Tools for microsurgical procedures

Abstract

An apparatus and method for performing microsurgical procedures is provided. An apparatus and method for performing robotic microsurgery on a patient's body is described. Two or more tools (21) each include a mount engagement portion (32) that defines a front recess (82) and a rear recess (84). The tool mount (34) defines a tool receiving socket (86) that secures one or more tools. The tool mount (34) includes a rear roller set (94) configured to be disposed within the rear recess (84) and a front roller set (92) configured to be disposed within the front recess (82). A tool locking cover hinged to the tool receiving socket (86) is configured to secure the tool (21) within the tool receiving socket (86). A motor (93) rolls the tool (21) relative to the tool mount (34) while the tool (21) is secured within the tool mount (34). Other applications are also described.

Description

[Technical field]

[0001] (CROSS REFERENCE TO RELATED APPLICATIONS) This application claims priority to U.S. Provisional Patent Application No. 63 / 285,147, entitled "Tools for microsurgical procedures," to Gil, filed December 2, 2021, which is incorporated herein by reference.

[0002] 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]

[0003] 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.

[0004] 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.

[0005] 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).

[0006] 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 down 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 instances, 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

[0007] According to some applications of the present invention, a robotic system is configured for use in microsurgical procedures, such as intraocular surgery. Typically, when used in intraocular surgery, the robotic system includes one or more robotic units (configured to hold a tool), in addition to an imaging system, one or more displays, and a control component unit (e.g., a control component unit including a pair of control components, such as a joystick), through which one or more operators (e.g., medical professionals such as doctors and / or nurses) can control the robotic units. Typically, the robotic system includes one or more computer processors, through which the components of the system and the operators operatively interact with each other. The scope of the present application includes mounting one or more robotic units in any of a variety of different positions from one another.

[0008] In some applications, in accordance with some applications of the present invention, a set of tools is provided, each tool including a universal mount engagement portion for engaging a tool mount of an end effector of a robotic unit. In some applications, the set of tools includes a universal tool kit for use with the robotic unit, the universal tool kit including all tools typically used in cataract procedures, different ophthalmic procedures, and / or different microsurgical procedures. For example, the set of tools typically includes one or more of the following tools: a keratome blade, an eye fixator, a paracentesis knife, a dispersive ophthalmic viscoelastic device (OVD) syringe, a cohesive ophthalmic viscoelastic device (OVD) syringe, a staining syringe (e.g., for staining the anterior lens with a dye such as trypan blue ophthalmic solution), a lidocaine syringe, forceps, a hydrodissection syringe, a phacoemulsification probe, a chopper, an irrigation / aspiration probe, an intraocular lens injector, an antibiotic syringe, and / or a limbal relaxation incision (LRI) knife. For some applications, each tool includes one or more markers that can be used to identify the tool and / or determine the tool's position and / or orientation.

[0009] Typically, the tool mount engagement portion includes a sleeve disposed around the exterior of each tool. The sleeve includes a gear, a front recess, and a rear recess. In some applications, at least one of the front and rear recesses has a frusto-conical shape. Typically, the tool mount includes a socket for receiving the tool and a tool locking cover hinged to the tool receiving socket and configured to secure the tool within the tool receiving socket. Typically, the tool locking cover is open to place the tool within the tool mount. The tool is placed within the socket and then the tool locking cover is closed to secure the tool within the tool receiving socket.

[0010] In some applications, the tool is configured to be actuated to perform a function via a linear tool actuation arm disposed on the end effector and configured to axially push a portion of the tool. For example, the linear tool actuation arm may be configured to axially push a plunger of a syringe forward. In some applications, the linear tool actuation arm axially pushes a portion of the tool, thereby moving the portion of the tool relative to the patient's eye. As described above, each of the multiple different types of tools, typically having different functions from one another, includes a universal mount engagement portion. Thus, each tool is coupleable to a tool mount to allow rolling of the tool relative to the tool mount. In some applications, an additional feature that facilitates use of the robotic unit with each of the multiple tools is that the linear tool actuation arm is configured to automatically slide and / or fold to accommodate a larger tool (such as a phacoemulsification probe).

[0011] Another feature that facilitates use of the robotic unit with each of a plurality of tools is that many of the tools are actuated to perform their respective functions using a linear tool actuation arm. In some applications, to actuate one or more of the tools using the linear tool actuation arm, the tool includes a motion conversion mechanism for converting a linear motion (as applied to a portion of the tool by the linear tool actuation arm) into a different mechanical motion that actuates the tool.

[0012] Typically, the movement of the robotic unit (and / or the control of other aspects of the robotic system) is controlled, at least in part, by one or more operators. For example, the operator may receive, via a display, images of the patient's eye and the robotic unit and / or tools disposed therein. Based on the received images, the operator typically performs steps of the procedure. In some applications, the operator gives commands to the robotic unit via a control component unit. Typically, such commands include commands to control the position and / or orientation of tools disposed in the robotic unit and / or commands to control operations performed by the tools. For example, the commands may control a blade, 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, the operator may input commands to control the imaging system (e.g., the zoom, focus, and / or xy positioning of the imaging system). For some applications, the commands include controlling an intraocular lens manipulator tool to manipulate the intraocular lens within the eye, for example to precisely position the intraocular lens within the eye.

[0013] Typically, the control component unit includes one or more joysticks configured to correspond to each robotic unit of the robotic system. For example, a system may include a first and a second robotic unit, and the control component unit may include first and second joysticks operated by an operator's right and left hands. In some applications, a control component joystick is included with each control component tool (to replicate the robotic units). Typically, a computer processor determines the XYZ position and orientation of the tip of the control component tool and drives the robotic unit such that the tip of the actual tool being used to perform the procedure tracks the movement of the tip of the control component tool.

[0014] In some applications, the joystick includes an actuation mechanism. Typically, the actuation mechanism is located near a tip of the control component tool such that the operator can actuate the actuation mechanism without having to move their hand after moving the control component tool. More typically, the actuation mechanism is actuated by the operator performing a squeezing action. For example, the actuation mechanism can be a button or a pressure-sensitive pad. In some applications, the computer processor receives an input indicative of a tool coupled to the end effector. For example, the operator can input a tool indication to the computer processor. Alternatively or additionally, each tool can have a tool identification component (e.g., a marker), and the computer processor can be configured to automatically derive which tool is currently coupled to the end effector by identifying the tool identification component in an image of the tool. Still alternatively or additionally, the computer processor can be configured to automatically derive which tool is currently coupled to the end effector by analyzing an image of the tool without using a tool identification component.

[0015] Typically, in response to an operator actuating an actuation mechanism, a computer processor operates one or more actuation components of the robotic unit to actuate a tool coupled to the end effector to perform its function. For example, in response to detecting that a particular type of syringe is currently coupled to the end effector, the computer processor can drive a linear tool actuation arm to advance the syringe plunger a given distance. Or, in response to detecting that a keratome blade is currently coupled to the end effector, the computer processor can drive a keratome blade to move the keratome blade to make an incision in the anterior capsule of the patient's eye.

[0016] Thus, in accordance with some applications of the present invention, there is provided an apparatus for performing robotic microsurgery on a portion of a patient's body, the apparatus comprising: two or more tools, each tool including a mount engagement portion defining a front recess and a rear recess; A tool mount configured to secure one or more tools and defining a tool-receiving socket configured to receive the tool, a rear roller set configured to be disposed within a rear recess of the mount engagement portion; a front roller set configured to be disposed within a front recess of the mount engagement portion; a tool locking cover hingedly coupled to the tool receiving socket and configured to lock a tool within the tool receiving socket, at least a portion of the rear roller set and at least a portion of the front roller set being disposed on the tool locking cover; one or more motors associated with the tool mount and configured to roll the tool relative to the tool mount while the tool is secured within the tool mount; a tool mount including: Includes.

[0017] In some applications, the mount engagement portion includes a first gear and the tool mount includes a second gear configured to be rotated by one or more motors, and the mount engagement portion is sized such that the first gear is positioned to engage with the second gear when the tool is secured within the tool receiving socket.

[0018] In some applications, the front recess has a frusto-conical shape and the front roller set is configured to be disposed at an angle relative to the axis of the tool so as to match the shape of the frusto-conical recess when the tool is securely held within the tool mount.

[0019] In some applications, the rear recess has a frusto-conical shape and the rear roller set is configured to be disposed at an angle relative to the axis of the tool so as to match the shape of the frusto-conical recess when the tool is securely held within the tool mount.

[0020] In some applications, the tool mount is configured to allow the tool to roll relative to the tool mount while holding the tool securely in place both radially and axially relative to the tool mount by insertion of front rollers into the front recesses and rear rollers into the rear recesses.

[0021] In some applications, the tool mount is configured such that the front and rear rollers act as radial bearings during tool rolling by inserting the front rollers into the front recesses and the rear rollers into the rear recesses.

[0022] In some applications, the mount engagement portion includes a sleeve disposed around the outside of each of the tools.

[0023] Further, in accordance with some applications of the present invention, there is provided an apparatus for performing robotic microsurgery on a portion of a patient's body, the apparatus comprising: A plurality of tools having mutually different functions, each tool defining a mount engagement portion having a common shape; an end effector including a tool mount configured to securely fasten each of the plurality of tools by engaging a mount engagement portion of each of the tools; the end effector includes a linear tool actuation arm configured to move linearly to actuate the tool; At least one of the tools includes a motion conversion mechanism for converting linear motion into a different mechanical motion that actuates the tool.

[0024] In some applications, the linear tool actuation arm is configured to automatically move in response to being retracted a given distance from the tool mount to accommodate larger tools.

[0025] In some applications, the linear tool actuation arm includes a spring mechanism configured to automatically collapse in response to being retracted a given distance from the tool mount by activating the spring mechanism.

[0026] For some applications, at least one of the tools includes a forceps including tips and a motion conversion mechanism for converting linear motion into lateral motion of the tips to move the tips toward one another.

[0027] In some applications, the motion conversion mechanism includes a hinge sleeve disposed around the proximal end of the tip and a ramp that is not parallel to the axis of the forceps, and is configured such that as the hinge sleeve advances past the ramp, the hinge sleeve is pushed laterally inward, thereby bringing the tips closer together.

[0028] In some applications, the motion conversion mechanism includes a ramp and rollers disposed about proximal portions of the tips, configured such that as the rollers advance past the ramp, they are pushed laterally inward, thereby bringing the tips closer together.

[0029] For some applications, at least one of the tools includes a tool that includes a steerable tip and a motion conversion mechanism for converting linear motion to nonlinear motion of the steerable tip.

[0030] In some applications, the steerable tip is hinged; The motion conversion mechanism includes a pusher and a steering wire; The linear motion of the pusher is transferred to the steering wires, thereby bending the hinge tip.

[0031] Further, in accordance with some applications of the present invention, there is provided an apparatus for performing a procedure on a portion of a patient's body, the apparatus comprising: Multiple tools with different functions; a robotic unit including an end effector coupleable to each of the plurality of tools and configured to move each of the plurality of tools; the end effector includes one or more actuation components configured to actuate the multiple tools to perform their respective functions; The apparatus further includes a control joystick configured to be moved by the operator such that the end effector correspondingly moves a tool coupled to the end effector; the control joystick includes an actuation mechanism disposed near a tip of the joystick such that an operator can actuate the actuation mechanism without having to move his or her hand after manually moving the joystick; The apparatus further comprises a computer processor, receiving an input indicative of a tool coupled to the end effector; responsive to an operator actuating the actuation mechanism, controlling one or more actuation components to actuate a tool coupled to the end effector to perform its function; a computer processor configured to Includes.

[0032] In some applications, the control joystick includes a control component tool, the tip of the joystick includes the tip of the control component tool, and the computer processor is configured to determine the XYZ position and orientation of the tip of the control component tool and correspondingly drive the end effector to move the tip of a tool coupled to the end effector.

[0033] For some applications, the actuation mechanism is configured to be actuated by an operator applying a squeezing motion.

[0034] For some applications, the computer processor is configured to receive an input indicative of a tool that is coupled to the end effector by analyzing an image of the tool.

[0035] In some applications, each of the tools includes a tool identification component, and the computer processor is configured to receive an input indicative of a tool coupled to the end effector by identifying the tool identification component within an image of the tool.

[0036] Further, in accordance with some applications of the present invention, there is provided an apparatus for injecting a plurality of different substances into a portion of a patient's body, the apparatus comprising: a syringe including a cannula and a barrel; a robotic unit including an end effector coupleable to a syringe; a plurality of lumens, each of the lumens fluidly coupled to a respective one of the substances and reversibly fluidly coupleable to the barrel of the syringe; The robot unit includes: receiving input that a given one of the substances is to be injected into a portion of the patient's body; fluidly coupling a lumen that is fluidly coupled to a given substance to a barrel of a syringe; Injecting a given substance from the barrel through the cannula into a part of the patient's body; It is structured as follows.

[0037] In some applications, the syringe includes a mechanical plunger, and the robotic unit is configured to inject a given substance from the barrel through the cannula and into a part of the patient's body by advancing the mechanical plunger within the barrel.

[0038] In some applications, the syringe includes a plunger selected from the group consisting of a pneumatic plunger, a hydraulic plunger, and the robotic unit is configured to inject a given substance from the barrel into a portion of the patient's body by advancing the selected plunger.

[0039] For some applications, the multiple lumens are arranged in a manifold configuration along the length of the barrel.

[0040] For some applications, the syringe includes a fluid-selection plunger, and the robotic unit is configured to move the fluid-selection plunger to place each lumen in fluid communication with the barrel.

[0041] In some applications, the lumens are arranged parallel to one another, with each of the lumens terminating in a barrel.

[0042] In some applications, the syringe includes a rotating chamber, and the robotic unit is configured to rotate the rotating chamber such that each lumen is disposed in fluid communication with the barrel depending on a rotational position of the rotating chamber.

[0043] Further, in accordance with some applications of the present invention, a method is provided for injecting a plurality of different substances into a portion of a patient's body, the method comprising: coupling an end effector of the robotic unit to a syringe including a cannula, a barrel, and a plurality of lumens, each of the lumens being fluidly coupled to a respective one of the substances and reversibly fluidly coupleable to the barrel of the syringe; providing an input to the robotic unit that a given one of the substances is to be injected into a portion of a patient's body, thereby driving the robotic unit to fluidly couple a lumen that is fluidly coupled to the given substance to a barrel of the syringe; Driving the robotic unit to inject a given substance from the barrel through the cannula into a part of the patient's body; Includes.

[0044] Further, in accordance with some applications of the present invention, there is provided an apparatus for performing robotic microsurgery on a portion of a patient's body, the apparatus comprising: a forceps including a tip portion and a mount engagement portion; an end effector including a tool mount configured to securely hold the forceps by engaging a mount engagement portion of the forceps; the end effector includes a linear tool actuation arm configured to push a portion of the forceps distally against the mount engagement portion of the forceps; The forceps includes a motion translating mechanism for translating distal motion of a portion of the forceps into lateral motion of the tips that moves the tips toward one another.

[0045] In some applications, the motion conversion mechanism includes a hinge sleeve disposed around the proximal end of the tip and a ramp that is not parallel to the axis of the forceps, and is configured such that as the hinge sleeve advances past the ramp, the hinge sleeve is pushed laterally inward, thereby bringing the tips closer together.

[0046] In some applications, the motion conversion mechanism includes a ramp and rollers disposed about proximal portions of the tips, configured such that as the rollers advance past the ramp, they are pushed laterally inward, thereby bringing the tips closer together.

[0047] In some applications, the linear tool actuation arm is configured to automatically move in response to being retracted a given distance from the tool mount to accommodate larger tools.

[0048] In some applications, the linear tool actuation arm includes a spring mechanism configured to automatically collapse in response to being retracted a given distance from the tool mount by activating the spring mechanism.

[0049] In some applications, the forceps include a button, the linear tool actuation arm is configured to push the button in a distal direction, and the motion conversion mechanism includes a hinge joint configured to cause the distal ends of the forceps arms to pivot toward each other thereby bringing the tips of the forceps closer together.

[0050] In some applications, the forceps include forceps arms and the hinge joint includes joint arms and a central portion, the hinge joint configured such that when the button is pressed, the central portion of the hinge joint is pushed linearly, causing the joint arms to push against the proximal ends of the forceps arms causing the proximal ends of the forceps arms to pivot outwardly relative to one another, thereby causing the distal ends of the forceps arms to pivot toward one another, thereby bringing the tips of the forceps closer together.

[0051] Further, in accordance with some applications of the present invention, there is provided a method for performing robotic microsurgery on a portion of a patient's body, the method comprising: placing the forceps within a tool mount of the end effector such that the tool mount engages a mount engagement portion of the forceps to securely hold the forceps; activating a linear tool actuation arm of the end effector to push a portion of the forceps distally against a mount engagement portion of the forceps; a motion conversion mechanism for the forceps adapted to convert distal motion of a portion of the forceps into lateral motion of the tips of the forceps such that the tips of the forceps move toward each other.

[0052] Further, in accordance with some applications of the present invention, there is provided an apparatus for performing robotic microsurgery on a portion of a patient's body, the apparatus comprising: a tool including a steerable tip; a robotic unit including an end effector coupleable to a tool and configured to move the tool; wherein the end effector includes a linear actuation arm configured to impart linear motion to a portion of the tool, thereby driving the steerable tip to move non-linearly.

[0053] In some applications, the steerable tip is hinged; The tool includes a pusher and a steering wire, where linear motion of the pusher is transferred to the steering wire, thereby bending the hinge tip.

[0054] The present invention will be more fully understood from a consideration of the following detailed description of the embodiments in conjunction with the drawings, in which: [Brief description of the drawings]

[0055] [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. [Diagram 2] 1 is a schematic diagram of a set of tools according to some applications of the present invention, each tool including a universal mount engagement portion for engaging a tool mount of an end effector of a robotic unit. [Figure 3A] 1 is a schematic diagram of a universal mount engagement portion of a tool according to some applications of the present invention. [Figure 3B] 1 is a schematic diagram of a universal mount engagement portion of a tool according to some applications of the present invention. [Figure 3C] 1 is a schematic diagram of a universal mount engagement portion of a tool according to some applications of the present invention. [Figure 4A] FIG. 2 is a schematic diagram of a tool mount in an open state, in accordance with some applications of the present invention. [Figure 4B] FIG. 2 is a schematic diagram of a tool mount in an open state, in accordance with some applications of the present invention. [Figure 4C]FIG. 2 is a schematic diagram of a tool positioned in a tool mount in an open state, in accordance with some applications of the present invention. [Figure 4D] FIG. 2 is a schematic diagram of a tool positioned within a tool mount in a closed state, in accordance with some applications of the present invention. [Figure 5A] 1 is a schematic diagram of a syringe for use in a robotic system according to some applications of the present invention, the syringe being configured to inject a number of different substances into a part of a subject's body. [Figure 5B] 1 is a schematic diagram of a syringe for use in a robotic system according to some applications of the present invention, the syringe being configured to inject a number of different substances into a part of a subject's body. [Figure 6A] FIG. 1 is a schematic diagram of a forceps for use in a robotic system according to some applications of the present invention. [Figure 6B] FIG. 1 is a schematic diagram of a forceps for use in a robotic system according to some applications of the present invention. [Figure 7A] 1A-1C are schematic diagrams of forceps for use in a robotic system in accordance with some alternative applications of the present invention. [Figure 7B] 1A-1C are schematic diagrams of forceps for use in a robotic system in accordance with some alternative applications of the present invention. [Figure 8A] 1A-1C are schematic diagrams of forceps for use in a robotic system in accordance with some further alternative applications of the present invention. [Figure 8B] 1A-1C are schematic diagrams of forceps for use in a robotic system in accordance with some further alternative applications of the present invention. [Figure 9] FIG. 1 is a schematic diagram of a tool having a steerable tip for use in a robotic system according to some applications of the present invention. [Figure 10] FIG. 2 is a schematic diagram of a control joystick used in a robotic system according to some applications of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0056] Reference is now made to FIG. 1, which is a schematic diagram of a robotic system 10 configured for use in microsurgical procedures, such as intraocular surgery, in accordance with some applications of the present invention. Typically, when used in intraocular surgery, the robotic system 10 includes one or more robotic units 20 (configured to hold a tool 21), in addition to an imaging system 22, one or more displays 24, and a control component unit 26 (e.g., a control component unit including a pair of control components, such as a joystick 70, shown in the enlarged portion of FIG. 1), through which the robotic unit 20 can be controlled by one or more operators 25 (e.g., medical professionals such as doctors and / or nurses). Typically, the robotic system 10 includes one or more computer processors 28, through which the components of the system and the one or more operators 25 operatively interact with each other. The scope of the present application includes mounting one or more robotic units in any of a variety of different locations from one another.

[0057] Typically, the movement of the robotic unit (and / or the control of other aspects of the robotic system) is at least partially controlled by one or more operators 25 (e.g. medical professionals such as doctors and / or nurses). For example, the operator 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 captured by the imaging system 22. Typically, the imaging system includes one or more cameras and / or one or more microscopes. In some applications, the imaging system 22 is a stereoscopic imaging device and the display 24 is a stereoscopic image display. Based on the received images, typically, the operator performs steps of the procedure. In some applications, the operator gives commands to the robotic unit via the control component unit 26. Typically, such commands include commands to control the position and / or orientation of tools disposed in the robotic unit and / or commands to control operations performed by the tools. For example, the commands may control a blade, 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.) to inject and / or at what flow rate). Alternatively or additionally, the operator may enter 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 intraocular lens manipulator tool to manipulate an intraocular lens within the eye, for example, to precisely position the intraocular lens within the eye.

[0058] Typically, the control component unit includes one or more joysticks 70 configured to correspond to each robotic unit 20 of the robotic system. For example, as shown, the system includes first and second robotic units, and the control component unit may include first and second joysticks, as shown. In some applications, as shown in FIG. 1, a control component joystick includes each control component tool 71 (to replicate a robotic unit). Typically, a computer processor determines the XYZ position and orientation of the tip of the control component tool 71 and drives the robotic unit such that the tip of the actual tool 21 being used to perform the procedure tracks the movement of the tip of the control component tool.

[0059] Reference is now made to Figure 2, which is a schematic diagram of a set of tools 30, in accordance with some applications of the present invention. Each tool includes a universal mount engagement portion 32 for engaging a tool mount 34 of an end effector 35 of the robotic unit 20 (tool mount and end effector shown in Figures 4A-4D). In some applications, the set 30 of tools 21 comprises a universal tool kit for use with the robotic unit 20, which universal tool kit includes all tools typically used in cataract procedures, different ophthalmic procedures, and / or different microsurgical procedures. For example, as shown in FIG. 2, a set of tools typically includes one or more of the following tools: keratome blade 40, eye fixation 42, puncture knife 44, dispersive ophthalmic viscoelastic device (OVD) syringe 46, cohesive ophthalmic viscoelastic device (OVD) syringe 48, staining syringe 50 (e.g., for staining the anterior lens with a dye such as trypan blue ophthalmic solution), lidocaine syringe 52, forceps 54, hydrodissection syringe 56, phacoemulsification probe 58, chopper 60, irrigation / aspiration probe 62, intraocular lens injector 64, antibiotic syringe 66, and / or limbal relaxation incision (LRI) knife 68. In some applications, each tool includes one or more markers 154 that can be used to identify the tool and / or determine the tool's location and / or orientation. Some functions of the markers 154 are described in more detail below.

[0060] Reference is now made to Figures 3A-3C, which are schematic illustrations of universal mount engagement portion 32 of tool 21, in accordance with certain applications of the present invention. Reference is also made to Figures 4A-4B, which are schematic illustrations of tool mount 34 of end effector 35 in an open configuration, and Figures 4C-4D, which are schematic illustrations of tool 21 disposed within the tool mount in an open and closed configuration, respectively, in accordance with certain applications of the present invention. Tool mount 34 is typically coupled to or integrally formed with end effector 35 of a robotic unit.

[0061] Typically, the mount engagement portion 32 of the tool 21 includes a sleeve disposed around the exterior of each tool. The sleeve includes a gear 80, a front recess 82, and a rear recess 84. In some applications, at least one of the front and rear recesses has a frusto-conical shape. For example, as shown, the front recess 82 has a frusto-conical shape. Typically, the tool mount 34 includes a socket 86 (shown in FIG. 4B) for receiving a tool, and a tool locking cover 88 hinged to the tool receiving socket and configured to secure the tool within the tool receiving socket. Typically, the tool locking cover is open (shown in FIGS. 4A-4B) to place a tool within the tool mount. A tool is placed within the socket 86 (shown in FIG. 4C), and then the tool locking cover 88 is closed (shown in FIG. 4D) to secure the tool within the tool receiving socket.

[0062] Typically, the mount engagement portion 32 is sized such that a gear 80 of the mount engagement portion is positioned to engage a gear 90 of the tool mount when the tool is secured in the tool receiving socket (as described in more detail below). A motor 93 of the robot unit 20 is typically configured to drive the tool to roll relative to the tool mount by driving the gear 90 to roll the gear 80, thereby rolling the tool. In some applications, the tool is secured in the tool receiving socket by disposing a front roller 92 in the front recess 82 and a rear roller 94 in the rear recess 84. (Note that the tool may be moved relative to the rollers instead of or in addition to moving the rollers relative to the tool to place the rollers in the recesses.) As noted above, in some applications, at least one of the front and rear recesses has a frusto-conical shape. Typically, in such applications, the rollers configured to be disposed in the frusto-conical recesses are disposed at an angle to the axis of the tool. For example, as shown, the front recess 82 has a frusto-conical shape and the front roller 92 is disposed at an angle relative to the axis of the tool to match the shape of the frusto-conical recess.

[0063] As noted above, the robot unit 20 is typically configured to drive the tool to roll relative to the tool mount by driving the gear 90 to roll the gear 80, thereby causing the tool to roll. Typically, the insertion of the front rollers 92 into the front recess 82 and the rear rollers 94 into the rear recess 84 is such that the rollers act as radial bearings during tool rolling. More typically, the insertion of the front rollers 92 into the front recess 82 and the rear rollers 94 into the rear recess 84 is such that the tool can roll relative to the tool mount while the tool is held securely in place both radially and axially relative to the tool mount.

[0064] In some applications, the tool 21 is configured to be actuated via a linear tool actuation arm 100 disposed on the end effector 35 and configured to axially push a portion of the tool to perform a function. Typically, the linear tool actuation arm pushes a portion of the tool distally relative to the tool mount and mount engagement portion (i.e., such that a portion of the tool moves distally relative to the tool mount and mount engagement portion). For example, as shown in FIGS. 4C-4D , the tool disposed in the tool mount is a syringe (e.g., a dispersive ophthalmic viscoelastic device (OVD) syringe 46, a coagulant ophthalmic viscoelastic device (OVD) syringe 48, a dye syringe 50, a lidocaine syringe 52, a hydrodissection syringe 56, an intraocular lens injector 64, and / or an antibiotic syringe 66). Typically, the syringe includes a plunger 102, a barrel 104, and a cannula 106 (e.g., the barrel and cannula shown in FIGS. 5A-5B ). In such a case, the linear tool actuation arm is configured to push the plunger 102 of the syringe axially forward. In some embodiments, the linear tool actuation arm is configured to push the plunger 102 of the syringe axially forward. In some applications, the linear tool actuation arm 100 is configured to axially push a portion of the tool, thereby moving the portion of the tool relative to the patient's eye. As noted above, in some applications, the front recess 82 has a frusto-conical shape and the front roller 92 is disposed at an angle to the axis of the tool. Typically, configured in this manner, the front roller is configured to counteract a force that would otherwise push the entire tool axially forward relative to the tool mount. For example, when the linear tool actuation arm pushes a syringe plunger axially forward, the front roller typically exerts an opposing force on the syringe to prevent the syringe barrel 104 from being pushed axially forward relative to the tool mount. More generally, a recess having a frusto-conical shape typically provides additional axial stability to the tool compared to when the recess is coaxial with the axis of the tool.

[0065] Reference is now made to FIGS. 5A and 5B, which are schematic diagrams of a syringe 110 used in a robotic system according to some applications of the present invention. The syringe is configured to inject a number of different substances into a part of a subject's body. As discussed above (with reference to FIG. 2), a number of different syringes are typically used in ophthalmic procedures, such as cataract procedures. Dispersive ophthalmic viscoelastic device (OVD) syringe 46, cohesive ophthalmic viscoelastic device (OVD) syringe 48, staining syringe 50 (e.g., for staining the anterior lens with a dye such as trypan blue ophthalmic solution), lidocaine syringe 52, hydrodissection syringe 56, intraocular lens injector 64, and antibiotic syringe 66 are all examples of commonly used syringes. In some applications, a multi-purpose syringe configured to inject a number of different substances is used.

[0066] As mentioned above, the syringe typically includes a barrel 104 and a cannula 106. The syringe is typically mounted on the tool mount 34 for coupling to the end effector 35. For some applications, the syringe 110 includes multiple lumens 112, each fluidly coupled to a respective one of the substances to be injected and reversibly fluidly coupleable to the syringe barrel 104.

[0067] In some applications, the lumens 112 are arranged in a manifold configuration along the length of the barrel 104, as shown, for example, in FIG. 5A. The other end of each lumen is typically fluidly coupled to a respective one of the substances to be injected. In some applications, at least some of the lumens are fluidly coupled to a capsule 113 that houses the respective substance. The capsule is optionally disposed to the side of the barrel 104, as shown. In some applications, the syringe includes a fluid-selection plunger 115 configured to move to place each lumen in fluid communication with the barrel. As described above, the syringe 110 typically includes a plunger that is a mechanical plunger configured to inject a selected substance into the subject. Alternatively, in some applications, the syringe includes a pneumatic plunger 117, as shown, configured to inject a selected fluid into the subject using air pressure. Alternatively or additionally, the syringe includes a different type of plunger, such as, for example, a hydraulic plunger.

[0068] In some applications, the lumens 112 are arranged parallel to one another, with each lumen reaching into the barrel, as shown, for example, in FIG. 5B. The other end of each lumen is typically fluidly coupled to a respective one of the substances to be injected. In some applications, at least some of the lumens are fluidly coupled to a capsule 113 that contains the respective substance. In some applications, each lumen is arranged to be in fluid communication with the barrel 104 by rotating a rotating chamber 119. The rotating chamber 119 is configured such that each lumen is in fluid communication with the barrel 104 depending on the rotational position of the rotating chamber. In some applications, the rotating chamber is rotated to each rotational position using a ratchet mechanism (not shown).

[0069] Typically, the robotic unit receives an input that a given substance should be injected into a part of the patient's body. For example, the operator 25 can provide an input to the computer processor 28 indicating that a given substance should be injected (the operator 25 and the computer processor 28 are shown in FIG. 1). In response, the robotic unit fluidly couples (e.g., using one of the mechanisms described above) a lumen that is fluidly coupled to the given substance to the barrel of the syringe. The robotic unit then injects the given substance from the barrel through the cannula and into the patient's eye by advancing a plunger within the barrel (and / or using a different type of plunger, e.g., a pneumatic and / or hydraulic plunger). For example, the computer processor can drive the linear tool actuation arm 100 to advance the plunger within the barrel.

[0070] As described above, each of the multiple different types of tools 21, typically having different functions from one another, includes a universal mount engagement portion 32. Thus, each tool is coupleable to the tool mount 34 to allow rolling of the tool relative to the tool mount. In some applications, an additional feature that facilitates use of the robot unit 20 with each of the multiple tools is that the linear tool actuation arm 100 is configured to automatically slide and / or fold to accommodate a larger tool (such as a phacoemulsification probe 58). In some applications, the tool actuation arm is configured to automatically fold in response to being retracted a given distance from the tool mount 34. In this manner, the tool actuation arm can automatically fold in response to a large tool, such as a phacoemulsification probe, being inserted 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 activating a spring mechanism. Further typically, the tool actuation arms are configured to automatically unfold (e.g., by activation of a spring mechanism) from a folded position in response to the tool actuation arms approaching the tool mount. In some applications, rather than automatically folding, the arms are configured to be moved differently to accommodate the insertion of a large tool, such as a phacoemulsification probe, into the tool mount without requiring removal and / or manual movement of the tool actuation arms. For example, the arms can be configured to automatically retract, e.g., using an electromechanical actuator, a spring mechanism, etc.

[0071] Another feature that facilitates use of the robotic unit 20 with each of a plurality of tools, in some applications, is that many of the tools are actuated to perform their respective functions using the linear tool actuation arm 100. In some applications, to actuate one or more of the tools using the linear tool actuation arm 100, the tool includes a motion conversion mechanism for converting linear motion (as applied to a portion of the tool by the linear tool actuation arm 100) into a different mechanical motion that actuates the tool. Examples of this are provided with reference to Figures 6A-6B, 7A-7B, 8A-8B, and 9.

[0072] Reference is now made to Figures 6A and 6B, which are schematic illustrations of forceps 54 for use in a robotic system according to some applications of the present invention. For some applications, the forceps are configured such that in response to linear motion applied to the forceps handles 120 by the linear tool actuation arm 100 (indicated by arrow 121 and the transition from Figure 6A to Figure 6B), a motion conversion mechanism 122 moves laterally to move the forceps tips 124 closer together. For some applications, the motion conversion mechanism includes a hinge sleeve 126 disposed about the proximal end of the tips and a ramp 128 (e.g., a curved or angled surface) that is not parallel to the axis of the forceps. As the hinge sleeve advances past the ramp 128, it is pushed laterally inward, which causes the tips to approach each other.

[0073] Reference is now made to Figures 7A and 7B, which are schematic illustrations of forceps 54 for use in a robotic system, according to some alternative applications of the present invention. As described above with reference to the forceps 54 shown in Figures 6A-6B, the forceps are configured such that in response to linear motion applied to the forceps handles 120 by the linear tool actuation arm 100 (indicated by arrow 121), a motion conversion mechanism 122 moves laterally to move the forceps tips 124 closer together. In some applications, the motion conversion mechanism includes a ramp 128 (e.g., a curved or inclined surface) and rollers 129 disposed about proximal portions of the tips. As the rollers advance past the ramp, they are pushed laterally inward, thereby bringing the tips closer together.

[0074] Reference is now made to Figures 8A and 8B, which are schematic illustrations of a forceps 54 for use in a robotic system, according to some alternative applications of the present invention. The forceps are configured such that in response to linear motion applied to the forceps button 123 by the linear tool actuation arm 100 (indicated by arrow 121), a motion conversion mechanism 122 causes two forceps arms 133 to pivot about a hinge joint 131. A forceps tip is coupled to the end of each forceps arm. In some applications, the hinge joint is configured such that when the button 123 is pressed, a center of the hinge joint is linearly pressed, causing the hinge joint arm 135 to press the proximal ends of the forceps arms 133, causing the forceps arms 133 to pivot outwardly relative to one another. This then causes the forceps tips to move closer together by pivoting the distal ends of the forceps arms closer together, as shown in the transition from Figure 8A to Figure 8B.

[0075] Reference is now made to FIG. 9, which is a schematic diagram of a tool 130 having a steerable tip for use with the robotic system 10, according to some applications of the present invention. In some applications, the tool 130 includes a steerable tip 132. Typically, a linear tool actuation arm 100 (shown in FIGS. 4A-4D) is configured to drive the steerable tip to move nonlinearly by applying linear motion to a portion of the tool. For example, the tool includes a pusher 134 coupled to a motion conversion mechanism configured to convert linear motion of the pusher to nonlinear motion of the steerable tip. In some applications, the tip is hinged and coupled to steering wires 138 (e.g., Nitinol steering wires). In some applications, the pusher is coupled to the steering wires via a rack and pinion mechanism 142 (and, optionally, one or more reduction gears 144). The linear motion of the pusher is transferred to the steering wires via a rack and pinion mechanism 142 (and, optionally, a reduction gear 144), which causes the hinge tips to bend.

[0076] Reference is now made to FIG. 10, which is a schematic diagram of a control joystick used in a robotic system, according to some applications of the present invention. As described above with reference to FIG. 1, typically the movement of the robotic unit (and / or the control of other aspects of the robotic system) is controlled, at least in part, by one or more operators 25 (e.g., medical professionals such as doctors and / or nurses). For example, the operator may receive, via the display 24, images of the patient's eye and the robotic unit, and / or tools disposed therein. Based on the received images, the operator typically performs steps of the procedure. In some applications, the operator gives commands to the robotic unit via the control component unit 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 the blade, the phacoemulsification tool (e.g., the operating mode and / or suction power of the phacoemulsification tool), and / or the injector tool (e.g., which fluid (e.g., viscoelastic fluid, saline, etc.) should be injected and / or at what flow rate). Alternatively or additionally, the operator can enter 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 intraocular lens manipulator tool to manipulate the intraocular lens within the eye, for example, to precisely position the intraocular lens within the eye.

[0077] Typically, the control component unit includes one or more joysticks 70 configured to correspond to each robotic unit 20 of the robotic system. For example, as shown, the system includes first and second robotic units, and the control component unit may include first and second joysticks operated by the right and left hands of an operator, as shown. In some applications, as shown in FIG. 1, a control component joystick includes each control component tool 71 (to replicate the robotic units). Typically, a computer processor determines the XYZ position and orientation of the tip 150 of the control component tool 71 and drives the robotic unit such that the tip of the actual tool 21 being used to perform the procedure tracks the movement of the tip of the control component tool.

[0078] In some applications, the joystick 70 includes an actuation mechanism 152. Typically, the actuation mechanism is located near the tip of the control component tool 71 such that the operator can actuate the actuation mechanism without having to move their hand after moving the control component tool 71. More typically, the actuation mechanism is actuated by the operator performing a squeezing motion. For example, the actuation mechanism can be a button or a pressure-sensitive pad. In some applications, the computer processor 28 receives an input indicative of a tool coupled to the end effector. For example, the operator can input a tool indication to the computer processor. Alternatively or additionally, each tool can have a tool identification component (e.g., a marker 154 (shown in FIG. 2 )), and the computer processor can be configured to automatically derive which tool is currently coupled to the end effector by identifying the tool identification component in an image of the tool. Still alternatively or additionally, the computer processor can be configured to automatically derive which tool is currently coupled to the end effector by analyzing an image of the tool without using a tool identification component.

[0079] Typically, in response to an operator actuating an actuation mechanism, a computer processor operates one or more actuation components of the robotic unit 20 to actuate a tool coupled to the end effector to perform its function. For example, in response to detecting that a particular type of syringe is currently coupled to the end effector, the computer processor can drive a linear tool actuation arm to advance the syringe plunger a given distance. Or, in response to detecting that a keratome blade is currently coupled to the end effector, the computer processor can drive a keratome blade to move to make an incision in the anterior capsule of the patient's eye.

[0080] 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.

[0081] 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 (Descemet's membrane stripping without grafts), 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, keratomileusis, 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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 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.

[0089] 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 robotic microsurgery on a body part of a patient, comprising: two or more tools, each tool including a mount engagement portion defining a front recess and a rear recess; a tool mount configured to securely fasten the one or more tools and defining a tool-receiving socket configured to receive the tool; a rear roller set configured to be disposed within the rear recess of the mount engagement portion; a front roller set configured to be disposed within the front recess of the mount engagement portion; a tool locking cover hingedly coupled to the tool receiving socket and configured to secure the tool within the tool receiving socket, at least a portion of the rear roller set and at least a portion of the front roller set being disposed on the tool locking cover; one or more motors associated with the tool mount and configured to roll the tool relative to the tool mount while the tool is secured within the tool mount; a tool mount including: An apparatus comprising:

2. 2. The apparatus of claim 1, wherein the mount engaging portion includes a first gear and the tool mount includes a second gear configured to be rolled by the one or more motors, and the mount engaging portion is sized such that the first gear is positioned to engage the second gear when the tool is secured within the tool receiving socket.

3. 2. The apparatus of claim 1, wherein the front recess has a frusto-conical shape, and the front roller set is configured to be disposed at an angle relative to an axis of the tool so as to match the shape of the frusto-conical recess when the tool is securely held within the tool mount.

4. 2. The apparatus of claim 1, wherein the rear recess has a frusto-conical shape, and the rear roller set is configured to be disposed at an angle relative to an axis of the tool so as to match the shape of the frusto-conical recess when the tool is securely held within the tool mount.

5. 2. The apparatus of claim 1, wherein the tool mount is configured such that insertion of the front rollers into the front recesses and the rear rollers into the rear recesses allows the tool to roll relative to the tool mount while holding the tool securely in place both radially and axially relative to the tool mount.

6. 2. The apparatus of claim 1, wherein the tool mount is configured such that insertion of the front roller into the front recess and the rear roller into the rear recess causes the front roller and the rear roller to act as a radial bearing during rolling of the tool.

7. The apparatus of claim 1 , wherein the mount engagement portion includes a sleeve disposed around the exterior of each of the tools.

8. 1. An apparatus for performing robotic microsurgery on a body part of a patient, comprising: a plurality of tools having mutually different functions, each tool defining a mount engaging portion having a common shape; an end effector including a tool mount configured to securely fasten each of the plurality of tools by engaging the mount engaging portion of each of the tools; the end effector includes a linear tool actuation arm configured to move linearly to actuate the tool; At least one of the tools includes a motion conversion mechanism for converting the linear motion into a different mechanical motion that actuates the tool.

9. 9. The apparatus of claim 8, wherein the linear tool actuation arm is configured to automatically move in response to being retracted a given distance from a tool mount to accommodate larger tools.

10. 10. The apparatus of claim 9, wherein the linear tool actuation arm includes a spring mechanism configured to automatically collapse in response to retraction of the linear tool actuation arm a predetermined distance from a tool mount by activating the spring mechanism.

11. 9. The device of claim 8, wherein at least one of the tools comprises a forceps including tips and a motion conversion mechanism for converting the linear motion into lateral motion of the tips such that the tips approach each other.

12. 12. The device of claim 11, wherein the motion conversion mechanism includes a hinged sleeve disposed around the proximal end of the tip and a ramp that is not parallel to an axis of the forceps, and wherein as the hinged sleeve advances past the ramp, the hinged sleeve is pushed laterally inward, thereby bringing the tip portions closer together.

13. 12. The device of claim 11, wherein the motion conversion mechanism includes a ramp and rollers disposed around proximal portions of the tips, the rollers being configured to be pushed laterally inward as they advance past the ramp, thereby bringing the tips closer together.

14. 10. The apparatus of claim 8, wherein at least one of the tools comprises a tool including a steerable tip and a motion conversion mechanism for converting the linear motion into non-linear motion of the steerable tip.

15. the steerable tip is hinged; the motion conversion mechanism includes a pusher and a steering wire; 15. The device of claim 14, wherein linear motion of the pusher is transmitted to the steering wire, thereby bending the hinge tip.

16. 1. A device for performing a procedure on a part of a patient's body, comprising: Multiple tools with different functions; a robotic unit including an end effector coupleable to each of the plurality of tools and configured to move each of the plurality of tools; the end effector including one or more actuation components configured to actuate the plurality of tools to perform their respective functions; the apparatus further comprises a control joystick configured to be moved by an operator such that the end effector correspondingly moves a tool coupled to the end effector; the control joystick includes an actuation mechanism located near a tip of the joystick such that the operator can move the joystick with their hand and then actuate the actuation mechanism without having to move their hand; The apparatus further comprises a computer processor, receiving an input indicative of a tool coupled to the end effector; and controlling the one or more actuation components to actuate the tool coupled to the end effector to perform its function in response to the operator actuating the actuation mechanism. a computer processor configured to: An apparatus comprising:

17. 17. The apparatus of claim 16, wherein the control joystick includes a control component tool, the tip of the joystick includes the tip of the control component tool, and the computer processor is configured to determine an XYZ position and orientation of the tip of the control component tool and correspondingly drive the end effector to move the tip of the tool coupled to the end effector.

18. 17. The device of claim 16, wherein the actuation mechanism is configured to be actuated by the operator applying a squeezing motion.

19. 19. The apparatus of claim 16, wherein the computer processor is configured to receive the input indicative of the tool coupled to the end effector by analyzing an image of the tool.

20. 20. The apparatus of claim 19, wherein each of the tools includes a tool identification component, and the computer processor is configured to receive the input indicative of the tool coupled to the end effector by identifying the tool identification component in the image of the tool.

Images