Engagement of a microsurgery robotic system

Abstract

Apparatus and method for performing a procedure on a part of a patient's body using a surgical tool (21) are described. A computer processor (28) drives a display (24) to show an image of the surgical tool (21) and the part of the patient's body. In response to a control component tool (32) being at least partially aligned with the surgical tool (21) in the image on the display (24), the computer processor (28) engages the control component tool (32) with the surgical tool (21), and the tip of the surgical tool (21) is moved in the patient's eye to match the positional and orientational movement of the tip of the control component tool (32). Other applications are also described.

Description

Technical Field

[0001] This application claims priority to U.S. Provisional Patent Application No. 63 / 454,420, entitled "Engagement of a microsurgical robotic system," filed on March 24, 2023, which is hereby incorporated by reference in its entirety.

[0002] Some applications of the present invention generally relate to medical devices and methods. Specifically, some applications of the present invention relate to devices and methods for performing microsurgical procedures by a robot.

Background Art

[0003] Cataract surgery involves removing the natural lens of the eye that has become cloudy (known as a cataract) and replacing it with an intraocular lens. Such surgery typically involves a plurality of standard steps that are performed sequentially.

[0004] In the first step, the area around the patient's eye on the face is disinfected (typically with an iodine solution), and the face is covered with a sterile drape so that only the eye is exposed. Once disinfection and draping are complete, the eye is anesthetized using a local anesthetic typically administered in the form of a liquid eye drop. Then, an eyelid speculum is used to keep the upper and lower eyelids open to expose the eyeball. One or more incisions (typically two or three incisions) are made in the cornea. The one or more incisions are usually made using a special blade called a corneal incision knife. At this stage, lidocaine is typically injected into the anterior chamber of the eye to further anesthetize the eye. After this step, a viscoelastic injection is performed through one or more corneal incisions. The viscoelastic injection is performed to stabilize the anterior chamber, help maintain intraocular pressure during the remainder of the procedure, and further expand the lens capsule.

[0005] In the next step, also known as capsulorexis, a portion of the pre-capsular structure is removed. Various enhancement techniques have been developed to perform capsulorexis, including laser-assisted capsulorexis, zeptorexis (which utilizes precision nanopulse technology), and marker-assisted capsulorexis (which involves marking the cornea with a specific marker to indicate the desired size of the capsule opening).

[0006] Next, in a step known as hydrodesection, fluid waves are typically injected through a corneal incision to cut away the outer cortical layer of the cataract. In the next step, known as hydrodelination, the fluid waves separate the soft outer nucleus from the hard inner nucleus of the lens. In the next step, phacoemulsification of the lens is performed in a process known as phacoemulsification. First, the lens nucleus is broken up using a chopper, and then typically the outer fragments of the lens are broken up and removed using an phacoemulsification probe. More typically, aspiration is performed using a separate tool during phacoemulsification. Once phacoemulsification is complete, the remaining lens cortex (i.e., the outer layer of the lens) material is aspirated from the capsule. During phacoemulsification and aspiration, the anterior chamber is usually washed with an equilibrium salt solution instead of the aspirated fluid to maintain fluid pressure. In some cases, the capsule is polished if deemed necessary. After this, an intraocular lens (IOL) is inserted into the capsule. IOLs are typically collapsible and, after being inserted in a folded configuration, are unfolded within the capsule. At this stage, viscoelastic material is typically removed using a suction device previously used to aspirate fluid from the capsule. If necessary, one or more incisions are sealed by increasing the pressure inside the bulbus oculi (i.e., the globe of the eye), for example, by pressing the internal tissues against the external tissues of the incisions to forcibly close them. [Overview of the Initiative]

[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, in addition to one or more robotic units (configured to hold tools), an imaging system, one or more displays, and a control component unit (e.g., a control component unit including a pair of control components), through which one or more operators (e.g., medical professionals such as physicians 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 operator(s) interact operationally with each other.

[0008] Typically, the movement of a robotic unit (and / or control of other aspects of the robotic system) is controlled, at least partially, by one or more operators. For example, the operator may receive images of the patient's eyes, as well as images of the robotic unit and / or tools placed within it, via a display. Such images are usually acquired by an imaging system. In some applications, the imaging system is a stereoscopic imaging device, and the display is a stereoscopic display. The operator typically performs each step of the procedure based on the received images. In some applications, the operator provides commands to the robotic unit via a control component unit. Such commands typically include commands to control the position and / or orientation of tools placed within the robotic unit, and / or commands to control actions performed by the tools. For example, commands may control the blade, the phacoemulsification tool (e.g., the operating mode and / or suction force of the phacoemulsification tool), the forceps (e.g., opening and closing the forceps), the intraocular lens manipulator tool (e.g., the tool manipulates the intraocular lens inside the eye for precise positioning of the intraocular lens within the eye), and / or the 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 input commands to control the imaging system (e.g., the zoom, focus, orientation, and / or XYZ positioning of the imaging system).

[0009] Typically, a control component unit includes one or more control components configured to correspond to each robot unit in a robotic system. For example, as shown in the figure, the system may include first and second robotic units, and the control component unit may include first and second control components. Typically, each control component is an arm containing multiple links connected to each other via joints. In some applications, the control component includes each control component tool (usually configured to replicate a robotic unit). Typically, a computer processor determines the XYZ position and orientation of the tip of the control component tool and drives the robotic unit so that the tip of the actual tool used to perform the procedure tracks the movement of the tip of the control component tool, and so that changes in the orientation of the surgical tool track changes in the orientation of the control component tool. In some applications, the movement of the control component tool by the operator is magnified or reduced by the computer processor, as will be described in more detail below.

[0010] Ideally, the control component tool should engage with the surgical tool of the robotic unit (so that the movement of the control component tool controls the movement of the surgical tool) with the orientations of the surgical tool and the control component tool (within their respective reference frames) being substantially similar to each other. If the orientations of the surgical tool and the control component tool (within their respective reference frames) are different, the operator may lose their sense of direction, which can result in discomfort due to the operator's loss of orientation, prolonged surgical time, and erroneous movements.

[0011] Typically, there are limitations to the operator's control of surgical tools. For example, the workspace in which an operator can move a control component tool (hereinafter referred to as the "control component workspace") is usually physically constrained by the location where the operator can comfortably or effectively move the control component tool. Similarly, the workspace of a surgical tool (hereinafter referred to as the "tool workspace") is usually physically constrained by the space in which the robotic arm can move the surgical tool. Typically, when there are multiple control components and corresponding multiple surgical tools, each control component tool has a corresponding control component workspace, and each surgical tool has a corresponding tool workspace. In some cases, one constraint on the control component workspace of one control component tool is that it affects the control component workspace of a second control component tool. Likewise, in some cases, one constraint on the tool workspace of one surgical tool is that it affects the tool workspace of a second surgical tool.

[0012] The control component workspace must have sufficient degrees of freedom of movement for the control component tool to control the movement of the surgical tool within the surgical space. When the control component tool is near the edge of the control component workspace, the movement of the control component tool (and consequently the movement of the surgical tool) will be restricted when the operator takes over control of the surgical tool (via the control component tool). Therefore, it is generally preferable for the operator to engage the control component tool with the surgical tool when the control component tool is positioned and oriented so that it has good degrees of freedom of movement.

[0013] Ideally, the tool workspace should cover the space in which the tool is expected to be manipulated for surgical purposes (hereinafter referred to as the "surgical space"). When the surgical tool is at the edge of the tool workspace, the movement of the surgical tool will be restricted when the operator takes control of the surgical tool (via a control component tool). Therefore, it is usually preferable for the operator to engage the control component tool with the surgical tool when the surgical tool is positioned and oriented to have a good degree of freedom of movement.

[0014] In other words, the operator needs to be able to move the surgical tool freely to all positions and orientations within the surgical space without the control component tool reaching the limits of the control component workspace, and without the surgical tool reaching the limits of the tool workspace.

[0015] In some applications of the present invention, the control component tool engages with the surgical tool (so that the movement of the control component tool controls the movement of the surgical tool) when the orientations of the surgical tool and the control component tool are substantially similar (within their respective reference frames), thereby avoiding loss of the operator's sense of direction. In some applications, the control component tool engages with the surgical tool when the surgical tool and the control component tool are facing the center of the tool workspace and the control component workspace, respectively. Typically, the operator can engage the surgical tool and the control component tool with each other and / or disengage them from each other using the standard movement of the control component tool, without requiring any additional external input.

[0016] Therefore, according to some applications of the present invention, an apparatus for performing a procedure on a part of a patient's body using a surgical tool having a tip, an imaging system, and a display, A robotic unit configured to move surgical tools, A control component unit comprising one or more position sensors and a control component tool configured to be moved by an operator and defining a tip, At least one computer processor, The display is driven to show images of surgical tools and parts of the patient's body. In response to the control component tool being at least partially aligned with the surgical tool in the image on the display, the control component tool engages with the surgical tool. When the control component tool is engaged with the surgical tool, Based on data received from one or more position sensors, the position and orientation of the tip of the control component tool are determined. A device is provided comprising a computer processor configured to move the tip of a surgical tool within the patient's eye in accordance with the positional and orientational movements of the tip of the control component tool.

[0017] In some applications, the device is configured to perform ophthalmic procedures on a patient's eye using one or more ophthalmic tools with tips, and the robotic unit is configured to move one or more ophthalmic tools within the patient's eye.

[0018] In some applications, the computer processor is configured to drive the display to show an extended surgical tool superimposed on the surgical tool.

[0019] In some applications, the computer processor is configured to drive the display to show an extended control component tool superimposed on the control component tool, and the computer processor is configured to engage the control component tool with the surgical tool in response to the extended control component tool being at least partially aligned with the surgical tool in the image on the display.

[0020] In some applications, the computer processor is configured to automatically move the control component tool so that it is at least partially aligned with the surgical tool within the image on the display, whereby the control component tool engages with the surgical tool.

[0021] In some applications, the robotic unit can move the surgical tool within the tool working space, and the computer processor is configured to automatically drive the robotic unit so as to move the surgical tool to an initial position within a predetermined portion of the tool working space.

[0022] In some applications, the robotic unit is configured to move the surgical tool within the tool reference frame, the control component tool is capable of moving within the control component reference frame, and the computer processor is configured to guide the operator to move the control component tool so as to engage with the surgical tool when the control component tool is disposed in an orientation within the control component reference frame that is substantially the same as the orientation of the surgical tool within the tool reference frame.

[0023] In some applications, the computer processor is configured to engage the control component tool with the surgical tool without requiring any input via the operator control interface other than the movement of the control component tool.

[0024] In some applications, the surgical tool includes left and right surgical tools, the robotic unit includes left and right robotic units configured to move the left and right surgical tools respectively, the control component unit is configured to be moved by an operator and includes left and right control component tools defining the tips, The left control component tool is engageable with both the left and right surgical tools. The right control component tool is engageable with both the left and right surgical tools.

[0025] In some applications, a computer processor is configured to engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool in response to an input from an operator.

[0026] In some applications, a computer processor is configured to automatically engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool based on the position of the left and right robot units relative to a part of the patient's body.

[0027] In some applications, a robot unit can move a surgical tool within a tool working space, and a computer processor is configured to disengage a control component tool from the surgical tool in response to the surgical tool being moved towards an edge of the tool working space.

[0028] In some applications, a computer processor is configured to generate a graphic on a display indicating that a control component tool has been disengaged from a surgical tool.

[0029] In some applications, a control component tool can move within a control component working space, and a computer processor is configured to guide an operator to move the control component tool to engage with a surgical tool when the control component tool is disposed within a predetermined portion of the control component working space.

[0030] In some applications, the computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the control component tool is positioned relatively centrally within the control component workspace.

[0031] In some applications, the robotic unit can move the surgical tool within the tool workspace, and the computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the control component tool is positioned so that the control component tool can move the surgical tool to any position within the tool workspace without the control component tool leaving the control component workspace.

[0032] According to some applications of the present invention, an apparatus for performing a procedure on a part of a patient's body using a surgical tool having a tip, an imaging system, and a display, A robotic unit configured to move surgical tools, A control component unit comprising one or more position sensors and a control component tool configured to be moved by an operator, with a tip defined and capable of moving within the control component workspace, At least one computer processor, When the control component tool is positioned within a predetermined portion of the control component workspace, the operator is guided to move the control component tool to engage with the surgical tool. When the control component tool is engaged with the surgical tool, Based on data received from one or more position sensors, the position and orientation of the tip of the control component tool are determined. Further provided is a device including a computer processor configured to move the tip of a surgical tool within the patient's eye in accordance with the positional and orientational movements of the tip of the control component tool.

[0033] In some applications, the computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the control component tool is positioned relatively centrally within the control component workspace.

[0034] In some applications, the robotic unit can move the surgical tool within the tool workspace, and the computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the control component tool is positioned so that the control component tool can move the surgical tool to any position within the tool workspace without the control component tool leaving the control component workspace.

[0035] In some applications, the device is configured to perform ophthalmic procedures on a patient's eye using one or more ophthalmic tools with tips, and the robotic unit is configured to move one or more ophthalmic tools within the patient's eye.

[0036] For some applications, The robotic unit is configured to move the surgical tool within the tool reference frame. The control component tool can operate within the control component reference frame. The computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the control component tool is positioned in an orientation within the control component reference frame that is substantially similar to the orientation of the surgical tool within the tool reference frame.

[0037] In some applications, the computer processor is configured to engage the control component tool with the surgical tool without requiring any input via the operator control interface other than the movement of the control component tool.

[0038] For some applications, The surgical tools include left and right surgical tools. The robotic unit includes left and right robotic units configured to move left and right surgical tools, respectively. The control component unit is configured to be moved by an operator and includes left and right control component tools for defining the tip. The left control component tool can engage with both left and right surgical tools. The right-hand control component tool can engage with both left-hand and right-hand surgical tools.

[0039] In some applications, the computer processor is configured to engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool, depending on the input from the operator.

[0040] In some applications, the computer processor is configured to automatically engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool based on the position of the left and right robotic units relative to parts of the patient's body.

[0041] In some applications, the robotic unit can move the surgical tool within the tool workspace, and the computer processor is configured to disengage a control component tool from the surgical tool in response to the surgical tool being moved toward the edge of the tool workspace.

[0042] In some applications, the computer processor is configured to generate a graphic on the display indicating that the control component tool has been disengaged from the surgical tool.

[0043] In some applications, the computer processor is configured to drive a display to show images of surgical tools and parts of the patient's body.

[0044] In some applications, the computer processor is configured to drive the display to show an extended surgical tool superimposed on the surgical tool.

[0045] In some applications, the computer processor is configured to engage the control component tool with the surgical tool in response to the control component tool being at least partially aligned with the surgical tool in the image on the display.

[0046] In some applications, the control component tool engages with the surgical tool by configuring the computer processor to automatically move the control component tool so that it is at least partially aligned with the surgical tool in the image on the display.

[0047] In some applications, the computer processor is configured to drive the display to show an extended control component tool superimposed on the control component tool, and the computer processor is configured to engage the control component tool with the surgical tool in response to the extended control component tool being at least partially aligned with the surgical tool in the image on the display.

[0048] According to some applications of the present invention, an apparatus for performing a procedure on a part of a patient's body using a surgical tool having a tip, an imaging system, and a display, A robotic unit configured to move surgical tools within a tool reference frame, A control component unit including one or more position sensors and a control component tool configured to be moved by an operator, which can define a tip and move within a control component reference frame, At least one computer processor, When the control component tool is positioned in an orientation within the control component reference frame that is substantially the same as the orientation of the surgical tool within the tool reference frame, the operator is guided to move the control component tool to engage with the surgical tool. When the control component tool is engaged with the surgical tool, Based on data received from one or more position sensors, the position and orientation of the tip of the control component tool are determined. Further provided is a device including a computer processor configured to move the tip of a surgical tool within the patient's eye in accordance with the positional and orientational movements of the tip of the control component tool.

[0049] In some applications, the device is configured to perform ophthalmic procedures on a patient's eye using one or more ophthalmic tools with tips, and the robotic unit is configured to move one or more ophthalmic tools within the patient's eye.

[0050] In some applications, the computer processor is configured to engage the control component tool with the surgical tool without requiring any input via the operator control interface other than the movement of the control component tool.

[0051] For some applications, The surgical tools include left and right surgical tools. The robotic unit includes left and right robotic units configured to move left and right surgical tools, respectively. The control component unit is configured to be moved by an operator and includes left and right control component tools for defining the tip. The left control component tool can engage with both left and right surgical tools. The right-hand control component tool can engage with both left-hand and right-hand surgical tools.

[0052] In some applications, the computer processor is configured to engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool, depending on the input from the operator.

[0053] In some applications, the computer processor is configured to automatically engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool based on the position of the left and right robotic units relative to parts of the patient's body.

[0054] In some applications, the robotic unit can move the surgical tool within the tool workspace, and the computer processor is configured to disengage a control component tool from the surgical tool in response to the surgical tool being moved toward the edge of the tool workspace.

[0055] In some applications, the computer processor is configured to generate a graphic on the display indicating that the control component tool has been disengaged from the surgical tool.

[0056] In some applications, the computer processor is configured to drive a display to show images of surgical tools and parts of the patient's body.

[0057] In some applications, the computer processor is configured to drive the display to show an extended surgical tool superimposed on the surgical tool.

[0058] In some applications, the computer processor is configured to engage the control component tool with the surgical tool in response to the control component tool being at least partially aligned with the surgical tool in the image on the display.

[0059] In some applications, the control component tool engages with the surgical tool by configuring the computer processor to automatically move the control component tool so that it is at least partially aligned with the surgical tool in the image on the display.

[0060] In some applications, the computer processor is configured to drive the display to show an extended control component tool superimposed on the control component tool, and the computer processor is configured to engage the control component tool with the surgical tool in response to the extended control component tool being at least partially aligned with the surgical tool in the image on the display.

[0061] In some applications, the control component can move within the control component workspace, and the computer processor is configured to guide the operator to move the control component tool to engage with a surgical tool when the control component tool is positioned within a predetermined portion of the control component workspace.

[0062] In some applications, the computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the control component tool is positioned relatively centrally within the control component workspace.

[0063] In some applications, the robotic unit can move the surgical tool within the tool workspace, and the computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the control component tool is positioned so that the control component tool can move the surgical tool to any position within the tool workspace without the control component tool leaving the control component workspace.

[0064] According to some applications of the present invention, an apparatus for performing a procedure on a part of a patient's body using a surgical tool having a tip, an imaging system, and a display, A robotic unit configured to move surgical tools, A control component unit including one or more position sensors and a control component tool configured to be moved by an operator and defining a tip, At least one computer processor, The control component tool is automatically moved to the engagement position and orientation in which it engages with the surgical tool. When the control component tool is engaged with the surgical tool, Based on data received from one or more position sensors, the position and orientation of the tip of the control component tool are determined. Further provided is a device including a computer processor configured to move the tip of a surgical tool within the patient's eye in accordance with the positional and orientational movements of the tip of the control component tool.

[0065] In some applications, the device is configured to perform ophthalmic procedures on a patient's eye using one or more ophthalmic tools with tips, and the robotic unit is configured to move one or more ophthalmic tools within the patient's eye.

[0066] In some applications, the robotic unit can move a surgical tool within the tool workspace, and the computer processor is configured to automatically drive the robotic unit to move the surgical tool to its initial position within a given portion of the tool workspace.

[0067] In some applications, the computer processor is configured to engage the control component tool with the surgical tool without requiring any input via the operator control interface other than the movement of the control component tool.

[0068] For some applications, The robotic unit is configured to move the surgical tool within the tool reference frame. The control component tool can operate within the control component reference frame. The computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the control component tool is positioned in an orientation within the control component reference frame that is substantially similar to the orientation of the surgical tool within the tool reference frame.

[0069] For some applications, The surgical tools include left and right surgical tools. The robotic unit includes left and right robotic units configured to move left and right surgical tools, respectively. The control component unit is configured to be moved by an operator and includes left and right control component tools for defining the tip. The left control component tool can engage with both left and right surgical tools. The right-hand control component tool can engage with both left-hand and right-hand surgical tools.

[0070] In some applications, the computer processor is configured to engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool, depending on the input from the operator.

[0071] In some applications, the computer processor is configured to automatically engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool based on the position of the left and right robotic units relative to parts of the patient's body.

[0072] In some applications, the robotic unit can move the surgical tool within the tool workspace, and the computer processor is configured to disengage a control component tool from the surgical tool in response to the surgical tool being moved toward the edge of the tool workspace.

[0073] In some applications, the computer processor is configured to generate a graphic on the display indicating that the control component tool has been disengaged from the surgical tool.

[0074] In some applications, the computer processor is configured to drive a display to show images of surgical tools and parts of the patient's body.

[0075] In some applications, the computer processor is configured to drive the display to show an extended surgical tool superimposed on the surgical tool.

[0076] In some applications, the computer processor is configured to engage the control component tool with the surgical tool in response to the control component tool being at least partially aligned with the surgical tool in the image on the display.

[0077] In some applications, the computer processor is configured to drive the display to show an extended control component tool superimposed on the control component tool, and the computer processor is configured to engage the control component tool with the surgical tool in response to the extended control component tool being at least partially aligned with the surgical tool in the image on the display.

[0078] In some applications, the control component tool can move within the control component workspace, and the computer processor is configured to guide the operator to move the control component tool to engage with a surgical tool when the control component tool is positioned within a predetermined portion of the control component workspace.

[0079] In some applications, the computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the control component tool is positioned relatively centrally within the control component workspace.

[0080] In some applications, the robotic unit can move the surgical tool within the tool workspace, and the computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the control component tool is positioned so that the control component tool can move the surgical tool to any position within the tool workspace without the control component tool leaving the control component workspace.

[0081] According to some applications of the present invention, an apparatus for performing a procedure on a part of a patient's body using a surgical tool having a tip, an imaging system, and a display, A robotic unit configured to move surgical tools, A control component unit including one or more position sensors and a control component tool configured to be moved by an operator and defining a tip, A computer processor, An input indicating that a control component tool should engage with a surgical tool is received, and the input includes movement of the control component tool to a predetermined position and orientation. When the control component tool is engaged with the surgical tool, Based on data received from one or more position sensors, the position and orientation of the tip of the control component tool are determined. Further provided is a device comprising a computer processor configured to move the tip of a surgical tool within the patient's eye in accordance with the positional and orientational movements of the tip of the control component tool.

[0082] In some applications, the computer processor is configured to receive input indicating that the control component tool should engage with the surgical tool, without requiring any input via the operator control interface other than the movement of the control component tool.

[0083] In some applications, the device is configured to perform ophthalmic procedures on a patient's eye using one or more ophthalmic tools with tips, and the robotic unit is configured to move one or more ophthalmic tools within the patient's eye.

[0084] In some applications, the robotic unit can move a surgical tool within the tool workspace, and the computer processor is configured to automatically drive the robotic unit to move the surgical tool to its initial position within a given portion of the tool workspace.

[0085] For some applications, The robotic unit is configured to move the surgical tool within the tool reference frame. The control component tool can operate within the control component reference frame. The computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the control component tool is positioned in an orientation within the control component reference frame that is substantially similar to the orientation of the surgical tool within the tool reference frame.

[0086] For some applications, The surgical tools include left and right surgical tools. The robotic unit includes left and right robotic units configured to move left and right surgical tools, respectively. The control component unit is configured to be moved by an operator and includes left and right control component tools for defining the tip. The left control component tool can engage with both left and right surgical tools. The right-hand control component tool can engage with both left-hand and right-hand surgical tools.

[0087] In some applications, the computer processor is configured to engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool, depending on the input from the operator.

[0088] In some applications, the computer processor is configured to automatically engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool based on the position of the left and right robotic units relative to parts of the patient's body.

[0089] In some applications, the robotic unit can move the surgical tool within the tool workspace, and the computer processor is configured to disengage a control component tool from the surgical tool in response to the surgical tool being moved toward the edge of the tool workspace.

[0090] In some applications, the computer processor is configured to generate a graphic on the display indicating that the control component tool has been disengaged from the surgical tool.

[0091] In some applications, the computer processor is configured to drive a display to show images of surgical tools and parts of the patient's body.

[0092] In some applications, the computer processor is configured to drive the display to show an extended surgical tool superimposed on the surgical tool.

[0093] In some applications, the computer processor is configured to engage the control component tool with the surgical tool in response to the control component tool being at least partially aligned with the surgical tool in the image on the display.

[0094] In some applications, the computer processor is configured to drive the display to show an extended control component tool superimposed on the control component tool, and the computer processor is configured to engage the control component tool with the surgical tool in response to the extended control component tool being at least partially aligned with the surgical tool in the image on the display.

[0095] In some applications, the control component tool can move within the control component workspace, and the computer processor is configured to guide the operator to move the control component tool to engage with a surgical tool when the control component tool is positioned within a predetermined portion of the control component workspace.

[0096] In some applications, the computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the control component tool is positioned relatively centrally within the control component workspace.

[0097] In some applications, the robotic unit can move the surgical tool within the tool workspace, and the computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the control component tool is positioned so that the control component tool can move the surgical tool to any position within the tool workspace without the control component tool leaving the control component workspace.

[0098] According to some applications of the present invention, an apparatus for performing a procedure on a part of a patient's body using a surgical tool having a tip, an imaging system, and a display, A robotic unit configured to move surgical tools within the tool workspace, A control component unit, A control component tool configured to be moved by an operator, defining the tip, An inertial measurement unit comprising at least one sensor selected from a group consisting of a 3-axis accelerometer, a 3-axis gyroscope, and a 3-axis magnetometer, and configured to generate inertial measurement unit data indicating the orientation of the tip of the control component tool. A control component unit including, A computer processor, Based on data received from one or more position sensors, the position and orientation of the tip of the control component tool are determined. Move the tip of the ophthalmic tool within the patient's eye to match the movement of the control component tool. The control component tool recalibrates the inertial measurement unit in response to the control component unit being docked in a known orientation. A device including a computer processor configured in such a manner is further provided.

[0099] For some applications, The control component unit includes multiple links connected to each other via multiple rotation axes, The control component tool is connected to a link and is configured such that when the operator moves the control component tool along the linear X, Y, and Z directions, the link rotates around an axis of rotation. Multiple links include an X-axis link that provides linear motion in the X direction and a Z-axis rotation that provides motion in the Z direction around it. The X-direction link is aligned with the Z-axis of rotation, and the X-direction link does not impart torque around the Z-axis of rotation.

[0100] For some applications, The control component unit includes X, Y, and Z linear motion rotation axes, as well as pitch, roll, and yaw angular motion rotation axes. The control component tool is coupled to the X, Y, and Z linear motion rotation axes, as well as the pitch, roll, and yaw angular motion rotation axes, and is controlled by the operator. When the operator moves the control component tool along the linear X, Y, and Z directions, rotational motion is generated around the X, Y, and Z linear motion rotation axes. The control component tool is configured to move in such a way that rotational motion is generated around the respective axis of rotation for each of the pitch, roll, and yaw angular motions when the operator moves the tool through roll, pitch, and yaw angular motion. The control component unit includes multiple direct-drive motors operably coupled to each of the X, Y, and Z linear motion rotation axes. The computer processor is configured to provide force feedback to the operator via control component tools using multiple direct-drive motors.

[0101] For some applications, The control component unit includes X, Y, and Z linear motion rotation axes, as well as pitch, roll, and yaw angular motion rotation axes. The control component tool is coupled to the X, Y, and Z linear motion rotation axes, as well as the pitch, roll, and yaw angular motion rotation axes, and is controlled by the operator. When the operator moves the control component tool along the linear X, Y, and Z directions, rotational motion is generated around the X, Y, and Z linear motion rotation axes. The control component tool is configured to move in such a way that rotational motion is generated around the respective axis of rotation for each of the pitch, roll, and yaw angular motions when the operator moves the tool through roll, pitch, and yaw angular motion. The control component unit includes X, Y, and Z direction motors operably coupled to the X, Y, and Z linear motion rotation axes, respectively, with the first end of the Y direction motor aligned with the X rotation axis. The computer processor is configured to provide force feedback to the operator via control component tools using X, Y, and Z directional motors.

[0102] For some applications, The control component unit includes X, Y, and Z linear motion rotation axes, as well as pitch, roll, and yaw angular motion rotation axes. The control component tool is coupled to the X, Y, and Z linear motion rotation axes, as well as the pitch, roll, and yaw angular motion rotation axes, and is controlled by the operator. When the operator moves the control component tool along the linear X, Y, and Z directions, rotational motion is generated around the X, Y, and Z linear motion rotation axes. The control component tool is configured to move in such a way that rotational motion is generated around the respective axis of rotation for each of the pitch, roll, and yaw angular motions when the operator moves the tool through roll, pitch, and yaw angular motion. The control component tool is substantially balanced around the X, Y, and Z linear motion rotation axes, and the pitch, roll, and yaw angular motion rotation axes.

[0103] For some applications, In the four degrees of freedom, the control component tool balances itself. In two degrees of freedom, the control component unit includes counterweights that balance the weight of the control components and / or other components of the control component unit around the corresponding axis of rotation.

[0104] In some applications, the control component tool self-balances around the roll and yaw angular motion axes, as well as two of the X, Y, and Z linear motion axes, and the control component includes first and second counterweights that balance the weight of the control component tool and / or other components of the control component unit around the pitch angular motion axis and one of the linear motion axes, respectively.

[0105] The present invention will be better understood by reading the following detailed description of embodiments along with the drawings. [Brief explanation of the drawing]

[0106] [Figure 1A-1B] This is a schematic diagram of a robotic system configured for use in microsurgical procedures such as intraocular surgery, according to some applications of the present invention. [Figure 2A] This is a schematic diagram of a display showing a surgical tool positioned laterally to the patient's cornea, according to some applications of the present invention. [Figure 2B] This is a schematic diagram of a display showing an extension surgical tool superimposed on a laterally positioned surgical tool, according to some applications of the present invention, wherein the tip of the extension surgical tool is positioned near the tip of the surgical tool. [Figure 2C-2D] This is a schematic diagram of a display showing an extended control component tool positioned to overlap an extended surgical tool in order to engage the first control component tool with a robotic system, according to some applications of the present invention. [Figure 2E] This is a schematic diagram of a display showing a surgical tool positioned above the patient's cornea, according to some applications of the present invention. [Figure 2F]This is a schematic diagram of a display showing an extended surgical tool, which is superimposed on an upper-positioned surgical tool according to some applications of the present invention, and whose tip is positioned near the tip of the surgical tool. [Figure 2G-2H] This is a schematic diagram of a display showing an extended control component tool positioned to overlap an extended surgical tool in order to engage the second control component tool with a robotic system, according to some applications of the present invention. [Figure 2I] This is a schematic diagram of a display showing an extended control component tool being kept away from an extended surgical tool in order to disengage the control component tool from a robotic system, according to some applications of the present invention. [Figure 3A] This is a schematic diagram of a robotic system, marked with rectangular parallelepipeds, illustrating the workspaces of control components and surgical tools, according to some applications of the present invention. [Figure 3B] This is a schematic diagram of a robot system, with several reference frames noted for illustrative purposes, according to some applications of the present invention. [Figures 4A, 4B, 4C, 4D] This is a schematic diagram of a control component and a control component tool for a control component unit, according to some applications of the present invention. [Figures 5A, 5B, 5C, 5D] This is a schematic diagram of a control component and a control component tool for a control component unit, according to some alternative uses of the present invention. [Modes for carrying out the invention]

[0107] The following references to Figures 1A and 1B, schematic diagrams of a robotic system 10 configured for use in microsurgical procedures such as intraocular surgery, according to some applications of the present invention. Typically, a robotic system 10 used in intraocular surgery includes, in addition to one or more robotic units 20 (configured to hold a tool 21), an imaging system 22, one or more displays 24, and a control component unit 26 (for example, a control component unit including a pair of control components, as shown in the enlarged portion of Figure 1A), through which one or more operators (e.g., medical professionals such as a physician 25A and / or a nurse 25B) can control the robotic units 20. Typically, the robotic system 10 includes one or more computer processors 28, through which the components of the system and the operator 25 interact operationally with each other.

[0108] Figures 1A and 1B show different configurations of the robotic system 10 configured for ophthalmic surgery. As shown in the figures, in the configuration shown in Figure 1A, the first and second robotic units are positioned laterally (i.e., left and right) relative to the eye being operated on, and the tools 21 held by the robotic units are positioned at an angle of approximately 180 degrees to each other. The configuration shown in Figure 1B shows the first robotic unit positioned laterally to the eye and the second robotic unit positioned above the eye, and the tools 21 held by the robotic units are positioned at an angle of approximately 90 degrees to each other. (In the context of ophthalmic procedures, the lateral position shown in Figure 1B is called the “temporal” position. Therefore, the terms “lateral” and “temporal” are used synonymously in this application.) In some cases (not shown), the first robotic unit is positioned laterally to the eye, and the second robotic unit is positioned below the eye, and the tools 21 held by the robotic units are positioned at an angle of approximately 90 degrees to each other. In general, the scope of this disclosure includes the use of any number of robotic units positioned at any number of locations for a patient, and the configurations shown in Figures 1A and 1B should not be construed as limiting the scope of this disclosure in any way.

[0109] Typically, the movement of the robot unit (and / or control of other aspects of the robot system) is controlled at least partially by one or more operators (e.g., medical professionals such as a physician 25A and / or a nurse 25B). For example, the operator may receive images of the patient's eye and the robot unit and / or tools placed within it via a display 24. Typically, such images are acquired by an imaging system 22. In some applications, the imaging system 22 is a stereoscopic imaging device and the display 24 is a stereoscopic display. The operator typically performs each step of the procedure based on the received images. In some applications, the operator provides commands to the robot unit via a control component unit 26. For example, Figures 1A and 1B show a physician 25A providing commands to the robot unit via a control component unit 26 while viewing images of the patient's eye and tool 21 on the display 24. Typically, such commands include commands to control the position and / or orientation of tools placed within the robot unit, and / or commands to control the actions performed by the tools. For example, commands may control the blade, the phacoemulsification tool (e.g., the operating mode and / or suction force of the phacoemulsification tool), the forceps (e.g., opening and closing the forceps), the intraocular lens manipulator tool (e.g., the tool manipulates the intraocular lens inside the eye for precise positioning of the intraocular lens within the eye), and / or the 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 input commands to control the imaging system (e.g., the zoom, focus, orientation, and / or XYZ positioning of the imaging system).

[0110] Typically, a control component unit includes one or more control components 30 configured to correspond to each robot unit 20 of the robot system. For example, as shown in the figure, the system may include first and second robot units, and the control component unit may include first and second control components as shown in the figure. Typically, each control component is an arm 31 including multiple links connected to each other via joints. In some applications, the control component includes each control component tool 32 (usually configured to duplicate the robot unit), as shown in Figure 1A. Typically, a computer processor determines the XYZ position and orientation of the tip of the control component tool 32 and drives the robot unit so that the tip of the actual tool 21 used to perform the procedure tracks the movement of the tip of the control component tool, and so that changes in the orientation of the tool 21 track changes in the orientation of the control component tool. In some applications, the movement of the control component tool by the operator is scaled up or down by the computer processor, as will be described in more detail below.

[0111] In some cases, Tool 21 is referred to as “Surgical Tool” in this Specified and in the Claims. This term is used to distinguish Tool 21 from the control component tool 32 and should not be construed as limiting the types of tools that may be used as Tool 21 in any sense. The term “Surgical Tool” should be construed as including any one of the tools described herein and / or other types of tools that a person skilled in the art could conceive of upon reading this disclosure. Typically, in the case of ophthalmic procedures, the surgical tool is an ophthalmic tool, e.g., one of the ophthalmic tools described above.

[0112] Typically, the right control component controls the movement of the surgical tool to the right of the patient's head when viewed from above (usually controlled by the surgeon's right hand), and the left control component controls the movement of the surgical tool to the left of the patient's head when viewed from above (usually controlled by the surgeon's left hand).

[0113] As described above, the computer processor typically determines the XYZ position and orientation of the tip of the control component tool 32 and drives the robot unit so that the tip of the actual tool 21 used to perform the procedure tracks the movement of the tip of the control component tool, and so that changes in the orientation of tool 21 track changes in the orientation of the control component tool. Therefore, when the orientation of the control component tool changes, the computer processor typically changes the orientation of the surgical tool to match the change in the orientation of the control component tool. For this reason, it is usually desirable that the orientation of the surgical tool and the control component tool be substantially similar to each other (within their respective reference frames, as described below with reference to Figure 3B), and that the control component tool engages with the surgical tool of the robot unit (so that the movement of the control component tool controls the movement of the surgical tool). If the orientations of the surgical tool and the control component tool are different (within their respective reference frames, as described below with reference to Figure 3B), the operator may lose their sense of direction, which can result in discomfort due to the operator's loss of direction, prolonged surgical time, and erroneous movements.

[0114] The operator (e.g., physician 25A) takes over and relinquishes control of the surgical tool multiple times during the procedure, especially if the procedure requires the use of multiple tools that are exchanged during surgery (as is typical for surgical procedures, as described above). Typically, throughout the course of the procedure, (a) the operator takes over control of the surgical tool, (b) the operator performs a surgical action with the surgical tool, (c) the operator relinquishes control of the surgical tool, (d) the robotic system or operator (e.g., nurse) removes the surgical tool from the robotic unit, and (e) the robotic system or operator places a new surgical tool in the robotic unit, and steps (a) to (e) are repeated.

[0115] Typically, there are limitations to the operator's control of surgical tools. For example, the workspace in which an operator can move a control component tool (hereinafter referred to as the "control component workspace") is usually physically constrained by the location where the operator can comfortably or effectively move the control component tool. Similarly, the workspace of a surgical tool (hereinafter referred to as the "tool workspace") is usually physically constrained by the space in which the robotic arm can move the surgical tool. Typically, when there are multiple control components and corresponding multiple surgical tools, each control component tool has a corresponding control component workspace, and each surgical tool has a corresponding tool workspace. In some cases, one constraint of the control component workspace of one control component tool is that it affects the control component workspace of a second control component tool. Likewise, in some cases, one constraint of the tool workspace of one surgical tool is that it affects the tool workspace of a second surgical tool.

[0116] The control component workspace must have sufficient degrees of freedom of movement for the control component tool to control the movement of the surgical tool within the surgical space. When the control component tool is near the edge of the control component workspace, the movement of the control component tool (and consequently the movement of the surgical tool) will be restricted when the operator takes over control of the surgical tool (via the control component tool). Therefore, it is generally preferable for the operator to engage the control component tool with the surgical tool when the control component tool is positioned and oriented so that it has good degrees of freedom of movement.

[0117] Ideally, the tool workspace should cover the space in which the tool is expected to be manipulated for surgical purposes (hereinafter referred to as the "surgical space"). When the surgical tool is at the edge of the tool workspace, the movement of the surgical tool will be restricted when the operator takes control of the surgical tool (via a control component tool). Therefore, it is usually preferable for the operator to engage the control component tool with the surgical tool when the surgical tool is positioned and oriented to have a good degree of freedom of movement.

[0118] In other words, the operator needs to be able to move the surgical tool freely to all positions and orientations within the surgical space without the control component tool reaching the limits of the control component workspace, and without the surgical tool reaching the limits of the tool workspace.

[0119] In some applications of the present invention, the control component tool engages with the surgical tool (so that the movement of the control component tool controls the movement of the surgical tool) when the orientations of the surgical tool and the control component tool are substantially similar (within their respective reference frames), thereby avoiding loss of the operator's sense of direction. In some applications, the control component tool engages with the surgical tool when the surgical tool and the control component tool are facing the center of the control component workspace and the tool workspace, respectively. Typically, the operator can engage the surgical tool and the control component tool with each other and / or disengage them from each other using the standard movement of the control component tool, without requiring any additional external input.

[0120] Hereinafter, some steps of engaging and disengaging a surgical tool and a control component tool in certain applications of the present invention will be described with reference to Figures 2A to 2I.

[0121] First, refer to Figure 2A, a schematic diagram of a display 24 showing a surgical tool 21 positioned laterally to the patient's cornea 38, according to some applications of the present invention. In some applications, the robotic system is configured to automatically position the surgical tool in a predetermined location near the patient's cornea (for example, based on images acquired by an imaging system 22). Alternatively or additionally, an operator (e.g., a nurse 25B) positions the surgical tool in a predetermined location near the patient's cornea. Typically, the surgical tool is positioned relatively centrally within the tool workspace, and / or near the patient's cornea (by the robotic system and / or nurse) so as not to move the tool from this initial position within the tool workspace. Thus, starting from this position, the steps of the procedure performed by the surgical tool can typically be completed without the need to change the position of the robotic unit during the procedure steps.

[0122] Typically, the physician 25A views images of the robotic tool and the patient's cornea 38 on the display 24. As shown in Figures 1A and 1B, the imaging system is usually positioned above the patient's eye to acquire an anterior image of the patient's eye. As mentioned above, in some applications, the display 24 is a three-dimensional stereoscopic display. Typically, the imaging system is configured to acquire images that cover the entire surgical space, and the display 24 displays the acquired images, so that the manipulation of the surgical tool is performed within the field of view displayed on the display 24.

[0123] Referring to Figure 2B, in some applications, when the surgical tool 21 is positioned near the patient's cornea, the computer processor identifies the surgical tool and generates an augmented surgical tool 40 (i.e., an augmented image of the surgical tool) superimposed on an image of the surgical tool itself. In some applications, the augmented surgical tool 40 facilitates identification of the surgical tool by the physician. In some applications, the augmented surgical tool is not displayed. In some applications, the physician provides input to the computer processor indicating whether they want the augmented surgical tool to be displayed, and the computer processor controls the image displayed to the physician based on that input.

[0124] The following diagrams refer to schematic representations of a display 24 showing an extended control component tool 42 positioned to overlap the extended surgical tool 40 for engaging a first control component tool with a robotic system, according to some applications of the present invention, as shown in Figures 2C and 2D. In some applications, when the surgical tool is positioned near the patient's cornea, the computer processor is configured to drive the display 24 to display an extended control component tool 42 representing the control component tool. This extended control component tool is typically a virtual representation of the control component tool.

[0125] As described above, the imaging system is typically positioned above the patient's eye, thus acquiring a frontal image of the patient's eye. The view of the patient's eye displayed on the display is typically the view the physician is accustomed to during ophthalmic surgery, as if viewing the eye from above the patient's head. The display 24 is typically oriented towards the physician's face, and the orientation and position of the extended control component tools on the display 24 are rotated according to the view of the eye shown on the display. Typically, the orientation of the extended control component tools within the reference frame of the display is substantially the same as the orientation of the control component tools within the reference frame of the control component workspace. However, (because the reference frame of the display is different from the reference frame of the control component workspace) the absolute position of the control component tools is usually independent of the absolute position of the extended control component tools.

[0126] Typically, the movement of a control component tool by a physician generates a corresponding movement of an extended control component tool on the display 24. Typically, rotation of a control component tool by angular rotation (roll, pitch, and / or yaw) generates a corresponding rotation of an extended control component tool on the display 24. Furthermore, typically, when a physician moves a control component tool translationally (along the X, Y, or Z directions), a corresponding translational motion of an extended control component tool on the display 24 is generated. In some applications, the translational motion of an extended control component tool on the display 24 is scaled up or down relative to the translational motion of the control component tool.

[0127] Typically, in order to engage the control component tool with a surgical tool (so that the movement of the control component tool controls the movement of the surgical tool), the physician moves the control component tool so that the extended control component tool aligns with the image of the surgical tool 21 and / or the extended surgical tool 40. Typically, the extended control component tool is aligned with the image of the surgical tool 21 and / or the extended surgical tool 40 so that (a) the tip of the extended control component tool overlaps with the image of the surgical tool 21 and / or the extended surgical tool 40, and (b) the orientation of the extended control component tool is substantially the same as the orientation of the image of the surgical tool 21 and / or the extended surgical tool 40. Furthermore, typically, the computer processor is configured to position the extended control component tool so that, when the surgeon aligns the extended control component tool with the image of the surgical tool 21 and / or the extended surgical tool 40, the control component tool itself is positioned relatively centrally within the control component workspace, and / or from this initial position within the control component workspace, the control component tool can be moved to move the surgical tool to any position within the tool workspace without the control component tool leaving the control component workspace.

[0128] Note that in some applications, the above steps are performed without the Extended Control Component tool being displayed. Typically, in such applications, the above steps, which refer to the Extended Control Component tool, are performed with an image of the Control Component tool itself displayed on the screen.

[0129] In general, the extended control component tool does not need to be perfectly aligned with the images of the surgical tool 21 and / or the extended surgical tool 40. Rather, in some applications, if the alignment is close enough, slight positional and / or orientational deviations are maintained, and the surgical tool does not move at the moment of engagement, and thereafter follows the surgeon's movements with slight (usually imperceptible) deviations. In some applications, the computer processor drives the robotic unit to adjust the position of the surgical tool in order to complete the alignment of the extended control component tool with the images of the surgical tool 21 and / or the extended surgical tool 40.

[0130] Typically, when the extended control component tool is aligned with the image of the surgical tool 21 and / or the extended surgical tool 40, the extended surgical tool and / or the extended control component tool 40 are removed from the image displayed by the display 24. Typically, at this stage, the control component tool engages with the surgical tool (so that the movement of the control component tool controls the movement of the surgical tool). Typically, the movement of the control component tool by the physician generates the corresponding movement of the surgical tool. Typically, rotations of the control component tool by angular rotation (roll, pitch, and / or yaw) generate the corresponding rotation of the surgical tool. Furthermore, typically, when the physician moves the control component tool translationally (along the X, Y, or Z directions), the corresponding translational motion of the surgical tool is generated. In some applications, the translational motion of the surgical tool is scaled up or down relative to the translational motion of the control component tool.

[0131] Next, we will refer to Figures 2E to 2H, schematic diagrams of steps generally similar to those described with reference to Figures 2A to 2D, performed on a second surgical tool 21 positioned above the patient's cornea 38, according to some applications of the present invention. As described above, the view of the patient's eye displayed by the display is typically the view that the physician is accustomed to seeing during ophthalmic surgery, as if viewing the eye from above the patient's head. The display 24 is typically oriented towards the physician's face, and the orientation and position of the extended control component tools on the display 24 are rotated according to the view of the eye shown by the display. Thus, the second surgical tool 21 positioned above the patient's cornea 38 is visible at the bottom of the display in the view shown in Figure 2E.

[0132] In some applications, the robotic system is configured to automatically position the second surgical tool in a predetermined location near the patient's cornea (for example, based on images acquired by the imaging system 22). Alternatively or additionally, an operator (e.g., a nurse 25B) positions the second surgical tool in a predetermined location near the patient's cornea. Typically, the surgical tool is positioned relatively centrally within the tool workspace and / or near the patient's cornea (by the robotic system and / or the nurse) so as not to move the tool from this initial position within the tool workspace. Thus, starting from this position, the steps of the procedure performed by the second surgical tool can typically be completed without the need to change the position of the second robotic unit during the procedure steps.

[0133] In some applications, as shown in Figure 2F, an extended second surgical tool 44 is overlaid on the image of the second surgical tool to facilitate identification by the physician. In some applications, the extended second surgical tool is not displayed. In some applications, the physician provides input to the computer processor indicating whether they want the extended second surgical tool to be displayed, and the computer processor controls the image displayed to the physician based on that input.

[0134] In some applications, when the second surgical tool is positioned near the patient's cornea, the computer processor is configured to drive the display 24 to display an extended second control component tool 46, as shown in Figure 2G. This extended second control component tool represents the second control component tool. This extended second control component tool is typically a virtual representation of the second control component tool.

[0135] Typically, to engage the second control component tool with the second surgical tool (so that the movement of the second control component tool controls the movement of the second surgical tool), the physician moves the second control component tool so that the extended second control component tool aligns with the image of the second surgical tool 21 and / or the extended second surgical tool 44. Typically, the extended second control component tool is aligned with the image of the second surgical tool 21 and / or the extended second surgical tool 44 so that (a) the tip of the extended second control component tool 46 overlaps with the image of the second surgical tool 21 and / or the extended second surgical tool 44, and (b) the orientation of the extended second control component tool 46 is substantially the same as the orientation of the image of the second surgical tool 21 and / or the extended second surgical tool 44. Furthermore, the computer processor is typically configured to position the extended second control component tool such that, when the surgeon aligns the extended second control component tool with the images of the second surgical tool 21 and / or the extended second surgical tool 44, the second control component tool itself is positioned relatively centrally within the control component workspace, and / or from this initial position within the control component workspace, the second control component tool can be moved to any position within the tool workspace without the second control component tool leaving the control component workspace.

[0136] In general, the extended second control component tool does not need to be perfectly aligned with the image of the second surgical tool 21 and / or the extended second surgical tool 44. Rather (as described with reference to the first surgical tool), in some applications, if the alignment is close enough, slight positional and / or orientation deviations are maintained, and the second surgical tool remains stationary at the moment of engagement, and thereafter follows the surgeon's movements with slight (usually imperceptible) deviations. In some applications, the computer processor drives the second robotic unit to adjust the position of the second surgical tool in order to complete the alignment of the extended second control component tool with the image of the second surgical tool 21 and / or the extended second surgical tool 44.

[0137] Typically, when the extended second control component tool 46 is aligned with the image of the second surgical tool 21 and / or the extended second surgical tool 44, the extended second surgical tool 44 and / or the extended second control component tool 46 are removed from the image displayed by the display 24. Typically, at this stage, the second control component tool engages with the second surgical tool (so that the movement of the second control component tool controls the movement of the second surgical tool). Typically, the movement of the second control component tool by the physician generates the corresponding movement of the second surgical tool. Typically, rotations of the second control component tool by angular rotation (roll, pitch, and / or yaw) generate the corresponding rotation of the second surgical tool. Furthermore, typically, when the physician moves the second control component tool translationally (along the X, Y, or Z directions), the corresponding translational motion of the second surgical tool is generated. In some applications, the translational motion of the second surgical tool is scaled up or down relative to the translational motion of the second control component tool.

[0138] Refer now to Figure 2I, a schematic diagram of a display 24 showing an extended control component tool 42 being moved away from an extended surgical tool 40 in order to disengage the control component tool 32 from the surgical tool 21, according to some applications of the present invention. In some applications, in order to disengage the control component tool 32 from the surgical tool 21, the control component tool is moved toward the edge of the control component workspace, and / or the control component tool is moved so that the surgical tool is moved toward the edge of the tool workspace. In some applications, the computer processor generates an indication of disengagement before, during, and / or after disengagement. For example, a graphic element 48 (e.g., a star, cross, circle, highlight, or other graphic element) may be displayed to indicate that disengagement has been performed, is being performed, or is about to be performed. Alternatively, a circle or ellipse (not shown) may be displayed around the iris (or elsewhere), and the computer processor is configured to interpret the fact that part of the tool (e.g., the tip) is outside the circle as an instruction from the operator to disengage the control component tool from the surgical tool. In such applications, the size of the circle or ellipse is usually chosen so that it can be seen within the field of view, but there is usually no reason to move part of the tool outside the circle for surgical purposes.

[0139] Figure 2I shows the disengagement process with reference to a first surgical tool positioned laterally, but generally similar steps are performed even when referencing a surgical tool positioned above.

[0140] As described above, the operator (e.g., physician 25A) typically takes over and relinquishes control of the surgical tool (via the control component tool) multiple times during a procedure, especially when the procedure requires the use of multiple tools that are exchanged during surgery (as is typical for surgical procedures, as described above). Typically, throughout the course of the procedure, (a) the operator takes over control of the surgical tool, (b) the operator performs a surgical action with the surgical tool, (c) the operator relinquishes control of the surgical tool, (d) the robot system or operator (e.g., nurse) removes the surgical tool from the robot unit, and (e) the robot system or operator places a new surgical tool in the robot unit, and steps (a) to (e) are repeated. Typically, each time the operator takes over control of a new tool, the steps described with reference to Figures 2A to 2D or Figures 2E to 2H are performed. Furthermore, typically, each time the operator relinquishes control of a tool, the steps described with reference to Figure 2I are performed.

[0141] Normally, once a control component tool engages with a surgical tool on a robotic unit, disengagement does not occur unless the physician performs a disengagement step (as illustrated, for example, with reference to Figure 2I). However, it should be noted that in some cases, a control component tool may disengage from a surgical tool during a procedure without input from the physician. For example, a control component tool may disengage from a surgical tool based on the robotic system detecting an imminent collision between the tools or with a part of the patient's body. If a control component tool disengages from a surgical tool while the surgical tool is positioned within the tool workspace, the physician re-engages the control component tool with the surgical tool by performing the steps described above.

[0142] Hereafter, we will refer to Figure 3A, a schematic diagram of a robotic system in which a rectangular parallelepiped is annotated to show a control component workspace 60 and a tool workspace 62, according to some applications of the present invention. As described above, there are usually limitations to the control of surgical tools by an operator. For example, the control component workspace 60 (i.e., the workspace in which the operator can move the control component tool) is usually physically constrained by the location in which the operator can move the control component tool comfortably or effectively. Similarly, the tool workspace 62 (i.e., the workspace for the surgical tool) is usually physically constrained by the space in which the robotic arm can move the surgical tool.

[0143] The control component workspace 60 must be such that the control component tool has sufficient degrees of freedom of movement to control the movement of the surgical tool within the surgical space. When the control component tool is near the edge of the control component workspace, the movement of the control component tool (and consequently the movement of the surgical tool) will be restricted when the operator takes over control of the surgical tool (via the control component tool). Therefore, it is generally preferable for the operator to engage the control component tool with the surgical tool when the control component tool is positioned and oriented so that it has good degrees of freedom of movement.

[0144] Ideally, the tool workspace 62 should cover the space in which the tool is expected to be manipulated for surgical purposes (hereinafter referred to as the "surgical space"). When the surgical tool is at the edge of the tool workspace, the movement of the surgical tool will be restricted when the operator takes over control of the surgical tool (via the control component tool). Therefore, it is generally preferable for the operator to engage the control component tool with the surgical tool when the surgical tool is positioned and oriented to have a good degree of freedom of movement.

[0145] In other words, the operator needs to be able to move the surgical tool freely to all positions and orientations within the surgical space without the control component tool reaching the limits of the control component workspace, and without the surgical tool reaching the limits of the tool workspace. According to some applications of the present invention, the control component tool engages with the surgical tool when the surgical tool and the control component tool are facing the centers of the control component workspace and the tool workspace, respectively.

[0146] In some applications, the control component workspace differs in dimensions from the tool workspace. For example, as shown in the figure, the tool workspace may be smaller than the control component workspace. In such applications, the movement of the surgical tool 21 by the robot unit 20 is typically reduced compared to the movement of the control component tool 32.

[0147] Next, we will refer to Figure 3B, a schematic diagram of a robot system 10 in which several reference frames are noted for illustrative purposes, according to some applications of the present invention. Typically, there are several reference frames operating within the robot system, and a computer processor translates the movements between these reference frames. Hereinafter, an example of this will be explained with reference to Figure 3B.

[0148] In the example shown in Figure 3B, the display shows an image corresponding to an "upward" surgery, and the image shown to the physician is as if the surgeon were facing the patient's face, with the patient's chin tilted upward and forehead tilted downward. Typically, in this configuration, when the physician moves the right control component tool in the direction of the right hand within the control component reference frame F2, the right robot unit moves the surgical tool to the left (within the right robot unit reference frame F5), and the surgical tool moves to the right on the display 24 (within the display reference frame F1). The display shows images captured by the imaging system, which are acquired within the imaging system reference frame F3. Similarly, movement of the left control component tool causes the left robot unit to move the left surgical tool (within the left robot unit reference frame F4).

[0149] Typically, the control component unit 26 is physically mounted on the same body as the display 24, and the conversion from the control component reference frame F2 to the display reference frame F1 is strict and constant. The imaging system reference frame F3 can be moved relative to the patient. For example, the imaging system can be rotated as if the doctor were looking at the eye with the upward and lateral (i.e., temporal) directions reversed. Typically, regardless of the imaging system reference frame used, the movement of the control component tool within the reference frame F2 generates the movement of the surgical tool in the same direction within the display reference frame F1.

[0150] To achieve proper conversion between motion reference frames, the computer processor typically receives input indicating the orientation of various reference frames relative to each other. In some applications, the computer processor analyzes images of the robotic unit within images acquired by an imaging system to determine the orientation of various reference frames relative to each other. Alternatively or additionally, the computer processor receives input from the operator indicating the surgical orientation they wish to display on the screen.

[0151] As described above, typically the right control component controls the movement of the surgical tool toward the right of the patient's head when viewed from above (usually controlled by the physician's right hand), and the left control component controls the movement of the surgical tool toward the left of the patient's head when viewed from above (usually controlled by the physician's left hand). However, in some cases, the right control component controls the movement of the surgical tool toward the left of the patient's head when viewed from above (usually controlled by the physician's left hand), and the left control component controls the movement of the surgical tool toward the right of the patient's head when viewed from above (usually controlled by the physician's right hand). For example, a physician may switch which control component controls which tool if it is more intuitive and / or physically less cumbersome for them to use a left control component tool to control a right surgical tool, and vice versa, than the other way around (for example, based on the position of the surgical tool and / or the physician's dominant hand). Alternatively or additionally, a computer processor or physician may determine that it is easier for the surgical tool to perform a specified function while remaining within its range of motion by using a left control component tool to control a right surgical tool, and vice versa, and the computer processor may drive the robotic unit to function accordingly (based on automatic detection by the computer processor or input from the physician). Typically, in such cases, the computer processor translates the physician's input regarding the movement or action provided within the right control component tool reference frame to the corresponding movement or action of the left surgical tool by the left robotic unit within the left robotic unit reference frame, and / or vice versa.

[0152] The following references to Figures 4A, 4B, 4C, and 4D, which are schematic diagrams of the control component 30 and control component tool 32 of the control component unit 26 according to some applications of the present invention. As shown in Figures 4A, 4B, and 4C, in some applications, the control component is configured as a control component arm including two or more links 80A, 80B, 80C connected via rotary arm joints 82A, 82B, 82C. In some applications, each motor 84A, 84B, 84C is configured to control the movement of each rotary arm joint. In some applications, at least one of the motors (84A) applies torque to one of the rotary arm joints (82A) via a belt 88. Typically, a belt is used, so the motor can be positioned closer to the base 90 of the control component unit (the base 90 is shown in Figure 4D) to reduce the weight and inertia felt by the operator compared to when the third motor is positioned closer to the rotary arm joint 82A. In some applications, different configurations of motors are used within the control component.

[0153] In some applications, a motor is used to apply a force vector to a joint 86 to which a control component tool is coupled to a control component arm. Typically, the force vector is configured to counteract gravity. In this way, the operator can move the control component tool freely without having to counteract the gravity generated by the weight of the control component arm and / or the control component tool itself. In some applications, the force vector applied by the motor is calculated based on the positions of the control component tool and the control component arm, and the force vector counteracts the gravity generated by the weight of the control component arm and the control component tool in real time.

[0154] In some applications, the motor is used to apply a force vector that guides the operator from the docking position of the control component tool to the position where it engages with the surgical tool. In other words, referring again to Figures 2C through 2D, in some applications, the computer processor drives the motor to move the control component tool so that the extended control component tool 42 is positioned to overlap the extended surgical tool 40. Typically, this reduces user fatigue that may be associated with performing this step manually and improves the speed at which this step is performed.

[0155] Referring to Figure 4D, typically, in addition to the motors described above, each control component arm includes a corresponding rotary encoder 92 connected to each of the three rotary arm joints 82A, 82B, and 82C. The rotary encoder is configured to detect the movement of the corresponding rotary arm joint and generate rotary encoder data accordingly. In some applications, the control component arm further includes an inertial measurement unit 94 which includes a 3-axis accelerometer, a 3-axis gyroscope, and / or a 3-axis magnetometer. The rotary encoder and the inertial measurement unit are collectively referred to herein as “position sensors”. The inertial measurement unit typically generates inertial measurement unit data relating to the three-dimensional orientation of the control component arm in response to the movement of the control component arm. In some applications, a computer processor 28 receives the rotary encoder data and the inertial measurement unit data. Typically, a computer processor determines the XYZ position of the tip of the control component tool 32 based on rotary encoder data, and determines the orientation of the control component tool 32 (e.g., three Euler angles and / or another orientation representation) based on inertial measurement unit data, or a combination of rotary encoder data and inertial measurement unit data. Thus, the computer processor is configured to determine the XYZ position and orientation of the control component tool based on rotary encoder data and / or inertial measurement unit data.

[0156] As described above, the control component arm typically includes an inertial measurement unit 94 which includes a 3-axis accelerometer, a 3-axis gyroscope, and / or a 3-axis magnetometer. The accelerometer directly measures acceleration, the gyroscope directly measures angular velocity, and the magnetometer measures magnetic field. Three of each type of sensor are arranged in a configuration orthogonal to each other, enabling three-dimensional sensing of acceleration, angular velocity, and magnetic field.

[0157] The combination of the above measurements is used to estimate the orientation of the inertial measurement unit. Specifically, the algorithm generally uses Earth's gravity as a known acceleration and fuses it with time-integrated gyroscope measurements to estimate the orientation of the inertial measurement unit. Without continuous correction of orientation by the gravitational acceleration vector, the orientation output of the inertial measurement unit tends to drift. This is because the angular information is obtained from the gyroscope by numerical integration. Errors in angular velocity measurements accumulate over time, eventually making the estimation of the true orientation very inaccurate. The gravitational acceleration creates a "ground truth" that is used to eliminate the drift. If the gravity vector does not change orientation, the change in angle obtained from the gyroscope can be ignored.

[0158] However, rotation around the gravity vector, which is usually undetectable by accelerometers, can occur. Because rotation around the gravity vector of the inertial measurement unit cannot be detected by accelerometers, drift can occur. One way to resolve this drift is to fuse information from a magnetometer, which provides a second "ground truth" vector linearly independent of gravity—namely, magnetic north. However, this measurement can be affected by other magnetic fields around the inertial measurement unit, potentially leading to errors.

[0159] In some applications of the present invention, a linearly independent "ground truth" vector is derived from the gravity vector. Typically, the control component tool is docked to the base in a predetermined orientation that is not usually perpendicular. In some applications, a sensor (such as a switch or photoreflector) recognizes that the control component tool has been docked. When the control component tool is docked, the computer processor recalibrates the inertial measurement unit based on two ground truth vectors, namely the gravity vector and the known orientation of the control component tool. Thus, each time the control component tool is docked, the inertial measurement unit is recalibrated to compensate for drift.

[0160] In some applications, the computer processor performs recalibration of the inertial measurement unit using the following algorithm: When it is detected that the control component tool is docked, the inertial measurement unit transmits the detected roll axis position to the computer processor. The roll axis is typically the axis that drifts due to a lack of gravity information. The roll axis position is projected onto the horizontal plane (perpendicular to gravity) and compared to the known true tilt angle, i.e., the angle that the control component tool is known to take when it is in the horizontal plane. Any difference between the measured orientation and the true orientation is subtracted from the measured orientation. In practice, the inertial measurement unit's measurements are corrected to match the true orientation that the control component tool is known to take, and this correction is maintained until the next time the control component tool is docked, at which point the correction is repeated.

[0161] Next, we refer to Figures 5A, 5B, 5C, and 5D, which are schematic diagrams of the control component 30 of the control component unit according to some alternative uses of the present invention. Figures 5A and 5B show perspective views of the control component, Figure 5C shows a side view, and Figure 5D shows a top view. The functions of the control component 30 shown in Figures 5A to 5B are generally the same as those of the control component 30 shown in Figures 4A to 4D, except for the differences which will be described below.

[0162] The control component 30 shown in Figures 5A to 5B typically includes a frame 50 that rotates around a first rotation axis 52X, and links 54 that rotate around a second rotation axis 52Y and a third rotation axis 52Z. Typically, when an operator moves the control component tool along the X, Y, and Z linear directions, the links rotate around their respective rotation axes. For example, when an operator moves the control component tool along the X linear direction, the frame 50 rotates around the rotation axis 52X; when an operator moves the control component tool along the Y linear direction, the links 54 rotate around the rotation axis 52Y; and when an operator moves the control component tool along the Z linear direction, the links 54 rotate around the rotation axis 52Z.

[0163] It should be noted that the above description assumes that link 54 is positioned perpendicular to frame 50. In practice, for most of the time during use of the control component unit, link 54 is positioned at an angle to frame 50. In such a configuration, when the control component tool is moved in the XY plane (more precisely, along the X or Y linear direction), frame 50 typically rotates around the rotation axis 52X, and link 54 also rotates around the rotation axis 52Y. Therefore, the use of the terms X, Y, and Z as used herein in relation to the movement of parts of the control component unit should not be interpreted as strictly corresponding to movement along three perpendicular linear axes. Rather, movement in the X and Y directions should be interpreted as relating to the movement of frame 50 or link 54 in the XY plane (but not necessarily perpendicular to each other), and movement in the Z direction should be interpreted as corresponding to the movement of link 54 in a direction perpendicular to the XY plane. Therefore, the rotating shaft 52X and motor 56X are associated with the movement of the frame 50 in the XY plane (regardless of whether the movement is in the X direction as shown in the figure), the rotating shaft 52Y and motor 56Y are associated with the movement of the link in the XY plane (regardless of whether the movement is in the Y direction as shown in the figure), and the rotating shaft 52Z and motor 56Z are associated with the movement of the link 54 perpendicular to the XY plane.

[0164] Typically, as shown in the figure, the Y rotation axis 52Y is aligned with the Z rotation axis 52Z along the Z direction. Furthermore, both Y and Z linear motions are usually provided via link 54. Note that in some applications, an additional support link 55 is positioned parallel to link 54 and rotates together with link 54. In some applications, link 54 and / or link 55 consist of two or more parts rigidly coupled to each other. For example, as shown in Figure 5A, links 54 and 55 each include a first part positioned to the left of the Z rotation axis 52Z and a second part positioned to the right of the Z rotation axis 52Z. In some applications, rotary encoders are positioned along each of the rotation axes 52X, 52Y, and 52Z (or parallel rotation axes (e.g., the rotation axis of link 55)). The rotary encoders detect the rotation about the rotation axis of each link and generate signals in response. A computer processor derives the motion of the control component tool along each linear direction from the signals generated by the rotary encoders. In some applications, at least one additional rotary encoder is provided along each of the rotation axes 52X, 52Y, and 52Z to provide redundancy to the system (for example, so that if one rotary encoder fails, the other rotary encoder is used).

[0165] Typically, the control component tool 32 is movable by an operator and undergoes pitch, yaw, and roll angular rotation. The control component tool typically undergoes pitch angular rotation by rotating around the pitch rotation axis 70, and yaw angular rotation by the rotation of the shaft 53 (to which the control component tool is mounted) around its own axis 72 (which functions as the yaw rotation axis). Typically, the control component tool undergoes roll angular rotation by rotating around its own axis 74 (which functions as the roll rotation axis). In some applications, an inertial measurement unit 76 is housed within the control component tool. Typically, the inertial measurement unit includes a 3-axis accelerometer, a 3-axis gyroscope, and / or a 3-axis magnetometer. The inertial measurement unit typically generates inertial measurement unit data regarding the three-dimensional orientation of the control component tool. Alternatively or additionally, the control component includes one or more rotary encoders for detecting the roll, pitch, and / or yaw orientation of the control component tool 32. Typically, the rotary encoders are positioned along the axes in which the roll, pitch, and yaw angular rotations occur, respectively. In some applications, the control component includes one or more rotary encoders for detecting the roll, pitch, and / or yaw of the control component tool 32, as well as an inertial measurement unit 76 for redundancy (for example, so that the rotary encoders are used if the inertial measurement unit fails).

[0166] Typically, the computer processor 28 receives rotational encoder data and inertial measurement unit data. Typically, the computer processor determines the XYZ position of the tip of the control component tool 32 based on the rotational encoder data, and determines the three-dimensional orientation of the tip of the control component tool 32 (e.g., three Euler angles and / or another orientation representation) based on the inertial measurement unit data, or a combination of rotational encoder data and inertial measurement unit data. Thus, the computer processor is configured to determine the XYZ position and three-dimensional orientation of the tip of the control component tool based on a combination of rotational encoder data and inertial measurement unit data.

[0167] Typically, the direct-drive motors 56X, 56Y, and 56Z (i.e., motors that do not transmit motion via gears) are typically linear motors (e.g., linear voice coil motors) and are associated with motion along the X, Y, and Z linear directions. In some applications, the computer processor is configured to drive the control component unit to provide the operator with force feedback indicating the entry position of the ophthalmic tool into the patient's eye within the incision. In some applications, the motor is configured to drive the tool to move linearly in order to provide the aforementioned force feedback. In some applications, the computer processor is configured to apply a force to resist the movement of the control component tool 32 attempted by the operator, which would cause it to move away from the remote center of motion. For example, in response to the operator moving the control component tool by yaw rotation, which would result in the corresponding ophthalmic tool movement moving away from the remote center of motion, the computer processor may move the control component tool linearly (via X, Y, and / or Z linear motion) so that the remote center of motion of the ophthalmic tool is maintained. In some such applications, force is applied by driving a control component tool to move in the X, Y, and Z linear directions via motors 56X, 56Y, and 56Z.

[0168] Typically, the robotic system 10 is used in procedures requiring delicate and precise movements of surgical tools, such as ophthalmic procedures, as described above. Therefore, the control component unit 30 is typically configured so that the movement of the control component tool is performed without large reaction forces applied by the operator (except for reaction forces intentionally applied via motors 56X, 56Y, and 56Z). In some applications, the control component tool includes a counterweight 58, which balances the weight of the control component tool relatively evenly with respect to the pitch rotation axis 70. In some applications, the control component tool is not perfectly balanced with respect to the pitch rotation axis 70 in order to give the physician a sense of the tool's weight (like that of an actual surgical tool) and / or to reduce the overall mass of the control component tool. In some applications, the link 54 extends on both sides of the Z rotation axis 52Z, and the control component tool and additional components are arranged on the link 54 (and / or parallel link 55) on the first side of the rotation axis 52Z. In some applications, the motor 56Z, positioned along the Z-axis, is positioned on the link 54 on the opposite side of the rotating shaft 52Z, thereby balancing the weight of the control component tool and additional components positioned on the first side. In some such applications, the control component unit does not include additional counterweights for this purpose. Alternatively, the control component unit includes counterweights for this purpose in addition to the motor 56Z.

[0169] In some applications, the frame 50 (which functions as a link providing linear motion in the X direction) has two curved arms, and the motor 56Y (and optionally its extension 56YE) passes linearly between the two curved arms. In some applications, the end of the frame 50 adjacent to the Z rotation axis 52Z is ​​aligned with the Z rotation axis 52Z (as shown in Figure 5A), so that the frame 50 does not impart torque around the Z rotation axis 52Z. Therefore, the frame 50 does not need to be counterbalanced with respect to the Z rotation axis 52Z. In some applications, even if the frame 50 moves (due to movement in the X direction), the frame remains aligned with the Z rotation axis 52Z, and no compensatory movement is required to balance the frame's movement.

[0170] As explained above, the control component unit is typically balanced in all six degrees of freedom (three axial movements and three angular rotations). In some applications, the control component unit uses counterweights to balance two degrees of freedom: axial motion in the Z direction and pitch angular motion. In the embodiments shown in Figures 5A to 5D, the motor 56Z acts as a counterweight in the axial motion in the Z direction. For the remaining four degrees of freedom (i.e., motion in the X and Y directions, as well as roll and yaw angular motion), counterweights are usually not required because the control component unit is designed so that the control component tool and / or other elements of the control component unit are self-balanced in these degrees of freedom. Because the control component unit is designed to be balanced in all six degrees of freedom (for example, by self-balancing in four degrees of freedom and by counterweights providing balance in the remaining two degrees of freedom), the control component tool tends to maintain its position and orientation when no force is acting on it. Therefore, if the operator temporarily releases the control component tool (by not applying force to the control component tool when releasing the tool), the control component tool will maintain its position and orientation until the operator resumes control of the control component tool. Furthermore, since the control component tool usually provides relatively low inertial forces, it can provide force feedback to the operator with relatively low levels of force. In other words, a motor configured to provide force feedback to the operator by driving the control component tool to move is configured to provide force feedback without substantially having to overcome inertial forces.

[0171] In some applications, as shown in Figures 5A to 5B, the motor 56Y is positioned in the XY plane such that its center of mass is substantially aligned with the X rotation axis 52X when the motor 56Y is extended and retracted. Typically, this prevents the movement of the motor 56Y from imparting torque in the Z direction to the link 54 when the motor 56Y is extended and retracted. Note that the center of mass of the motor shifts slightly when the motor is extended and retracted. Typically, the motor is positioned so that its center of mass is aligned with the X rotation axis 52X in at least one position in the fully extended and fully retracted state. Furthermore, typically, the center of mass of the motor is aligned with the X rotation axis 52X when the motor is in its center position relative to the fully extended and fully retracted state. In some applications, the center of mass of the motor is within 10 mm, for example, 5 mm, of the X rotation axis 52X when the motor is fully extended and fully retracted. Furthermore, it should be noted that the motor 56Y is typically coupled to the frame 50 and configured to rotate together with the frame 50. Because of this configuration, even when the frame 50 rotates, the motor does not apply torque to the frame 50.

[0172] In some applications, the frame 50 includes an angled extension 50E to which a motor 56X (and optionally its extension 56XE) is coupled. The motor 56X rotates the frame 50 around axis 52X by pushing or pulling the angled extension 50E. Typically, the inclusion of the angled extension 50E in the control component unit reduces the dimensions of the control component unit (and the overall footprint of the control component) compared to when the motor 56X (or its extension 56XE) is coupled to a non-angled continuum of the frame 50 opposite the main part of the frame 50 to axis 52X. In some applications (not shown), the motor 56X rotates the frame 50 around axis 52X by pushing or pulling a non-angled extension located within the frame's footprint.

[0173] Similarly, in some applications, link 54 includes an angled extension 54E to which a motor 56Y (and optionally its extension 56YE) is coupled. The motor 56Y rotates link 54 around axis 52Y by pushing or pulling the angled extension 54E. Typically, the inclusion of the angled extension 54E in the control component unit reduces the dimensions of the control component unit (and the overall footprint of the control component) compared to when the motor 56Y (or its extension 56YE) is coupled to a non-angled continuum of link 54 on the opposite side of axis 52Y from the main part of link 54. In some applications (not shown), the motor 56Y rotates frame 50 around axis 52Y by pushing or pulling link 54 at a position offset from the Y rotation axis 52Y.

[0174] In some applications, the vertical axis 72 of shaft 53 (which functions as the yaw axis) is aligned with the ends of links 54 and 55.

[0175] As illustrated with reference to Figures 4A to 4D, control component tools are typically docked to the base in a predetermined orientation that is not usually perpendicular. In some applications, sensors (switches, photoreflectors, etc.) recognize that the control component tool has been docked. When the control component tool is docked, the computer processor recalibrates the inertial measurement unit based on two ground truth vectors, namely the gravity vector and the known orientation of the control component tool. Therefore, each time the control component tool is docked, the inertial measurement unit is recalibrated to compensate for drift.

[0176] In some applications, the computer processor performs recalibration of the inertial measurement unit using the algorithm described above, with reference to Figures 4A to 4D. When it is detected that the control component tool is docked, the inertial measurement unit transmits the detected roll axis position to the computer processor. The roll axis is typically the axis that drifts due to a lack of gravity information. The roll axis position is projected onto the horizontal plane (perpendicular to gravity) and compared to the known true tilt angle, i.e., the angle that the control component tool is known to take when it is in the horizontal plane. Any difference between the measured orientation and the true orientation is subtracted from the measured orientation. In practice, the inertial measurement unit's measurements are corrected to match the true orientation that the control component tool is known to take, and this correction is maintained until the next time the control component tool is docked, at which point the correction is repeated.

[0177] While some applications of the present invention are described in relation to cataract surgery, the scope of this application includes applying the apparatus and methods described herein to other medical procedures with necessary modifications. In particular, the apparatus and methods described herein for other medical procedures may be applied to other microsurgical procedures performed using microsurgical techniques, such as general surgery, orthopedic surgery, gynecological surgery, otolaryngological surgery, neurosurgical surgery, oral and maxillofacial surgery, plastic surgery, podiatric surgery, vascular surgery, and / or pediatric surgery. In some such applications, the imaging system includes one or more microscope imaging units.

[0178] It should be noted that the scope of this application includes applying the apparatus and methods described herein to intraocular procedures other than cataract surgery with necessary modifications. Such procedures may include collagen cross-linking, endothelial corneal transplantation (e.g., DSEK, DMEK, and / or PDEK), DSO (Descemet's membrane debridement without transplantation), laser-assisted corneal transplantation, corneal transplantation, LASIK / PRK, SMILE, pterygium, treatment of ocular surface cancer, secondary IOL placement (suturing, transconjunctival, etc.), iris repair, IOL repositioning, IOL replacement, superficial keratectomy, minimally invasive glaucoma surgery (MIGS), limbal stem cell transplantation, astigmatic keratectomy, limbal resection (LRI), amniotic membrane transplantation (AMT), glaucoma surgery (e.g., trabe, tube, minimally invasive glaucoma surgery), automated superficial corneal transplantation (ALK), anterior vitrectomy, and / or anterior squamous vitrectomy.

[0179] The uses of the present invention described herein may take the form of a computer program product accessible from a computer-compatible or computer-readable medium (e.g., a non-temporary computer-readable medium) that provides program code used by or in connection with a computer or any instruction execution system, such as a computer processor 28. For the purposes described herein, the computer-compatible or computer-readable medium may be any device that can contain, store, transmit, propagate, or transport a program used by or in connection with an instruction execution system, apparatus, or device. The medium may be an electronic system, a magnetic system, an optical system, an electromagnetic system, an infrared system, or a semiconductor system (or apparatus or device) or a propagation medium. Typically, the computer-compatible or computer-readable medium is a non-temporary computer-compatible or computer-readable medium.

[0180] 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.

[0181] A data processing system suitable for storing and / or executing program code includes at least one processor (e.g., a computer processor 28) directly or indirectly coupled to a memory element via a system bus. The memory element may include local memory used during the actual execution of the program code, mass storage, and cache memory that provides temporary storage for at least some of the program code to reduce the number of times the code must be retrieved from the mass storage during execution. The system can read instructions of the present invention on a program storage device and execute methods of embodiments of the present invention in accordance with these instructions.

[0182] By connecting a network adapter to a processor, it becomes possible to connect the processor to other processors or remote printers or storage devices via an intervening private or public network. A few examples of currently available types of network adapters include modems, cable modems, and Ethernet cards.

[0183] Computer program code for performing the operation of the present invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the C programming language or similar programming languages.

[0184] It will be understood that the algorithms described herein can be implemented by computer program instructions. These computer program instructions are provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to generate a machine, and instructions executed via the computer (e.g., computer processor 28) or the processor of the other programmable data processing device can generate means for performing the functions / operations specified in the algorithms described herein. Furthermore, these computer program instructions are stored in a computer-readable medium (e.g., a non-temporary computer-readable medium) to instruct the computer or other programmable data processing device to function in a particular manner, and instructions stored in the computer-readable medium can generate an article of manufacture containing instruction means for performing the functions / operations specified in the algorithms. Furthermore, the computer program instructions are loaded onto a computer or other programmable data processing device to execute a series of operational steps on the computer or other programmable data processing device to generate a computer implementation process, and instructions executed on the computer or other programmable data processing device can provide a process for performing the functions / operations specified in the algorithms described herein.

[0185] The computer processor 28 is typically a hardware device programmed by computer program instructions to generate a special-purpose computer. For example, when programmed to execute the algorithm described with reference to the figure, the computer processor 28 typically acts as a special-purpose robotic system computer processor. Typically, the operations described herein performed by the computer processor 28 change the physical state of memory, which is an actual physical item, so that it has different magnetic polarity, charge, etc., depending on the technology of the memory used. In some applications, the operations described herein as performed by a computer processor are performed by a combination of multiple computer processors.

[0186] Those skilled in the art will recognize that the present invention is not limited to what is specifically illustrated and described above. The scope of the present invention includes both combinations and subcombinations of the various features described above, as well as modifications and changes that are not in the prior art and can be recalled by those skilled in the art upon reading the foregoing description.

Claims

1. A device for performing a procedure on a part of a patient's body using a surgical tool having a tip, an imaging system, and a display, A robotic unit configured to move the aforementioned surgical tool, A control component unit comprising one or more position sensors and a control component tool configured to be moved by an operator and defining its tip, At least one computer processor, The display is driven to show images of the surgical tool and the part of the patient's body. In response to the control component tool being at least partially aligned with the surgical tool in the image on the display, the control component tool is engaged with the surgical tool. When the control component tool is engaged with the surgical tool, Based on the data received from one or more position sensors, the position and orientation of the tip of the control component tool are determined. A computer processor and a control component configured to move the tip of the surgical tool within the patient's eye so as to match the movement of the tip of the tip of the tool's position and orientation. A device equipped with.

2. The apparatus according to claim 1, wherein the apparatus is configured to perform an ophthalmic procedure on a patient's eye using one or more ophthalmic tools having a tip, and the robotic unit is configured to move the one or more ophthalmic tools within the patient's eye.

3. The apparatus according to claim 1, wherein the computer processor is configured to drive the display to display an extended surgical tool superimposed on the surgical tool on the display.

4. The apparatus according to claim 1, wherein the computer processor is configured to drive the display to display an extended control component tool superimposed on the control component tool, and the computer processor is configured to engage the control component tool with the surgical tool in response to the extended control component tool being at least partially aligned with the surgical tool in the image on the display.

5. The apparatus according to claim 1, wherein the computer processor is configured to automatically move the control component tool so that it is at least partially aligned with the surgical tool in the image on the display, thereby causing the control component tool to engage with the surgical tool.

6. The apparatus according to claim 1, wherein the robot unit is capable of moving the surgical tool within the tool workspace, and the computer processor is configured to automatically drive the robot unit to move the surgical tool to its initial position within a predetermined portion of the tool workspace.

7. The robot unit is configured to move the surgical tool within the tool reference frame, The aforementioned control component tool can operate within the control component reference frame. The apparatus according to claim 1, wherein the computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the control component tool is positioned in an orientation within the control component reference frame that is substantially the same as the orientation of the surgical tool within the tool reference frame.

8. The apparatus according to claim 1, wherein the computer processor is configured to engage the control component tool with the surgical tool without requiring any input via the operator control interface other than the movement of the control component tool.

9. The surgical tools include left and right surgical tools. The robot unit includes left and right robot units configured to move the left and right surgical tools, respectively. The control component unit is configured to be moved by the operator and includes left and right control component tools for defining the tip, The left control component tool is capable of engaging with both the left and right surgical tools. The apparatus according to any one of claims 1 to 8, wherein the right control component tool is capable of engaging with both the left and right surgical tools.

10. The apparatus according to claim 9, wherein the computer processor is configured to engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool in response to input from the operator.

11. The apparatus according to claim 9, wherein the computer processor is configured to automatically engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool based on the positions of the left and right robotic units with respect to the part of the patient's body.

12. The apparatus according to any one of claims 1 to 8, wherein the robot unit is capable of moving the surgical tool within the tool workspace, and the computer processor is configured to disengage the control component tool from the surgical tool in response to the surgical tool being moved toward the edge of the tool workspace.

13. The apparatus according to claim 12, wherein the computer processor is configured to generate a graphic on the display indicating that the control component tool is disengaged from the surgical tool.

14. The apparatus according to any one of claims 1 to 8, wherein the control component tool is capable of moving within the control component workspace, and the computer processor is configured to guide the operator to move the control component tool so as to engage with the surgical tool when the control component tool is positioned within a predetermined portion of the control component workspace.

15. The apparatus according to claim 14, wherein the computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the control component tool is located relatively centrally within the control component workspace.

16. The apparatus according to claim 14, wherein the robot unit is capable of moving the surgical tool within the tool workspace, and the computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the control component tool is positioned such that the control component tool can be moved to any position within the tool workspace without the control component tool leaving the control component workspace.

17. A device for performing a procedure on a part of a patient's body using a surgical tool having a tip, an imaging system, and a display, A robotic unit configured to move the aforementioned surgical tool, A control component unit comprising one or more position sensors and a control component tool configured to be moved by an operator, with a defined tip, and capable of moving within the control component workspace, At least one computer processor, When the control component tool is positioned within a predetermined portion of the control component workspace, the operator is guided to move the control component tool to engage with the surgical tool. When the control component tool is engaged with the surgical tool, Based on the data received from one or more position sensors, the position and orientation of the tip of the control component tool are determined. A computer processor and a control component configured to move the tip of the surgical tool within the patient's eye so as to match the movement of the tip of the tip of the tool's position and orientation. A device equipped with.

18. The apparatus according to claim 17, wherein the computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the control component tool is located relatively centrally within the control component workspace.

19. The apparatus according to claim 17, wherein the robot unit is capable of moving the surgical tool within the tool workspace, and the computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the control component tool is positioned such that the control component tool can be moved to any position within the tool workspace without the control component tool leaving the control component workspace.

20. The apparatus according to claim 17, wherein the apparatus is configured to perform an ophthalmic procedure on a patient's eye using one or more ophthalmic tools having a tip, and the robotic unit is configured to move the one or more ophthalmic tools within the patient's eye.

21. The robot unit is configured to move the surgical tool within the tool reference frame, The aforementioned control component tool can operate within the control component reference frame. The apparatus according to claim 17, wherein the computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the control component tool is positioned in an orientation within the control component reference frame that is substantially similar to the orientation of the surgical tool within the tool reference frame.

22. The apparatus according to claim 17, wherein the computer processor is configured to engage the control component tool with the surgical tool without requiring any input via the operator control interface other than the movement of the control component tool.

23. The surgical tools include left and right surgical tools. The robot unit includes left and right robot units configured to move the left and right surgical tools, respectively. The control component unit is configured to be moved by the operator and includes left and right control component tools for defining the tip, The left control component tool is capable of engaging with both the left and right surgical tools. The apparatus according to any one of claims 17 to 22, wherein the right control component tool is capable of engaging with both the left and right surgical tools.

24. The apparatus according to claim 23, wherein the computer processor is configured to engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool in response to input from the operator.

25. The apparatus according to claim 23, wherein the computer processor is configured to automatically engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool based on the positions of the left and right robotic units with respect to the part of the patient's body.

26. The apparatus according to any one of claims 17 to 22, wherein the robot unit is capable of moving the surgical tool within the tool workspace, and the computer processor is configured to disengage the control component tool from the surgical tool in response to the surgical tool being moved toward the edge of the tool workspace.

27. The apparatus according to claim 26, wherein the computer processor is configured to generate a graphic on the display indicating that the control component tool is disengaged from the surgical tool.

28. The apparatus according to any one of claims 17 to 22, wherein the computer processor is configured to drive the display to show images of the surgical tool and the part of the patient's body.

29. The apparatus according to claim 28, wherein the computer processor is configured to drive the display to display an extended surgical tool superimposed on the surgical tool on the display.

30. The apparatus according to claim 28, wherein the computer processor is configured to engage the control component tool with the surgical tool in response to the control component tool being at least partially aligned with the surgical tool in the image on the display.

31. The apparatus according to claim 30, wherein the computer processor is configured to automatically move the control component tool so that it is at least partially aligned with the surgical tool in the image on the display, thereby causing the control component tool to engage with the surgical tool.

32. The apparatus according to claim 30, wherein the computer processor is configured to drive the display to display an extended control component tool superimposed on the control component tool, and the computer processor is configured to engage the control component tool with the surgical tool in response to the extended control component tool being at least partially aligned with the surgical tool in the image on the display.

33. A device for performing a procedure on a part of a patient's body using a surgical tool having a tip, an imaging system, and a display, A robotic unit configured to move the surgical tool within a tool reference frame, A control component unit comprising one or more position sensors and a control component tool configured to be moved by an operator, which defines a tip and can move within a control component reference frame, At least one computer processor, When the control component tool is positioned in an orientation within the control component reference frame that is substantially the same as the orientation of the surgical tool within the tool reference frame, the operator is guided to move the control component tool to engage with the surgical tool. When the control component tool is engaged with the surgical tool, Based on the data received from one or more position sensors, the position and orientation of the tip of the control component tool are determined. A computer processor and a control component configured to move the tip of the surgical tool within the patient's eye so as to match the movement of the tip of the tip of the tool's position and orientation. A device equipped with.

34. The apparatus according to claim 33, wherein the apparatus is configured to perform an ophthalmic procedure on a patient's eye using one or more ophthalmic tools having a tip, and the robotic unit is configured to move the one or more ophthalmic tools within the patient's eye.

35. The apparatus according to claim 33, wherein the computer processor is configured to engage the control component tool with the surgical tool without requiring any input via the operator control interface other than the movement of the control component tool.

36. The surgical tools include left and right surgical tools. The robot unit includes left and right robot units configured to move the left and right surgical tools, respectively. The control component unit is configured to be moved by the operator and includes left and right control component tools for defining the tip, The left control component tool is capable of engaging with both the left and right surgical tools. The apparatus according to any one of claims 33 to 35, wherein the right control component tool is engageable with both the left and right surgical tools.

37. The apparatus according to claim 36, wherein the computer processor is configured to engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool in response to input from the operator.

38. The apparatus according to claim 36, wherein the computer processor is configured to automatically engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool based on the positions of the left and right robotic units with respect to the part of the patient's body.

39. The apparatus according to any one of claims 33 to 35, wherein the robot unit is capable of moving the surgical tool within the tool workspace, and the computer processor is configured to disengage the control component tool from the surgical tool in response to the surgical tool being moved toward the edge of the tool workspace.

40. The apparatus according to claim 39, wherein the computer processor is configured to generate a graphic on the display indicating that the control component tool is disengaged from the surgical tool.

41. The apparatus according to any one of claims 33 to 35, wherein the computer processor is configured to drive the display to show images of the surgical tool and the part of the patient's body.

42. The apparatus according to claim 41, wherein the computer processor is configured to drive the display to display an extended surgical tool superimposed on the surgical tool on the display.

43. The apparatus according to claim 41, wherein the computer processor is configured to engage the control component tool with the surgical tool in response to the control component tool being at least partially aligned with the surgical tool in the image on the display.

44. The apparatus according to claim 43, wherein the computer processor is configured to automatically move the control component tool so that it is at least partially aligned with the surgical tool in the image on the display, thereby causing the control component tool to engage with the surgical tool.

45. The apparatus according to claim 43, wherein the computer processor is configured to drive the display to display an extended control component tool superimposed on the control component tool, and the computer processor is configured to engage the control component tool with the surgical tool in response to the extended control component tool being at least partially aligned with the surgical tool in the image on the display.

46. The apparatus according to any one of claims 33 to 35, wherein the control component is capable of moving within the control component workspace, and the computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the control component tool is positioned within a predetermined portion of the control component workspace.

47. The apparatus according to claim 46, wherein the computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the control component tool is located relatively centrally within the control component workspace.

48. The apparatus according to claim 46, wherein the robot unit is capable of moving the surgical tool within the tool workspace, and the computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the control component tool is positioned such that the control component tool can be moved to any position within the tool workspace without the control component tool leaving the control component workspace.

49. A device for performing a procedure on a part of a patient's body using a surgical tool having a tip, an imaging system, and a display, A robotic unit configured to move the aforementioned surgical tool, A control component unit comprising one or more position sensors and a control component tool configured to be moved by an operator and defining its tip, At least one computer processor, The control component tool is automatically moved to an engagement position and orientation in which it engages with the surgical tool. When the control component tool is engaged with the surgical tool, Based on the data received from one or more position sensors, the position and orientation of the tip of the control component tool are determined. A computer processor and a control component configured to move the tip of the surgical tool within the patient's eye so as to match the movement of the tip of the tip of the tool's position and orientation. A device equipped with.

50. The apparatus according to claim 49, wherein the apparatus is configured to perform an ophthalmic procedure on a patient's eye using one or more ophthalmic tools having a tip, and the robotic unit is configured to move the one or more ophthalmic tools within the patient's eye.

51. The apparatus according to claim 49, wherein the robot unit is capable of moving the surgical tool within the tool workspace, and the computer processor is configured to automatically drive the robot unit to move the surgical tool to its initial position within a predetermined portion of the tool workspace.

52. The apparatus according to claim 49, wherein the computer processor is configured to engage the control component tool with the surgical tool without requiring any input via the operator control interface other than the movement of the control component tool.

53. The robot unit is configured to move the surgical tool within the tool reference frame, The aforementioned control component tool can operate within the control component reference frame. The apparatus according to claim 49, wherein the computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the control component tool is positioned in an orientation within the control component reference frame that is substantially similar to the orientation of the surgical tool within the tool reference frame.

54. The surgical tools include left and right surgical tools. The robot unit includes left and right robot units configured to move the left and right surgical tools, respectively. The control component unit is configured to be moved by the operator and includes left and right control component tools for defining the tip, The left control component tool is capable of engaging with both the left and right surgical tools. The apparatus according to any one of claims 49 to 53, wherein the right control component tool is capable of engaging with both the left and right surgical tools.

55. The apparatus according to claim 54, wherein the computer processor is configured to engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool in response to input from the operator.

56. The apparatus according to claim 54, wherein the computer processor is configured to automatically engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool based on the positions of the left and right robotic units with respect to the part of the patient's body.

57. The apparatus according to any one of claims 49 to 53, wherein the robot unit is capable of moving the surgical tool within the tool workspace, and the computer processor is configured to disengage the control component tool from the surgical tool in response to the surgical tool being moved toward the edge of the tool workspace.

58. The apparatus according to claim 57, wherein the computer processor is configured to generate a graphic on the display indicating that the control component tool is disengaged from the surgical tool.

59. The apparatus according to any one of claims 49 to 53, wherein the computer processor is configured to drive the display to show images of the surgical tool and the part of the patient's body.

60. The apparatus according to claim 59, wherein the computer processor is configured to drive the display to display an extended surgical tool superimposed on the surgical tool on the display.

61. The apparatus according to claim 59, wherein the computer processor is configured to engage the control component tool with the surgical tool in response to the control component tool being at least partially aligned with the surgical tool in the image on the display.

62. The apparatus according to claim 61, wherein the computer processor is configured to drive the display to display an extended control component tool superimposed on the control component tool, and the computer processor is configured to engage the control component tool with the surgical tool in response to the extended control component tool being at least partially aligned with the surgical tool in the image on the display.

63. The apparatus according to any one of claims 49 to 53, wherein the control component tool is capable of moving within the control component workspace, and the computer processor is configured to guide the operator to move the control component tool so as to engage with the surgical tool when the control component tool is positioned within a predetermined portion of the control component workspace.

64. The apparatus according to claim 63, wherein the computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the control component tool is located relatively centrally within the control component workspace.

65. The apparatus according to claim 63, wherein the robot unit is capable of moving the surgical tool within the tool workspace, and the computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the control component tool is positioned such that the control component tool can be moved to any position within the tool workspace without the control component tool leaving the control component workspace.

66. A device for performing a procedure on a part of a patient's body using a surgical tool having a tip, an imaging system, and a display, A robotic unit configured to move the aforementioned surgical tool, A control component unit comprising one or more position sensors and a control component tool configured to be moved by an operator and defining its tip, A computer processor, The system receives an input indicating that the control component tool should engage with the surgical tool, and the input includes movement of the control component tool to a predetermined position and orientation. When the control component tool is engaged with the surgical tool, Based on the data received from one or more position sensors, the position and orientation of the tip of the control component tool are determined. A computer processor and a control component configured to move the tip of the surgical tool within the patient's eye so as to match the movement of the tip of the tip of the tool's position and orientation. A device equipped with.

67. The apparatus according to claim 66, wherein the computer processor is configured to receive the input indicating that the control component tool should engage with the surgical tool, without requiring any input via the operator control interface other than the movement of the control component tool.

68. The apparatus according to claim 66, wherein the apparatus is configured to perform an ophthalmic procedure on a patient's eye using one or more ophthalmic tools having a tip, and the robotic unit is configured to move the one or more ophthalmic tools within the patient's eye.

69. The apparatus according to claim 66, wherein the robot unit is capable of moving the surgical tool within the tool workspace, and the computer processor is configured to automatically drive the robot unit to move the surgical tool to its initial position within a predetermined portion of the tool workspace.

70. The robot unit is configured to move the surgical tool within the tool reference frame, The aforementioned control component tool can operate within the control component reference frame. The apparatus according to claim 66, wherein the computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the control component tool is positioned in an orientation within the control component reference frame that is substantially similar to the orientation of the surgical tool within the tool reference frame.

71. The surgical tools include left and right surgical tools. The robot unit includes left and right robot units configured to move the left and right surgical tools, respectively. The control component unit is configured to be moved by the operator and includes left and right control component tools for defining the tip, The left control component tool is capable of engaging with both the left and right surgical tools. The apparatus according to any one of claims 66 to 70, wherein the right control component tool is engageable with both the left and right surgical tools.

72. The apparatus according to claim 71, wherein the computer processor is configured to engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool in response to input from the operator.

73. The apparatus according to claim 71, wherein the computer processor is configured to automatically engage the left control component tool with the right surgical tool and the right control component tool with the left surgical tool based on the positions of the left and right robotic units with respect to the part of the patient's body.

74. The apparatus according to any one of claims 66 to 70, wherein the robot unit is capable of moving the surgical tool within the tool workspace, and the computer processor is configured to disengage the control component tool from the surgical tool in response to the surgical tool being moved toward the edge of the tool workspace.

75. The apparatus according to claim 74, wherein the computer processor is configured to generate a graphic on the display indicating that the control component tool is disengaged from the surgical tool.

76. The apparatus according to any one of claims 66 to 70, wherein the computer processor is configured to drive the display to show images of the surgical tool and the part of the patient's body.

77. The apparatus according to claim 76, wherein the computer processor is configured to drive the display to display an extended surgical tool superimposed on the surgical tool.

78. The apparatus according to claim 76, wherein the computer processor is configured to engage the control component tool with the surgical tool in response to the control component tool being at least partially aligned with the surgical tool in the image on the display.

79. The apparatus according to claim 78, wherein the computer processor is configured to drive the display to display an extended control component tool superimposed on the control component tool, and the computer processor is configured to engage the control component tool with the surgical tool in response to the extended control component tool being at least partially aligned with the surgical tool in the image on the display.

80. The apparatus according to any one of claims 66 to 70, wherein the control component tool is capable of moving within the control component workspace, and the computer processor is configured to guide the operator to move the control component tool so as to engage with the surgical tool when the control component tool is positioned within a predetermined portion of the control component workspace.

81. The apparatus according to claim 80, wherein the computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the control component tool is located relatively centrally within the control component workspace.

82. The apparatus according to claim 80, wherein the robot unit is capable of moving the surgical tool within the tool workspace, and the computer processor is configured to guide the operator to move the control component tool to engage with the surgical tool when the control component tool is positioned such that the control component tool can be moved to any position within the tool workspace without the control component tool leaving the control component workspace.

83. A device for performing a procedure on a part of a patient's body using a surgical tool having a tip, an imaging system, and a display, A robotic unit configured to move the surgical tool within the tool workspace, A control component unit, A control component tool configured to be moved by an operator, defining the tip, An inertial measurement unit comprising at least one sensor selected from a group consisting of a 3-axis accelerometer, a 3-axis gyroscope, and a 3-axis magnetometer, and configured to generate inertial measurement unit data indicating the orientation of the tip of the control component tool. A control component unit equipped with, A computer processor, Based on the data received from one or more position sensors, the position and orientation of the tip of the control component tool are determined. The tip of the ophthalmic tool is moved within the patient's eye to match the movement of the control component tool. The control component tool recalibrates the inertial measurement unit in response to the control component unit being docked in a known orientation. A computer processor configured in such a way as A device equipped with.

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