes an eye holder disposed within the face plate. The system further includes an interface board configured to provide an electronic connection between the at least one processor and the eye holder. The system further includes an eye disposed within the eye holder. The system further includes a user interface configured to receive user inputs for controlling eye movements. The system further includes at least one processor coupled to the base plate. The at least one processor and / or memory are configured to perform operations including initializing an eye position. The at least one processor is further configured to connect to one or more computing devices. The at least one processor is further configured to control the eye position by the one or more computing devices. The at least one processor is further configured to simulate eye movements (eye movements) of a human or animal. The at least one processor is further configured to perform laser procedures on the eye to simulate a plurality of eye movements, both normal and abnormal. The simulator can be operated at anatomical extremes that may not be possible in practice.

[0008] In some variations of the system, the system further includes an "iris" shutter that is mechanically responsive to various stimuli and light repetitions. The system may also be mechanically fixed to multiple iris sizes. The system is further designed for contrast that allows the eye to function in parallel with the function of a human or animal eye. The system is also designed to simulate the function of a normal human eye.

[0009] The system includes a "blink" feature that mechanically simulates normal eye blinking allowing for the collection of eye data that is as realistic as possible.

[0010] In some variations of the system, the system further includes a laser. The eye holder includes a suction cup controlled by a user interface. The eye holder can include a device for initializing, monitoring, regulating, and measuring intraocular pressure within the eye.

[0011] In one aspect, a method is provided. The method includes initializing, by a processor, a robotic assembly. The method further includes connecting, by the processor, to one or more computing devices. The method further includes operating, by the processor, the robotic assembly. The method further includes simulating, by the processor, movements of a plurality of human or animal eyes. The method further includes manipulating, by the processor, a laser to perform the determined movements for the eyes of the robotic assembly.

[0012] In some variations of the method, the determined movements may include a number of simulated eye procedures and surgeries, including, but not limited to, simulated cataract surgery, simulated LASIK surgery, simulated retinal therapy, simulated implant procedure, vision therapy, or eye measurement. Simulating the eye movements may include controlling the movements via user interface hardware commands, remote commands, or voice commands. Initializing the robot assembly may include attaching the eye to an eye holder of the robot assembly. The eye may include one of a glass eye, a wooden eye, a cadaver eye, a model material, and an artificial eye. The user interface may include one or more modes for simulating real human or animal eye movements or abnormal extreme movements. The one or more modes may include a directed gaze mode, a flutter mode, a nystagmus mode, a saccadic eye mode, a microsaccade mode, a tremor mode, and a drift mode, an animal mode, and a human mode. The eye holder may be configured to change the pressure in the eye and / or change the position of the eye within the eye holder. The method may further include tracking the position of the eye. The method may further include verifying that the position corresponds to a target position in response to the tracking.The method may further include fixating the eye on a particular target.

[0013] Implementations of the present subject matter can include systems and methods consistent with the present specification, including one or more features described, as well as articles comprising a tangibly embodied machine-readable medium operable to cause one or more machines (e.g., computers, etc.) to perform the operations described herein. Similarly, computer systems are described that can include one or more processors and one or more memories coupled to the one or more processors. The memory, which can include a computer-readable storage medium, can include, encode, store, etc., one or more programs that cause the one or more processors to perform one or more of the operations described herein. Computer-implemented methods consistent with one or more implementations of the present subject matter can be implemented by one or more data processors present in a single computing system or in multiple computing systems. Such multiple computing systems can exchange data and / or commands or other instructions, etc., via one or more connections, including but not limited to connections over a network (e.g., the Internet, a wireless wide area network, a local area network, a wide area network, a wired network, etc.), such as via a direct connection between one or more of the multiple computing systems.

[0014] Details of one or more variations of the subject matter described herein are set forth in the accompanying drawings and the description below. Other features and advantages of the subject matter described herein will become apparent from the description and drawings, and from the claims. It should be readily understood that while certain features of the presently disclosed subject matter are described for illustrative purposes in the context of an enterprise resource planning (ERP enterprise resource planning software) system or other business software solutions or architectures, such features are not intended to be limiting. The claims following this disclosure are intended to define the scope of the protected subject matter. [Brief description of the drawings]

[0015] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate certain aspects of the subject matter disclosed herein and, together with the description, serve to explain some of the principles associated with the disclosed implementations. [Figure 1] 1 illustrates a system for remote eye surgery training according to some example implementations. [Figure 2A] 1 illustrates a remote training environment according to some example implementations. [Figure 2B] 1 illustrates a block diagram of a system for remote eye surgery training according to some example implementations. [Figure 2C] 1 shows a diagram for an example wireless network in accordance with some example implementations. [Figure 2D] 1 illustrates a cloud-based system architecture according to some example implementations. [Figure 3A] FIG. 1 illustrates a perspective view of a robot assembly according to some example implementations. [Figure 3B] 1 illustrates an example side view of a faceplate having an animal face, according to some example implementations. [Figure 3C] 1 illustrates an example side view of a faceplate having an animal face, according to some example implementations. [Figure 3D] 1 illustrates an example side view of a faceplate having an animal face, according to some example implementations. [Figure 3E] 1 illustrates an example side view of a faceplate having an animal face, according to some example implementations. [Figure 4A] 1 illustrates an example robot assembly having a shield, according to some example implementations. [Figure 4B] 1 illustrates an example robot assembly having a shield, according to some example implementations. [Figure 4C] 1 illustrates an example robot assembly having a shield according to some example implementations. [Figure 5A] FIG. 2 is an exploded view of a robot eye assembly according to some example implementations. [Figure 5B] FIG. 3 is a side view of a robotic eye assembly 304 including an eye suction holder mechanism according to some example implementations. [Figure 5C] 1 shows a suction cup device with an eye holder. [Figure 5D] 1 shows a suction cup device with an eye holder. [Figure 6] 1A-1C are perspective views of an animatronic assembly according to some exemplary implementations. [Figure 7] FIG. 2 illustrates an exploded view of a robot assembly according to some example implementations. [Figure 8A] 1 illustrates a block diagram of a system for remote eye surgery training according to some example implementations. [Figure 8B] 1 illustrates an example neural network according to some example implementations. [Figure 9A] 4 illustrates a flowchart of an example program execution according to some example implementations. [Figure 9B] 1 illustrates an example workflow and automated feedback loop including eye-tracking functionality according to some example implementations. [Figure 10A] 1 illustrates an exemplary graphical user interface for interacting with a remote eye surgery training system according to some exemplary implementations. [Figure 10B] 1 illustrates an exemplary graphical user interface for interacting with a remote eye surgery training system according to some exemplary implementations. [Figure 10C] 1 illustrates an exemplary graphical user interface for interacting with a remote eye surgery training system according to some exemplary implementations. [Figure 10D] FIG. 1 illustrates various optical zones according to some example implementations. [Figure 10E] 1 illustrates various optical zones according to some example implementations. [Figure 10E1]1 illustrates an exemplary graphical user interface for interacting with a remote eye surgery training system according to some exemplary implementations. [Figure 10F] 1 illustrates one or more exemplary retinal zones according to some exemplary implementations. [Figure 10G] 1 shows an example screenshot of a GUI. [Figure 11A] 1 illustrates an example profile window of a graphical user interface according to some example implementations. [Figure 11B] 1 illustrates an example profile window of a graphical user interface according to some example implementations. [Figure 12] 1 illustrates a block diagram of an exemplary computing device in accordance with some exemplary implementations. [Figure 13] 1 illustrates an example of a method for remote eye surgery training according to some exemplary implementations. [Figure 14A] 1 illustrates an example robot assembly and gaze tracking device according to some example implementations. [Figure 14B] 1 illustrates an example robot assembly and gaze tracking device according to some example implementations. [Figure 15] 1 illustrates an example use case for cataract LASIK surgery, according to some example implementations. [Figure 16] 1 illustrates an example use case for femtosecond surgery, according to some example implementations. [Figure 17] 1 illustrates an example use case for cataract surgery, according to some example implementations. [Figure 18] 1 illustrates an example use case in a microinvasive glaucoma surgery (MIGS) implant according to some example implementations. [Figure 19] 1 illustrates an example use case for keratoconus surgery, according to some example implementations. [Figure 20] 1 illustrates an exemplary use case for laser scleral microporation. [Figure 21A] 1 shows an implementation of an iris shutter mechanism. [Figure 21B] 1 shows an implementation of an iris shutter mechanism. [Figure 21C] 1 shows an implementation of an iris shutter mechanism. [Figure 22] 1 shows a representation of a data repository and database that can communicate with multiple external inputs. The system can also collect telemetry data and generate outputs to various external devices. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Wherever practical, like reference numerals refer to like structures, features or elements.

[0017] As noted above and as described in more detail below, embodiments of the methods and devices described herein include several aspects that may be usefully employed in combination or separately and may be advantageously used to treat a range of disease states, both in the eye and in other areas of the body, with at least some of the examples described in particular detail focusing on the treatment of ocular conditions, such as the treatment of age-related glaucoma, cataract formation, and other age-related eye diseases, such as age-related macular degeneration.

[0018] In particular, embodiments described herein relate to hardware, software, firmware, computational circuitry, or other system solutions used for remote ocular surgical training. The training system can provide animatronic human-like and / or animal-like movements, which can be species-dependent. Such movements can improve surgical training by providing more realistic eye movements than cadaveric or other eye simulations, at least during surgery.

[0019] 1 illustrates a system 100 for remote eye surgery training, according to some example implementations. As illustrated, the system 100 includes a robotic assembly 110 and a controller 150. In some aspects, the controller 150 may be configured to control the movement of at least some portions of the robotic assembly 110 (e.g., one or more eyes). The controller 150 may include a joystick, a keypad, a mouse, a game controller, a touch screen, or the like.

[0020] FIG. 2A illustrates a remote training environment 200 according to some exemplary implementations. As illustrated, the exemplary training environment 200 includes at least one user 202 in communication with a server 225. In some aspects, the server 225 can host webinars, presentations, virtual wet labs, and the like. The user 202 can be associated with a client device 205 that is logged into a presentation on the server 225. In some aspects, the server 225 can also be in communication with the robotic assembly 110 and can provide remote control to the robotic assembly 110. In some implementations, the client device 205 can also include a controller configured to move a portion of the robotic assembly 110. In some aspects, remote training for the user 202 can be conducted using a remote demonstration device (e.g., the robotic assembly 110) in communication with the server 225. The exemplary training environment 200 can advantageously enable training seminars to be held with multiple users 202 that can be completed at the convenience of the users 202.

[0021] FIG. 2B illustrates a block diagram of a system 250 for remote eye surgery training, according to some exemplary implementations. FIG. 2B illustrates exemplary connections between users (e.g., user 202) and computing devices (e.g., client device 205, server 225, robotic assembly 110, etc.). As illustrated, all users and devices are connected directly or indirectly with a wireless connection (e.g., Internet connection) via commercially available video conferencing software. Although an Internet connection is shown, the connections between users and devices may be wired or achieved with another wireless technology. Although specific users and devices are shown, other users and other devices are possible. The video conferencing software may include any video telephony, chat, holographic, or any other type of video conferencing or meeting software.

[0022] FIG. 2C illustrates a diagram of an example wireless network 290 according to some example implementations. As illustrated, the remote robotic system (e.g., system 100) can operate over multiple network links through communication with medical professionals / experts (e.g., user 202 via client device 205, server 225, etc.). The multiple network links may include broadband network links, such as integrated services digital network (ISDN), local area network (LAN), and internet dedicated T-1 lines, or low bandwidth links. As further illustrated in FIG. 2C, the wireless network 290 includes satellite link 291, terrestrial link 292 to facilitate communication between the system 100 and user 202. The teleoperated medical robotic system (e.g., system 100) can enable performing procedures such as surgery, therapy, and diagnosis over short or long distances while utilizing wired and / or wireless communication networks. Additionally, the teleoperated medical robotic system can provide an operating room environment for remote real-time surgical consultation. Permitted video and audio teleconferencing can support real-time consultations, as well as transmission of real-time and store-and-forward images for viewing by a panel of consultants.

[0023] For example, a user 202 can control the operation of the system 100 via a wireless network 290. Advanced control techniques, including robust adaptive control, are particularly relevant to bilateral teleoperated systems (e.g., system 100). Robust control can maintain stability and performance despite uncertainties or disturbances affecting the system. In general, adaptive control has the ability to adapt to a controlled system with unknown or changing parameters, where an adaptive control scheme is proposed to address both dynamic and kinematic uncertainties for the teleoperated system, while also taking into account communication delays or errors.

[0024] 2D is a diagram illustrating a cloud-based system architecture according to some example implementations. As shown, the cloud processing center can control the execution decisions of the robotic assembly 110, perform calculations of the position data of the robotic assembly 110 (e.g., the position data of the eye 506), perform historical data analysis of previous training sessions with the robotic assembly 110, store data, perform artificial intelligence (AI) training, provide research and development infrastructure, and provide analysis and health information.

[0025] 3A is a perspective view of a robot assembly 110 according to some example implementations. As shown, the robot assembly 110 includes a faceplate 302, a robot eye assembly 304, a baseplate 306, and a processor 310. In some aspects, the robot assembly 110 can include an alternative example eye holder 305. In some embodiments, the faceplate 302 can be coupled to the baseplate 306 via a connecting pin 307.

[0026] Although faceplate 302 is shown with a human face, faceplate 302 may be removable and molded into the shape of any animal species (e.g., pig, monkey, etc.) or human. Figures 3B-3E show exemplary side views of faceplate 302 having an animal (e.g., pig) faceplate 302.

[0027] FIG. 4A is a perspective view of the robot assembly 110 with a shield 408, according to some example implementations. FIG. 4B is a side view of the robot assembly 110 with a shield 408, according to some example implementations. FIG. 4C is a perspective view of the robot assembly 110 with a shield 408. As shown in the example of FIG. 4C, the shield 408 has a recess 415. In some aspects, the recess 415 may be configured to hold an object related to the robot assembly 110, an ophthalmic surgical training procedure, or the like. For example, the recess 415 may be sized and configured to hold an eye bottle, other eye cup, replacement parts, a bottle for eye drops, or the like.

[0028] 5A is an exploded view of an example robotic eye assembly 304 according to some example implementations. As shown, the robotic eye assembly 304 can include a retaining ring 501, an eye holder 502, an O-ring 503, an eye cup 504, a spacer 505, an eye 506, a clamp ring 507, and a clamping screw 508. The retaining ring 501 can be configured to hold the eye cup 504 in place. The retaining ring 501 can have the ability to move the eye cup 504 down or up within the eye holder 502. The eye holder 502 can hold the eye cup 504 in place and can translate movement inputs from the servos and linkages to the eye cup 504. The eye holder 502 can include two pivot points on either side for left / right (L / R) movement. The eye holder 502 can include a flange or boss that is a connection point to the linkage to the L / R servo.

[0029] The eye holder 502 can include a groove that contains an O-ring (e.g., O-ring 503). The O-ring 503 can be designed to be slightly smaller than the eye cup 504 so that it is held in place. The O-ring 503 can provide tension between the cup 504 and the holder 502 and can be designed to keep the eye cup 504 centered within the holder 502. The eye holder 502 can include a device (not shown) that initializes, monitors, adjusts, and measures intraocular pressure within the eye 506. The device can include a pressure gauge or transducer that is attached, detached, or integrated into the device of the holder that measures, measures, monitors, and displays intraocular pressure.

[0030] The eye holder 502 may include a lip on the top designed to hold a rubber contamination shield (such as a dental dam). This shield may keep liquids away from any animatronics or electronics below. The eye cup 504 may be designed to hold the eye 506. The eye 506 may include a glass eye, a wooden eye, a cadaver eye, an artificial eye, an animal (e.g., a pig, a monkey, etc.) eye, etc. The eye cup 504 may be configured to have a diameter slightly larger than a pig's eye. The eye cup 504 may include a small pipe attached to the bottom for attaching a hose. The eye cup 504 may have a lip on the top so that any liquid falls off the lip and lands either inside the cup or on the contamination shield. The eye cup 504 may include one or more holes for attaching a clamp ring (e.g., clamp ring 507). The clamp ring 507 may be one way of holding the eye 506 in the cup 504 (e.g., the cup 504 is placed in the holder 502). The clamp ring 507 may include an ID slightly smaller than the eye, so that by holding it with a screw (e.g., clamp screw 508), it clamps the eye 506 and holds it in place. The eyecup 504 may be made from an easily cleanable material (e.g., silicone, plastic, etc.). When used with a hose and spacer (e.g., spacer 505) connected to the bottom, a vacuum can be applied to the hose and the eye 506 can seal against the spacer 505 and be held in place by the vacuum. Thus, the eyecup 504 may include a section cup that can vary the pressure within the eye 506. In some aspects, the amount of vacuum or section applied to the eye 506, eyecup 504, etc. can be controlled by a user interface (e.g., GUI 1000). The spacer 505 can hold the eye 506 at the correct height so that all quadrants can be processed (e.g., different length spacers for different shaped eyes may be needed). For a cadaver eye 506, the optic nerve may protrude 2-6 mm from the eyeball at the bottom.The spacer 505 may include a hole in the center to allow the optic nerve to remain above the bottom of the cup 504. Otherwise, the eye 506 may be tilted within the cup 504 and not positioned correctly.

[0031] 5B is a side view of the robotic eye assembly 304 according to some example implementations. As shown, the robotic eye assembly 304 can include a spacer 510. The spacer 510 can be configured to receive the optic nerve or allow the optic nerve to pass through an opening in the robotic eye assembly 304. As further shown, the robotic eye assembly 304 can include a pivot axis 515. In some aspects, the pivot axis 515 can be the same as the axis of the eye 506. In some variations of the system as shown in FIGS. 5C and 5D, the eye holder includes a suction cup controlled by a user interface. The eye holder can include a device to initialize, monitor, adjust, and measure intraocular pressure in the eye.

[0032] FIG. 6 is a perspective view of an animatronic assembly 600 according to some example implementations. As shown, the animatronic assembly 600 includes an eye holder 502, an eye 506, a clamp ring 507, a pivot frame 604, a control arm 605, and a Y-link 607. The pivot frame 604 may be configured to hold an eye (e.g., eye 506) via two pins located in corresponding holes in the eye holder 502. The pivot frame 604 may provide a base for moving the eye left and right and may be attached to another frame moved by an up and down servo. The control arm 605 may include a pivot point in the middle that may be coupled to a left / right (L / R) servo. In some aspects, each end of the control arm 605 may be coupled to the eye holder 502 for the left eye 506 and the right eye 506, respectively. The Y-link 607 may connect the middle servo to the eye holder 502. The Y-link 607 may also be configured to transfer intermediate servo motion to the frame of the animatronic assembly 600. The frame may be mounted on both sides as a pivot point so that when the servos are moved, the eyes can move upwards and / or downwards.

[0033] 7 is an exploded view of the robot assembly 110 according to some example implementations. As shown, the robot assembly 110 includes a base plate 306, a connection pin 307, a first standoff 703, a processor 310, a first bolt 715, a socket 712, a cap 718, a pump 709, an interface board 710, a second standoff 711, a second bolt 716, a shield 408, and a faceplate 302. In some aspects, the first standoff 703 may be configured to hold the electronics away from the base plate 306. The first bolt 715 may include a 2.5 mm bolt for attaching the processor 310 to the base plate 306. The processor 310 may include a Raspberry Pi or other processor. The socket 712 may include a 12V socket as an input power socket. The cap 718 may include a rubber cap configured to fit onto an 8 mm bolt and may be configured to fit into one or more holes in the bottom of the faceplate 302. The pump 709 may include an aquarium pump configured to provide a vacuum to the eye holder 502 to keep the eye 506 in a desired position. The interface board 710 may provide a connection between the processor 310 and a servo of an animatronic assembly (e.g., animatronic assembly 600). The second standoff 711 may be configured to attach the interface board 710 to a bracket. The second bolt 716 may include a 4 mm bolt configured to attach the bracket to the base plate 306. The shield 408 may be sized and shaped to at least partially surround the bottom of the robot assembly 110 and may be configured to protect a user from the electronics of the robot assembly. The shield 408 may provide mounting for a cooling fan and may also include one or more holes to allow cables to pass through. The faceplate 302 may include one or more openings through which the robotic eye assembly 304 can view. The faceplate 302 may be designed to be the same or similar proportions as a human face to provide a sense of realism to the robotic assembly 110.The faceplate 302 may include a tray near the bottom configured to collect any liquid. In some aspects, the robot assembly 110 may include a camera or image capture device (not shown). In some embodiments, the camera or image capture device may be external to the robot assembly to provide a view of the eye and provide real-time image feedback and / or guidance to a user (e.g., user 202) controlling the robot assembly 110. The camera or image capture device may also provide feedback regarding eye position or gaze tracking of a fixation point of the eye (e.g., eye 506).

[0034] In some aspects, control of a remote biometric system (e.g., systems 100, 250, etc.) can be based primarily on image and video guidance. While the image acquisition process involved impacts the portability and transportability of a telerobotic system, the associated bandwidth demands of encoded images and video also largely dictate the telecommunications requirements.

[0035] FIG. 8A illustrates a block diagram of a system 800 for remote eye surgery training according to some exemplary implementations. As illustrated, the system 800 may include a processor 810, a memory 820, a controller 850, a driver 830, a drive 840, one or more robotic eye assemblies 304, and a wireless connection 825. In some aspects, the processor 810 may include a processor running an operating system (e.g., a RaspberryPi computer). The memory 820 may store instructions for a graphical user interface application that may cause the processor 810 to perform operations that affect a robotic assembly (e.g., the robotic assembly 110) that communicates with the system 800. In some aspects, the controller 850 may include a game console controller configured to control eye movements of the robotic assembly. The controller 850 may be coupled to the processor 810 via a USB controller driver. The processor 810 may be coupled to the driver 830 via an integrated circuit. The driver 830 may be electronically coupled to the drive 840. 8, the system 800 includes two drives 840, although more or fewer drives 840 are possible. The drives 840 may include servo drives configured to provide movement to one or more eye assemblies 304.

[0036] In some aspects, the system 800 and / or the processor 810 can implement a neural network to provide feedback to and from the system. FIG. 8B illustrates an example neural network 875 according to some example implementations. As shown, the neural network 875 includes an input layer 860, one or more hidden layers 870, and an output layer 880. The neural network 875 includes one or more input nodes 861. The one or more hidden layers 870 include one or more hidden nodes 871, and the output layer 880 includes output nodes 881. In some aspects, the input to the input layer 860 can include digital images, digital videos, mathematical equations, topographical images, wavefront images, optical images, and the like. In some implementations, the one or more hidden layers 870 can perform calculations, utilize physics tools, include modulators, algorithms, digital codes, trigger functions, perform catalysts and module transfer functions, and the like. The output to the output layer 880 can include physical indicators, mathematical indicators, optical indicators, motion indicators, and the like.

[0037] 9A illustrates an example program execution flowchart 900 for controlling robotic movement in a robotic system (e.g., system 100) according to some example implementations. In some aspects, the flowchart 900 may be executed by a processor 310, 810, a neural network 875, etc.

[0038] 9B illustrates an example workflow and automated feedback loop 950 according to some example implementations. As shown, the workflow and feedback loop 950 illustrates example interactions between a laser or instrument, an artificial intelligence controller, a simulated patient (e.g., an animal or human, robotic assembly 110), a physician or other user, and an on-board eye-tracking camera.

[0039] In some aspects, the robotic assembly (e.g., assembly 110) can operate autonomously, semi-autonomously, or telerobotically. In a telerobotic system (see, e.g., FIG. 2C), a remote manipulator (e.g., controller 150) can be controlled from the site of an operator (e.g., user 202) by sending position commands while receiving visual and other sensory feedback information (e.g., from a camera internal or external to the robotic assembly 110). The local and remote systems may be referred to as "master" and "slave" systems, respectively, and the entire system (e.g., system 250) may be referred to as a "master-slave system." The teleoperated device may be programmed to track the control of the operator (e.g., user 202). In some aspects, the robotic assembly 110 can include one or more sensors that can provide position triggers and / or feedback, such as via a visual camera, indicating whether an eye (e.g., eye 506) of the assembly 110 is in a desired position. Image processing may be performed during training or treatment. Image processing can include both digitally captured images and live video acquisition. Synchronization may occur between two or more cameras. Synchronization may include a bidirectional navigation system (BNS) that implements feedback loop control to ensure synchronization and data collection. This may be controlled by an artificial intelligence system (e.g., neural network 875, processor 810, etc.) or may be automated corresponding to the system operating in an autonomous state. In a semi-autonomous state, processor 810 may perform all functions and control of the robotic assembly 110, but may also receive user input (e.g., from user 202).

[0040] Program execution may begin at step 901, where a script for program execution may be started. In step 910, the processor may execute a controller loop to determine if a controller is connected to the remote eye surgery training system. In step 911, the processor may determine if a controller (e.g., controller 150) is detected. If a controller is not detected, the program may return to step 910. If a controller is detected, the program may proceed to step 912. In step 912, the detected controller may be configured to control a robotic assembly (e.g., robotic assembly 110). After the detected controller has gained control of the robotic assembly, in step 913, the processor may check to determine if there is an incoming connection (e.g., wireless connection 825) that may override the detected controller.

[0041] In some aspects, if the processor executes the controller loop in step 910, the processor may also continue to execute a parallel wireless connection loop in step 920. In some aspects, the wireless connection loop may include adaptive feedback to correct for missing signals, delays, communications, and the like. In step 921, the processor determines whether there is an incoming wireless connection. If a graphical user interface (GUI) connects through a matching IP address and port, the controller execution may be blocked. The robotic assembly may be controlled through a remote GUI. This may occur until the GUI is closed or the connection is lost. If there is an incoming wireless connection (e.g., wireless connection 825, wireless pairing, etc.), the program proceeds to step 922, where the processor may receive a message from a client device (e.g., laptop, tablet, computer, etc.). In some aspects, the message may include a command to move or control the robotic assembly. If a message is received, in step 923, the processor may check to determine (e.g., via a decision engine) whether the message is valid. If not, the program may return to step 922. If the message is valid, in step 925, the processor may execute the command. After an incoming wireless connection is detected in step 920, in step 924, the processor may start a timeout counter to determine if the connection has been lost. In step 926, the processor may determine if the timeout value has been met and indicate a timeout. If so, in step 928, the processor may determine if the timeout counter is less than or equal to a timeout counter threshold (e.g., ten (10)). If not, the processor may increment the counter and return to step 924.If the timeout counter meets the threshold, the program may proceed to step 930 and disconnect the robotic assembly from the client device and release any wireless connections (e.g., wireless connection 825, wireless pairing, etc.).

[0042] In some aspects, to control the robotic assembly 110, a graphical user interface (GUI) can be designed to improve the user experience and control over the robotic assembly 110. FIGS. 10A-10C show an example graphical user interface for interacting with a remote eye surgery training system, according to some example implementations. FIG. 10A is an example screenshot of the GUI 1000. As shown, the GUI 1000 includes an IP address field 1020. In some aspects, this field can be automatically populated with the IP address of the client device. In some implementations, a user can enter an IP address to connect to the robotic assembly 110. In some aspects, if a valid IP address is entered in the field 1020, this indicates that the robotic assembly 110 has established a wireless connection and can be controlled by the GUI 1000.

[0043] FIG. 10B illustrates a screenshot 1050 of the GUI 1000 after launching the GUI application. As shown, certain features of the GUI 1000 are highlighted at the top of the screen. For example, the screenshot 1050 includes a settings feature 1051, a mode feature 1052, a zinger feature 1053, a random jitter feature 1054, and a disconnect feature 1055. In some embodiments, the settings feature 1051 can open a menu for adjusting any of the settings of the GUI 1000. For example, the settings menu can include a connect element configured to connect to a target system (e.g., the client system 205). The settings menu can further include a disconnect element configured to disconnect from the target. The settings menu can further include an interval for quadrant jitter feature configured to adjust jitter settings for one or more quadrants of the eye portion (e.g., the eye portion 1060 and / or 1070). The settings menu can further include a profile element configured to open a profile subwindow. Although certain settings are described herein, more or fewer settings elements are possible. In some aspects, the mode function 1052 may be selected to open a mode menu to adjust the operational mode of the GUI 1000. For example, the mode menu may include a random jitter mode that may initiate one or more random eye movement loops. The mode menu may include a start profile element that may open a file dialog that allows the user to select a file with a drive profile. Although certain settings and modes are described herein, additional or fewer modes and settings are possible.

[0044] As further shown in FIG. 10B, the GUI 1000 further includes a right eye portion 1060 and a left eye portion 1070. In some aspects, one or more of the eye portions 1060 and 1070 can include four quadrants. In the example of FIG. 10B, the left eye portion 1070 includes a first quadrant 1071, a second quadrant 1072, a third quadrant 1073, and a fourth quadrant 1074. It further includes the anatomical zones central, superior, nasal, inferior, and temporal. In some implementations, the eye quadrants can enable a physician or medical professional to highlight, visualize, diagnose, and treat specific areas of the eye anatomy that are not possible with static methods facilitating a realistic surgical or diagnostic experience with a cadaver eye in vitro.

[0045] As further shown in FIG. 10C, the GUI 1000 further includes a right eye cornea 1031 and a left eye cornea 1032. In some aspects, the GUI 1000 may include one or more zones, such as the cornea, limbus, central, paracentral, peripheral, etc. For example, FIGS. 10D and 10E show various optical zones, such as the cornea, transition zone, distance zone, intermediate zone, and near zone. As further shown, the optical zones may include central (1), superior (4), nasal (2), inferior (5), and temporal (3) anatomical zones. In some implementations, the eye zones may enable a physician or medical professional to highlight, visualize, diagnose, and treat specific areas of the eye anatomy that are not possible with static methods that facilitate a realistic surgical or diagnostic experience with a cadaver eye in vitro.

[0046] As further shown in FIG. 10E1, the GUI 1000 further includes a right eye scleral quadrant and a left eye scleral quadrant. In some aspects, the quadrants can include one or more quadrants including the superior nasal fascia, inferior nasal fascia, superior temporal fascia, inferior temporal fascia, or the entire 360 ​​perimeter. As further shown, the optical zones can include central (1), superior (4), nasal (2), inferior (5), and temporal (3) anatomical zones. In some implementations, the eye zones can enable a physician or medical professional to highlight, visualize, diagnose, and treat specific areas of the eye anatomy that are not possible with static methods facilitating a realistic surgical or diagnostic experience with an ex vivo cadaver eye.

[0047] As further shown in FIG. 10E, the GUI 1000 can further include a right eye retina 1041 and a left eye retina 1042. In some aspects, the retina can include one or more zones. FIG. 10F illustrates one or more exemplary retinal zones. As shown, Zone I (1083) is a small circle of retina around the optic nerve 1081. The radius of the circle may be twice the distance from the macula 1082 to the center of the optic nerve 1081. Zone II (1084) is a ring-shaped portion of the peritoneal zone I that extends nasally to the ora serrata. Zone III (1085) is a crescent-shaped region of the temporal retina.

[0048] 10F further includes retinal landmarks 1086, including the central (fovea, optic disc), mid-periphery (vortex veins), and far periphery (ora serrata). In some implementations, the eye zones may enable a physician or medical professional to highlight specific areas of the eye anatomy to facilitate a realistic surgical or diagnostic experience with an ex vivo cadaveric eye.

[0049] FIG. 10F further includes anatomical zones 1088, including foveal, superior perifoveal, perifoveal nasal, inferior perifoveal, perifoveal temporal, parafoveal superior, parafoveal nasal, parafoveal inferior, and parafoveal temporal.

[0050] In some implementations, the eye zones may enable a physician or medical professional to highlight, visualize, diagnose, and treat specific areas of the eye anatomy that are not possible with static methods, facilitating a realistic surgical or diagnostic experience with an ex vivo cadaveric eye.

[0051] FIG. 10G illustrates an example screenshot 1075 of the GUI 1000 after launching the GUI application. As illustrated, the GUI 1000 includes a virtual joystick area 1076. The virtual joystick area 1076 can indicate an eye movement area. A user can click anywhere in this area and the eye of the robot assembly 110 can move to that location. The GUI 1000 further includes a right eye portion 1060 including a curvature slider 1077. The curvature slider 1077 can be configured for fine adjustment via mouse selection to change the value of the slider and initiate eye movement. The GUI 1000 further includes four quadrants 1071, 1072, 1073, and 1074. A user can click on a portion of a particular quadrant and the corresponding eye can move to the assigned quadrant. As further illustrated in the example of FIG. 10C, when a user performs a right click on one or more of the quadrants, a quadrant jitter button 1080 can appear to initiate a quadrant jitter mode.

[0052] 11A-11B illustrate an exemplary profile window of a graphical user interface according to some exemplary implementations. For example, after selecting a profile element from a settings menu, a new window may be displayed. FIG. 11A illustrates an exemplary profile window 1100. As shown, the profile window 1100 may include a settings menu 1102, a movement region 1104, a numeric field region 1106, a button region 1108, and a data point region 1110. In some aspects, the settings menu 1102 may include an add delay element that may enable a user to add multiple delays to a current driving profile. For example, if a user draws a driving profile of about 100 points, the user may need to give engine time for the movement. The add delay function allows a user to add the currently set delay to the delay control between all points in the list. The settings menu 1102 may further include a save profile element configured to allow a user to save a current driving profile. The settings menu 1102 may further include a load profile element that may enable a user to open a file dialog to load a saved driving profile. The settings menu 1102 may further include a clear element configured to clear the current settings. The settings menu may further include a freestyle element configured to allow a user to draw a driving path with a mouse or other input device.

[0053] In some aspects, a bidirectional navigation system (BNS), in conjunction with a profile window in the graphical user interface, can implement a feedback loop control to verify synchronization and data acquisition. The BNS can also verify that the robotic assembly 110 and / or eye 506 are moving according to the controls on the graphical user interface. The BNS can include one or more cameras or image capture devices to verify the position of the robotic assembly 110 and / or eye 506. The one or more cameras or image capture devices can also provide guidance to the medical professional or user controlling the robotic assembly 110 to verify the accuracy and precision of the control.

[0054] In some implementations, the movement area 1104 may be configured to allow the user to select a target point via selection using a mouse. After selection, the X and Y coordinates may change to the selected target point. If the freestyle mode option is selected, the user may freely draw the driving path. The numeric field area 1106 may include fields such as X coordinate, Y coordinate, delay (milliseconds), etc. Although certain fields are shown in the example of FIG. 11A, other fields are possible. In many cases, the user only needs to change the value of the delay field. The button(s) area 1108 may include buttons to add a data point or add a delay. In some aspects, after pressing one of these buttons, the value may be transferred to a list box (e.g., data point area 1110). The data point area 1110 may include a list box of data points. All assigned positions and delays may be displayed in this list. It may be possible to delete the data points in the list box by right-clicking on one or more elements. The data in this list in the data point area 1110 may be used to create an XML file later.

[0055] 11B illustrates an exemplary profile window 1150. As shown, the profile window 1150 includes a navigation region 1104, a numeric field region 1106, a button region 1108, and a data point region 1110. As further shown, a data point (e.g., 37;62) is selected in the data point region 1110 and highlighted in the navigation region 1104.

[0056] 12 illustrates an example computing device 1200 that may be used to implement one or more of the described devices and / or components, according to some example implementations. For example, at least a portion of the computing device 1200 may be used to implement at least a portion of the client device 205, the server 225, the processor 310, etc. The computing device 1200 may perform one or more of the processes described herein.

[0057] As shown, computing device 1200 may include one or more processors, such as processor 1210, for executing instructions capable of performing operations consistent with those described herein. Device 1200 may include memory 1220 for storing executable instructions and / or information. Memory 1220 may include solid-state memory, solid-state disk drive, magnetic disk drive, or any other information storage device. In some aspects, memory 1220 may provide storage for at least a portion of a database. Device 1200 may include input / output device 1240 to a wired or wireless network (e.g., wireless connection 825). Wireless networks may include wireless antennas, Wi-Fi, WiMax, WAN, WAP Bluetooth, satellite, and cellular networks (2G / 3G / 4G / 5G), and / or any other wireless network. To achieve wireless communication, input / output device 1240 may utilize, for example, one or more antennas.

[0058] The device 1200 may include one or more user interfaces, such as the graphical user interface 1100. The user interfaces may include hardware, software, or firmware interfaces, such as a keyboard, mouse, or other interfaces, some of which may include a touch screen integrated with a display. The display may be used to display information, such as promotional offers or current inventory, provide prompts to the user, receive user input, etc. In various implementations, the user interfaces may include one or more peripheral devices and / or may be configured to communicate with these peripheral devices.

[0059] In some aspects, the user interface may include one or more of the sensors described herein and / or may include an interface to one or more of the sensors described herein. The operation of these sensors may be controlled at least in part by a sensor module. The device 1200 may also include input and output filters that may filter information received from sensors or other user interfaces, information received and / or transmitted by a network interface, and the like. For example, signals detected via the sensors may be passed through the filters for appropriate signal conditioning, and the filtered data may then be passed to the processor 1210 for validation and processing (e.g., before transmitting results or instructions via the input / output device 1240). In some aspects, the filters may be part of an adaptive feedback loop as described herein. The device 1200 may be powered by using one or more power sources. As shown, one or more of the components of the device 1200 may communicate and / or receive power via a system bus 1250.

[0060] 13 shows a flowchart of a method for remote eye surgery training according to some example implementations. In various implementations, the method 1300 (or at least a portion thereof) may be performed by one or more of the robotic assembly 110, the client device 205, the server 225, the processor 310, the computing device 1200, other associated devices, and / or portions thereof.

[0061] The method 1300 can begin at operational block 1310, where the device 1200 can, for example, initialize the robot assembly 110. In some aspects, initializing the robot assembly 110 can include initializing the robot assembly at a location where a laser for eye surgery is located. Initializing the robot assembly 110 can also include installing a glass eye, a wooden eye, a cadaver eye, etc. (e.g., eye 506) on the robot assembly 110 (e.g., via the robot eye assembly 304). Initializing the robot assembly 110 can also include tracking the position of the eye 506 using an eye tracking system to verify that the position is in a desired location. For example, a doctor, moderator, technician, or other medical professional can instruct a person or animal, or a simulated person or animal, where to look for a given training exercise. A user (e.g., user 202) can command the robot assembly 110 to move one or more eyes 506 to a target location. The eye tracking system can verify that the one or more eyes are in a target location. If the eye tracking system determines that one or more of the eyes 506 are not at the target position, the user 202 can make an adjustment or the robotic assembly 110 can automatically adjust the eye position (e.g., autonomously using an AI or neural network 875, etc.) of one or more of the eyes 506 until the determined eye position is within a threshold of the target position. The eye tracking artificial intelligence or neural network 875 may be trained to be used in any in vitro animal or human study. In some aspects, the eye tracking artificial intelligence or neural network 875 can be trained to find or look at a specific target. For example, a camera laser pointer or mirror in the eye holder 502 that can detect or follow an external point source or a spot on a screen. The eye tracking feedback system can direct the eye and control the spot until the one or more of the eyes 506 can track any target presented. The eye tracking device can track the eye and the camera (or mirror) track where the eye 506 is looking and can correct until they match.The system allows for precise, dynamic, real-time adjustment of the ocular orientation of one or more eyes 506.

[0062] The robot assembly 110 can be used with a relational database, neural network (e.g., neural network 875), etc. to provide feedback to and from the eye tracking system. This allows for real-time synchronization of eye movements of the eye tracking device and the robot assembly 110 with two-way feedback. Figures 14A and 14B show an example robot assembly (e.g., robot assembly 110) and eye tracking device according to some example implementations.

[0063] Natural or other human eye movements can be simulated in the robotic assembly 110 and / or the animatronic assembly 600 by using a neural network (e.g., neural network 875 or other AI) controller. Video images of natural human eye movements can be used as a training set for the AI ​​system. Scoring can be achieved by eye tracking or other external systems and annotations. This results in natural eye movements in high fidelity simulation by the robotic eye system (e.g., robotic assembly 110). Using a live human eye tracker, the robotic eye simulator can mimic natural eye movements with either a direct connection or a recorded connection.

[0064] The method 1300 may proceed to operational block 1320 where the apparatus 1200 may, for example, connect to one or more computing devices. In some aspects, connecting to one or more computing devices may include connecting to a remote training environment (e.g., remote training environment 200). For example, a physician (e.g., user 202) may sign into a group meeting (e.g., a video conference meeting) where training in ophthalmic surgery may be conducted. In some aspects, other devices or users (e.g., lasers, cameras, computers, moderators, other physicians, etc.) may sign into a group meeting (e.g., remote training environment 200). The group meeting may enable the users 202 to communicate with each other and / or control the objectives of one or more computing devices (e.g., lasers, robotic assembly 110, server 225, client device 205, etc.) connected to the most remote training environment. The one or more computing devices may include client device 205, server 225, computing apparatus 1200, etc. In some aspects, the remote training environment may include connecting to a robotic assembly and / or laser for ophthalmic surgery.

[0065] The method 1300 may proceed to operational block 1330 where the apparatus 1200 may operate the robot assembly, for example, by one or more computing devices. In some aspects, operating the robot assembly may include performing a training procedure, a training surgery, a training procedure, a treatment plan, a post-treatment review, and the like. For example, a moderator (e.g., a physician instructor or mentor) may walk through a determined training exercise with a physician user (e.g., user 202). The moderator may provide control to the robot assembly 110 and / or an ophthalmic surgical laser to perform the determined training exercise. In some aspects, the determined training exercise may include performing a simulated surgery, such as cataract surgery, cataract LASIK, femtosecond surgery, MIGS implant surgery, keratoconus surgery, laser scleral microporation, and the like. FIGS. 15-20 illustrate an example use case surgery / procedure using the robot assembly (e.g., robot assembly 110) according to some example implementations described herein. Although a particular surgery / procedure is described and illustrated herein, the methods and apparatus for live, virtual or remote eye surgery training may be applied to other surgeries, procedures, studies, and the like.

[0066] In some variations of the system, as shown in Figures 21A-21C, the system further includes an "iris" shutter that is mechanically responsive to various stimuli and light repetitions. The system may also be mechanically fixed to multiple iris sizes. The system is further designed for contrast that allows the eye to function in parallel with the function of a human or animal eye. The system is also designed to simulate the function of a normal human eye.

[0067] The method 1300 may proceed to operational block 1340, where the device 1200 may, for example, simulate the movement of the human or animal's eye during the determined training exercise. Simulating the movement of the human or animal's eye may include controlling the movement of the eye of the robot assembly 110. In some aspects, the eye surgery or eye procedure may include directing the human or animal to gaze or focus on an object (e.g., an eye looking forward, an eye looking right, an eye looking left, an eye looking up, an eye looking down, etc.) to place the human or animal's eye in a desired position for the surgery or procedure. For example, controlling the eye movement may include directing the eye (e.g., eye 506) to look at a target displayed on a screen or elsewhere (e.g., GUI 1000). In some aspects, controlling the eye movement may include initiating a random jitter movement to the eye. Controlling the eye movement may include controlling the movement via a user interface (e.g., GUI 1000). Controlling the eye movement may include manipulating a controller (e.g., controller 150).

[0068] The method 1300 may proceed to operational block 1350, where the apparatus 1200 may, for example, operate the laser for eye surgery to perform the determined training motions. Operating the laser for eye surgery may include reshaping a portion of the eye of the robotic assembly (e.g., eye 506) using one or more lasers. In some aspects, operating the laser may include determining that the eye is in a desired position for the determined training motions.

[0069] In some implementations, the method 1300 may additionally or alternatively involve, for example, the device 1200 operating, for example, a robotic assembly to perform eye tracking validation, treatment angle validation, screen calibration, laboratory development, wavefront measurements, eye measurements, retinal treatments, simulated eye surgeries, and the like. In some aspects, the eye tracking validation may include determining the focus of the eye 506 using a laser. In some aspects, the eye holder (e.g., eye holder 502) may advantageously provide depth control of the eye 506 within the holder 502. For example, the eye holder 502 may allow for correction of the position of the eye 506 within the holder 502. In some aspects, the method 1300 may include performing a post-treatment review or a post-exercise review, and the results of the training exercises may be measured and analyzed.

[0070] Eye tracking and / or eye tracking verification may include tracking the position of one or more eyes 506 using an on-board camera. Eye tracking data may be input into an artificial intelligence (AI) feedback loop (e.g., neural network 875) to interpret the data and determine the position of one or more eyes 506. In some aspects, a laser may be placed in the eye holder 502 to simulate the focus or gaze of one or more eyes 506 placed in the eye holder 502. One or more mirrors may be positioned to reflect the laser beam and represent the angle of movement of the one or more eyes 506. A target at the desired location may be selected for where the person or animal should be looking. When the eye 506 moves to the correct position, the laser beam is reflected off the mirror and hits the target at the desired location. The position may be recorded and the X-axis and Y-axis coordinates may be stored in memory.

[0071] Execution of method 1300 and / or portions thereof can enable realistic simulation and training physicians for ophthalmic surgery. For example, settings and / or modes of the robotic assembly 110 can simulate dynamic real-time realistic eye movements of a person or animal (e.g., directional gaze mode, flutter, jitter mode, human mode, etc.).

[0072] One or more aspects or features of the subject matter described herein may be implemented in digital electronic circuitry, integrated circuits, specially designed application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) computer hardware, firmware, software, and / or combinations thereof. These various aspects or features may include implementation in one or more computer programs executable and / or interpretable on a programmable system including at least one programmable processor, which may be special purpose or general purpose, coupled to receive data and instructions from and transmit data and instructions to a storage system, at least one input device, and at least one output device. The programmable system or computing system may include clients and servers. The clients and servers are generally remote from each other and typically interact through a communication network. The relationship of clients and servers arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.

[0073] These computer programs, which may also be referred to as programs, software, software applications, applications, components, or codes, include machine instructions for a programmable processor and may be implemented in a high-level procedural and / or object-oriented programming language, and / or assembly / machine language. As used herein, the term "machine-readable medium" refers to any computer program product, apparatus, and / or device used to provide machine instructions and / or data to a programmable processor, such as, for example, magnetic disks, optical disks, memories, and programmable logic devices (PLDs), including machine-readable media that receive machine instructions as machine-readable signals. The term "machine-readable signal" refers to any signal used to provide machine instructions and / or data to a programmable processor. A machine-readable medium may store such machine instructions non-transiently, such as, for example, a non-transient solid-state memory or a magnetic hard drive or any equivalent storage medium. A machine-readable medium may alternatively or additionally store such machine instructions temporarily, such as, for example, a processor cache or other random access memory associated with one or more physical processor cores.

[0074] To provide for user interaction, one or more aspects or features of the subject matter described herein can be implemented on a computer having a display device, such as, for example, a cathode ray tube (CRT) or liquid crystal display (LCD) or light emitting diode (LED) monitor, for displaying information to a user, and a keyboard and pointing device, such as, for example, a joystick, a touch screen, a voice command processor, a mouse or a trackball, by which the user can provide input to the computer. Other types of devices can also be used to provide for user interaction. For example, feedback provided to the user can be any form of sensory feedback, such as, for example, visual feedback, auditory feedback, haptic feedback, data feedback, digital feedback, virtual feedback, and the input from the user can be received in any form, including acoustic input, voice input, tactile input, and the like. Other possible input devices include other touch-sensing devices, such as a touch screen or a single or multi-point resistive or capacitive trackpad, voice recognition hardware, software, computing circuitry, optical scanners, optical pointers, digital image capture devices and associated interpretation software.

[0075] The subject matter described herein may be embodied in systems, devices, methods, and / or articles, depending on the desired configuration. The implementations described in the foregoing description do not represent all implementations consistent with the subject matter described herein. Instead, the implementations are merely some examples consistent with aspects related to the described subject matter. Although some variations have been described in detail above, other modifications or additions are possible. In particular, further features and / or variations may be provided in addition to those described herein. For example, the implementations described above may be directed to various combinations and subcombinations of the disclosed features and / or combinations and subcombinations of some further features described above.

[0076] In the above description and in the claims, phrases such as "at least one of" or "one or more of" may appear followed by a list of conjunctive elements or features. The term "and / or" may also appear with a list of two or more elements or features. Unless implicitly or explicitly contradicted by the context in which it is used, such phrases are intended to mean any of the listed elements or features individually, or any of the listed elements or features in combination with any of the other listed elements or features. For example, the phrases "at least one of A and B," "one or more of A and B," and "A and / or B" are intended to mean "A alone, B alone, or A and B together," respectively. A similar interpretation is intended for lists containing more than two items. For example, the phrases "at least one of A, B, and C," "one or more of A, B, and C," and "A, B, and / or C" are intended to mean "A alone, B alone, C alone, A and B, A and C, B and C, or A, B and C," respectively. Use of the term "based on" above and in the claims is intended to mean "based at least in part on," allowing for unrecited features or elements.

[0077] The illustrated methods are merely exemplary. Although the methods are shown as having a particular operational flow, two or more operations may be combined into a single operation, a single operation may be performed in two or more separate operations, one or more of the illustrated operations may not be present in various implementations, and / or additional operations not shown may be part of the method. Furthermore, the logic flow shown in the accompanying drawings and / or described herein does not necessarily require the particular order shown, or sequential order, to achieve desirable results. Other implementations may be within the scope of the following claims.

Claims

1. a processor initializing a robot assembly; the processor connecting the robotic assembly to one or more computing devices; the processor operating the robot assembly; the processor simulating human or animal eye movement; wherein the simulating step comprises: highlighting, visualizing, diagnosing, and treating specific areas of the eye via a user interface of the one or more computing devices; and moving the eye dynamically, in real time, and realistically in response to controls on the user interface; A method comprising:

2. A base plate and a face plate coupled to the base plate; a controller electronically connected to the at least one processor and configured to receive inputs for controlling the eye position; an eye holder disposed within the faceplate; an interface board configured to provide an electronic connection between the at least one processor and the eye holder; an eye positioned in the eye holder; a user interface configured to receive user input for controlling the eye movement; the at least one processor coupled to the baseplate; Equipped with The at least one processor initializing the eye position; Connecting to one or more computing devices or mobile or wearable devices; controlling the position of the eye by the one or more computing devices, mobile or wearable devices; Simulating human or animal eye movements, performing a laser procedure on the eye; The system is configured as follows:

3. The system of claim 1 further comprising a laser.

4. The system of claim 1 , wherein the eye holder comprises a device for initializing, monitoring, regulating, and measuring intraocular pressure within the eye.

5. The system of claim 1 , wherein the eye holder comprises a suction cup controlled by the user interface.

6. The system of claim 1 , wherein the faceplate is removable and in the shape of an animal species or a person.

7. a processor initializing a robot assembly; attaching an eye to an eye holder of the robotic assembly; connecting the processor to one or more computing devices; the processor operating the robot assembly; the processor simulating human or animal eye movement; the processor operating a laser to perform the determined movement relative to the eye of the robotic assembly; Including, the determined movement includes eye measurements; method.

8. The method of claim 7 , wherein the determined movements further include a simulated cataract surgery, a simulated LASIK surgery, a simulated retinal treatment, a scleral procedure, or a vision treatment.

9. The method of claim 7 , wherein simulating eye movements includes controlling the movements via a user interface.

10. The method described in claim 7, wherein the eye holder of the robotic assembly initializes intraocular pressure inside the eye.

11. The method of claim 10 , wherein the eye comprises one of a glass eye, a wooden eye, a cadaver eye, an animal eye, a cast material, and an artificial eye.

12. The method of claim 9 , wherein the user interface includes one or more modes for simulating eye movements or abnormal movements of a real person or animal.

13. The method of claim 10 , wherein the eye holder changes the pressure within the eye.

14. The method of claim 7 further comprising tracking the position of the eye.

15. The method of claim 14 , further comprising the steps of verifying that the position coincides with a target position in response to the tracking and locking onto the target via a feedback loop.

16. The method of claim 14 further comprising a blinking mechanism and an iris shutter to simulate the function of a real eye.

17. The method described in claim 11, wherein the eye holder of the robotic assembly monitors intraocular pressure inside the eye.

18. The method described in claim 17, wherein the eye holder of the robotic assembly adjusts intraocular pressure inside the eye.

19. The method described in claim 18, wherein the eye holder of the robotic assembly measures intraocular pressure inside the eye.

20. The method of claim 7, wherein the eye holder changes the position of the eye within the eye holder.

21. The method described in claim 20, wherein the eye holder is a suction cup.

22. The method of claim 21, wherein the eye holder includes a lip configured to hold a rubber dental dam.

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