Input receiving component for robotic microsurgery procedures

Abstract

Apparatus and method are described, including a control component tool (30) comprising a handle (52) and an input receiving component (50) disposed on the handle (52). The input receiving component (50) includes one or more light sources (56) disposed on a first radial wall (60), one or more photodetectors (58) disposed on a second radial wall (62) facing the first radial wall (60), and a deformable sleeve (54) extending axially between the first and second radial walls and configured to attenuate light directed from one or more light sources (56) to one or more photodetectors (58) in response to being pressed. A computer processor (28) receives signals indicating light attenuation from one or more photodetectors (58) and controls a surgical tool (21) in response. Other applications are also described.

Description

Technical Field

[0001] (Cross - reference to related applications) This application claims priority to U.S. Provisional Patent Application No. 63 / 465,038, filed May 9, 2023, by Golan, entitled "Input - receiving component for robotic microsurgical procedures", which is incorporated herein by reference.

[0002] Some uses of the present invention generally relate to medical devices and methods. Specifically, some uses 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 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 lens is removed using one or more tools inserted through one or more corneal incisions. Various enhanced techniques have been developed to perform capsulorexis, including laser-assisted capsulorexis, zeptorexis (utilizing precision nanopulse technology), and marker-assisted capsulorexis (marking the cornea with a designated marker to indicate the desired size of the capsular 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 are injected to 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 the outer fragments of the lens are broken up and removed, typically using an ultrasound emulsification probe. Once phacoemulsification is complete, the remaining lens cortex (i.e., the outer layer of the lens) and viscoelastic material are aspirated from the capsule. During phacoemulsification and aspiration, the anterior chamber is usually washed with an equilibrium salt solution instead of the aspirated fluid to maintain fluid pressure.

[0007] In some cases, if deemed necessary, the capsule is polished. After this, an intraocular lens (IOL) is inserted into the capsule. The IOL is typically foldable and, after being inserted in its folded configuration, is unfolded within 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 tissue against the external tissue of the incision to forcibly close the incision. [Overview of the project]

[0008] According to some applications of the present invention, a robotic system is provided that is configured for use in microsurgical procedures such as ophthalmic surgery. Typically, when used in ophthalmic surgery, the robotic system includes, in addition to one or more robotic units (configured to hold surgical 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.

[0009] Typically, a control component unit includes one or more (e.g., a pair) control components configured to correspond to each robot unit in a robot system. For example, as shown in Figure 1A, the system may include first and second robot units, and the control component unit may include first and second control components. Typically, each control component includes 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 surgical tool). Typically, a computer processor determines the XYZ position and orientation of the tip of the control component tool and drives the robot units so that the tip of the actual tool (i.e., surgical 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.

[0010] 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 includes 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 blades, phacoemulsification tools (e.g., the operating mode and / or suction force of the phacoemulsification tool), forceps (e.g., opening and closing the forceps), intraocular lens manipulator tools (e.g., the tool manipulates the intraocular lens inside the eye for precise positioning of the intraocular lens within the eye), and / or injector tools (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., zoom, focus, orientation, and / or XYZ positioning of the imaging system). In some applications, the control component tool (and / or another part of the control component unit) includes one or more input receiving components configured to receive such inputs from the operator.

[0011] In some applications, the input receiving component is configured to be rotation-independent, so that the detected input is the same regardless of the roll orientation of the control component tool relative to the operator's hand. In some cases, this is desirable because the control component tool typically undergoes roll angle rotation relative to the operator's hand during use. In some applications, one or more input receiving components are positioned at discrete circumferential positions relative to the control component tool, so that the input receiving component can only press at specific circumferential positions. In some cases, this is desirable because the input receiving component is more similar to that of conventional surgical tools such as forceps.

[0012] In some applications, the input receiving component includes a deformable sleeve, one or more light sources, and one or more photodetectors. In some applications, the deformable sleeve includes an elastomer material such as silicon. In some applications, the handle of the control component tool defines a first radial wall (i.e., a wall whose surface is arranged radially along the handle), and one or more light sources include multiple LEDs positioned circumferentially on the first radial wall to direct light parallel to the axis of the handle. In some applications, the handle defines a second radial wall facing the first radial wall, and one or more photodetectors include another ambient photodetector positioned circumferentially on the second radial wall to face the LEDs. Typically, the deformable sleeve extends axially between the first and second radial walls.

[0013] In some applications, the control component unit is configured to provide input to the robotic system by an operator pressing a deformable sleeve. Typically, when pressure is applied to the deformable sleeve, the sleeve deforms, at least partially attenuating the light from the light source toward the photodetector. The computer processor usually receives a signal from the photodetector indicating the light attenuation and controls the robotic system and / or imaging system in response to the detection of light attenuation. In some applications, based on the level and / or type of light attenuation, the computer processor detects the degree to which the sleeve has been deformed (indicating the amount of pressure applied by the operator) and controls the robotic system and / or imaging system accordingly. For example, the amount of force applied by the robotic system to close the forceps may be controlled according to the amount of pressure applied by the operator. In some applications, the input receiving component is configured to receive input via the pressure applied to the deformable sleeve by one finger or thumb of the operator. Alternatively or additionally, the input receiving component is configured to receive input via the pressure applied to the deformable sleeve by two fingers (or one finger and a thumb) in a pinching motion, for example.

[0014] It should be noted that the input receiving components described above typically do not rely on the mechanical rigid body motion of any component for the computer processor to detect operator input. Therefore, input receiving components are less susceptible to the mechanical failures inherent in components that rely on such mechanical rigid body motion.

[0015] In some applications, the input receiving component includes one or more magnetic structures (e.g., magnetic leaf springs positioned parallel to the handle axis). Typically, the magnetic structure is covered by a flexible sleeve, such as an elastomer sleeve (e.g., a silicone sleeve). In some applications, one or more magnetic materials are embedded within the sleeve. In some applications, the sleeve itself is magnetic. For example, the sleeve may contain magnetic silicon. Typically, one or more magnetometers (e.g., Hall sensors) are disposed within the handle and configured to measure the magnetic flux generated by the magnetic structure in response to pressure applied to the magnetic structure by the operator.

[0016] Therefore, according to some applications of the present invention, an apparatus for performing a procedure on a patient using a surgical tool, wherein the apparatus is A robotic unit configured to control surgical tools, A control component tool configured to be held by an operator, The handlebars and An input receiving component mounted on the handle, A first radial wall on which one or more light sources are installed, A second radial wall facing the first radial wall, on which one or more photodetectors are arranged, An input receiving component including a deformable sleeve extending axially between first and second radial walls, configured to attenuate light directed from one or more light sources to one or more photodetectors in response to being pressed; Control component tools including, Receiving signals indicating optical attenuation from one or more photodetectors, A device is provided that includes a computer processor configured to control surgical tools in response to this.

[0017] In some applications, input receiving components do not rely on the mechanical rigid body motion of any component for the computer processor to detect input to the input receiving component.

[0018] In some applications, the input receiving component is configured to receive an input via a pressure applied to a deformable sleeve that can be deformed by one finger or the thumb of an operator.

[0019] In some applications, the input receiving component is configured to receive an input via a pressure applied to a deformable sleeve that can be deformed by two fingers.

[0020] In some applications, the light source and the light detector are unevenly distributed around the handle, and the attenuation of light in response to the deformable sleeve being pushed occurs only at discrete positions around the handle.

[0021] In some applications, the device is configured to perform an ophthalmic procedure on a patient's eye using one or more surgical tools having tips, and the robotic unit is configured to move the one or more surgical tools within the patient's eye.

[0022] In some applications, the computer processor determines the movement of the position and orientation of the tip of the control component tool based on data received from one or more position sensors, and is configured to move the tip of the surgical tool within the patient's eye so as to match the movement of the position and orientation of the tip of the control component tool.

[0023] In some applications, the input receiving component is configured to be independent of rotation, and the attenuation of light in response to the deformable sleeve being pushed is the same regardless of the roll orientation of the operator's hand with respect to the control component tool.

[0024] In some applications, the light source and the light detector are evenly distributed around the handle.

[0025] According to some applications of the present invention, an apparatus for treating a patient using a surgical tool, the apparatus comprising A robot unit configured to control a surgical tool, A control component tool configured to be held by an operator, A handle, An input receiving component disposed on the handle, One or more magnetic plate springs, An input receiving component including a magnetometer And a control component tool including Receiving a signal indicating that one or more magnetic plate springs have been pushed by the magnetometer, There is further provided an apparatus including a computer processor configured to control the surgical tool in response thereto.

[0026] In some applications, the magnetic plate springs are covered with a flexible sleeve.

[0027] In some applications, the input receiving component is configured to receive an input via the pressure applied to the magnetic plate spring by one finger or the thumb of the operator.

[0028] In some applications, the input receiving component is configured to receive an input via the pressure applied to the magnetic plate spring by two fingers.

[0029] In some applications, the magnetic plate springs are distributed unevenly around the handle.

[0030] In some applications, the apparatus is configured to perform an ophthalmic procedure on a patient's eye using one or more surgical tools having a tip, and the robot unit is configured to move one or more surgical tools within the patient's eye.

[0031] In some applications, the computer processor Based on data received from one or more position sensors, determines the movement of the position and orientation of the tip of the control component tool, The control component is configured to move the tip of the surgical tool within the patient's eye in accordance with the positional and orientational movements of the tool's tip.

[0032] In some applications, the input receiving component is configured to be rotation-independent, so that the magnetic flux generated by pressing the magnetic leaf spring is the same regardless of the roll orientation of the control component tool relative to the operator's hand.

[0033] In some applications, the magnetic leaf springs are uniformly distributed around the handle.

[0034] According to some applications of the present invention, an apparatus for performing a procedure on a patient using a surgical tool, wherein the apparatus is A robotic unit configured to control surgical tools, A control component tool configured to be held by an operator, The handlebars and A first magnet disposed on the first side of the vertical axis of the handle, and a second magnet disposed on the second side of the vertical axis of the handle, opposite to the first magnet, wherein the first and second magnets are disposed near the vertical axis and have the same poles, A magnetometer is positioned inside the handle, aligned with the centerlines of the first and second magnets along the radial direction of the handle, but offset from the centerlines of the first and second magnets along the axial direction of the handle. Control component tools including, The magnetometer receives a signal indicating the magnetic flux generated when the magnetic structure is compressed. Further provided is an apparatus including a computer processor configured to control surgical tools in response to this.

[0035] In some applications, the computer processor is configured to determine, based on the signal from the magnetometer, whether only the first magnet is being pressed, only the second magnet is being pressed, or both magnets are being pressed.

[0036] In some applications, a computer processor is configured to measure the total pressure when a magnet is pushed, based on a signal from a magnetometer.

[0037] In some applications, the first and second magnets include one or more leaf springs.

[0038] In some applications, the device is configured to perform ophthalmic procedures on a patient's eye using one or more surgical tools with tips, and the robotic unit is configured to move one or more surgical tools within the patient's eye.

[0039] For some applications, computer processors, Based on data received from one or more position sensors, the position and orientation of the tip of the control component tool are determined. The control component is configured to move the tip of the surgical tool within the patient's eye in accordance with the positional and orientational movements of the tool's tip.

[0040] According to some applications of the present invention, an apparatus for performing a procedure on a patient using a surgical tool, wherein the apparatus is A robotic unit configured to control surgical tools, A control component tool configured to be held by an operator, The handlebars and An input receiving component mounted on the handle, A piston barrel defining the neck and the conical head, Each of the spring wires has a first portion that protrudes radially from the housing of the handle and a second portion that contacts the conical head of the piston barrel, and when pressure is applied to the first portion, the second portion pushes the piston barrel axially. A magnet placed inside the neck of the piston barrel, An input receiving component including a magnetometer configured to detect the magnetic flux generated by the movement of a magnet. Control component tools including, The magnetometer receives a signal indicating that one or more spring wires have been pushed. Further provided is an apparatus including a computer processor configured to control surgical tools in response to this.

[0041] According to some applications of the present invention, an apparatus for performing a procedure on a patient using a surgical tool, wherein the apparatus is A robotic unit configured to control surgical tools, A control component tool configured to be held by an operator, The handlebars and An input receiving component mounted on the handle, A sleeve mounted on the handle, One or more ribs projecting radially inward from the sleeve, A shaft positioned concentrically within the sleeve, An input receiving component including one or more pressure sensors disposed on the shaft and configured to be pressed by one or more ribs in response to the sleeve being pressed, and Control component tools including, Receiving signals from one or more pressure sensors indicating that one sleeve has been pressed, Further provided is an apparatus including a computer processor configured to control surgical tools in response to this.

[0042] According to some applications of the present invention, an apparatus for performing a procedure on a patient using a surgical tool, wherein the apparatus is A robotic unit configured to control surgical tools, A control component tool configured to be held by an operator, and configured to receive roll angle rotation, The handle, including the casing, An inner and outer roll limiting component disposed within a housing, wherein the inner roll limiting component is disposed within the outer roll limiting component and Includes control component tools, The inner roll limiting component has a circular cross-section with radial projections, the outer roll limiting component has a circular cross-section with inner and outer radial projections, and the handle housing has inner radial projections. The roll of the inner roll limiting component is limited by the fact that the radial projection of the inner roll limiting component is obstructed by the inner radial projection of the outer roll limiting component. Further provided is a device in which the roll of an outer roll limiting component is limited by the outer radial projection of the outer roll limiting component being obstructed by an inner radial projection on the inner surface of the housing.

[0043] The present invention will be better understood by reading the following detailed description of embodiments in conjunction with the drawings. [Brief explanation of the drawing]

[0044] [Figure 1A-1B] This is a schematic diagram of a robotic system configured for use in microsurgical procedures such as ophthalmic surgery, according to some applications of the present invention. [Figure 2A-2D] This is a schematic diagram of a control component unit including a control component tool, according to some applications of the present invention. [Figure 2E-2H] This is a schematic diagram of a control component tool for a control component and a control component unit, according to some alternative uses of the present invention. [Figure 3A-3B] This is a schematic cross-sectional view of the handle of a control component tool, including an input receiving component, according to some applications of the present invention. [Figure 4A-4C] These are schematic diagrams of the handles of the control component tool shown in Figures 3A and 3B, according to some applications of the present invention. [Figure 5A-5C] This is a schematic diagram of the different parts of the handle of a control component tool, including an input receiving component, according to some alternative uses of the present invention. [Figure 6A-6C] This is a schematic diagram showing the arrangement of a magnet and a magnetometer according to some applications of the present invention. [Figures 7A-7B] This graph shows the changes in magnetic flux generated along each direction using the arrangement shown in Figure 6A, according to some applications of the present invention. [Figure 8A-8B] These are schematic perspective and cross-sectional views of the handle of a control component tool, including an input receiving component, according to further alternative uses of some parts of the present invention. [Figures 9A-9C] This is a schematic diagram of a handle for a control component tool, including an input receiving component, according to some alternative uses of the present invention. [Figure 10A-10B] This is a schematic diagram of a handle for a control component tool, including an input receiving component, according to some alternative uses of the present invention. [Figure 11] This is a schematic diagram of a mechanism for controlling the roll angle rotation of a control component tool, according to some applications of the present invention. [Modes for carrying out the invention]

[0045] The following references to Figures 1A and 1B, schematic diagrams of a robotic system 10 configured for use in microsurgical procedures such as ophthalmic surgery, according to some applications of the present invention. Typically, a robotic system 10 used in ophthalmic 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 control components 26, through which one or more operators 25 (e.g., medical professionals such as physicians and / or nurses) 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. The scope of this application includes mounting one or more robotic units in a robotic system at any of several different positions.

[0046] 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.

[0047] Typically, the movement of the robot unit (and / or control of other aspects of the robot system) is at least partially controlled by one or more operators 25 (e.g., medical professionals such as physicians and / or nurses). 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 includes a stereoscopic imaging device, and the display 24 includes 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. Typically, such commands include commands to control the position and / or orientation of tools placed within the robot 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).

[0048] Typically, the control component 26 includes one or more control component units 30 configured to correspond to each robot unit 20 of the robot system. For example, as shown in Figures 1A to 1B, the system may include first and second robot units, and the control component may include first and second control component units 30. In some applications, the control component unit includes a control component tool 32 within it (to replicate the robot unit), as shown in Figures 1A to 1B. 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 surgical tool 21 used to perform the procedure tracks the movement of the tip of the control component tool.

[0049] Typically, the right control component unit 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 unit 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).

[0050] In some applications, while the tool is being inserted into the patient's eye through the incision, the computer processor is configured to drive a control component unit to provide the operator with feedback indicating the position of the tool entering the patient's eye within the incision. For example, as the tool is moved so that its entry position into the patient's eye approaches the edge of the incision, the resistance to the movement of the control component arm may increase, and / or the control component arm may vibrate, and / or a different output may be produced. In some applications, the computer processor is configured to apply a force that resists the movement of the control component tool 32, which would cause the tool attempted by the operator to move beyond the edge of the incision. In some applications, the control component unit includes one or more motors to provide the force feedback described above.

[0051] The following references to Figures 2A, 2B, 2C, and 2D, which are schematic diagrams of a control component unit 30 including a control component tool 32 according to some applications of the present invention. As shown in Figures 2A, 2B, and 2C, in some applications, the control component unit is configured as a control component arm including two or more links, for example, three 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, for example, to provide force feedback to an operator. In some applications, at least one of the motors (84A) applies torque to one of the rotary arm joints (82A) via a belt and / or cable 88. Typically, belts and / or cables are used, so the motor can be positioned closer to the base 90 of the control component unit (shown in Figure 2D) 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, links, and / or joints, as well as different kinematic structures, are used within the control component unit.

[0052] Referring to Figure 2D, typically, in addition to the motors described above, each control component arm includes a corresponding rotary encoder 92 connected to each of the 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 inertial measurement unit is typically mounted on the control component tool as shown in the figure. 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. In some applications, alternative or additional types of sensors, such as linear encoders, rotary potentiometers, linear variable differential transformers (LVDTs), cameras, and magnetic sensors, are used to determine the XYZ position and orientation of the control component tool.

[0053] Next, we will refer to Figures 2E, 2F, 2G, and 2H, which are schematic diagrams of a control component unit 30 according to some alternative uses of the present invention. Figures 2E and 2F show perspective views of the control component unit, Figure 2G shows a side view, and Figure 2H shows a top view. The functions of the control component unit 30 shown in Figures 2E to 2H are generally the same as those of the control component unit 30 shown in Figures 2A to 2D, except for the differences which will be described below.

[0054] The control component unit 30 shown in Figures 2E to 2H typically includes a frame 150 that rotates around a first rotation axis 152X, and links 154 that rotate around a second rotation axis 152Y and a third rotation axis 152Z. Typically, when an operator moves the control component tool along the X, Y, and Z linear directions, the links and / or frame rotate around their respective rotation axes. For example, when an operator moves the control component tool along the X linear direction, the frame 150 rotates around rotation axis 52X; when an operator moves the control component tool along the Y linear direction, the links 154 rotate around rotation axis 152Y; and when an operator moves the control component tool along the Z linear direction, the links 154 rotate around rotation axis 152Z.

[0055] It should be noted that the above description assumes that link 154 is positioned perpendicular to frame 150. In practice, for most of the time during use of the control component unit, link 154 is positioned at an angle to frame 150. In such a configuration, when the control component tool is moved in the XY plane (or more precisely, along the X or Y linear direction), frame 150 typically rotates around axis 152X, and link 154 also rotates around axis 152Y. Therefore, the use of the terms X, Y, and Z in this specification regarding 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 150 or link 154 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 154 in a direction perpendicular to the XY plane. Therefore, the rotating shaft 52X and motor 56X are associated with the movement of the frame 150 in the XY plane (regardless of whether the movement is in the X direction as shown in the figure), the rotating shaft 152Y and motor 156Y are associated with the movement of the link 154 in the XY plane (regardless of whether the movement is in the Y direction as shown in the figure), and the rotating shaft 152Z and motor 156Z are associated with the movement of the link 154 perpendicular to the XY plane.

[0056] Typically, as shown in the figure, the Y rotation axis 152Y is aligned with the Z rotation axis 152Z along the Z direction. Furthermore, both Y and Z linear motions are usually provided via link 154. Note that in some applications, an additional support link 155 is positioned parallel to link 154 and rotates together with link 154. In some applications, link 154 and / or link 155 consist of two or more parts rigidly coupled to each other. For example, as shown in Figure 2E, links 154 and 155 each include a first part positioned to the left of the Z rotation axis 152Z and a second part positioned to the right of the Z rotation axis 152Z. In some applications, a rotary encoder is positioned along each of the rotation axes 152X, 152Y, and 152Z, or along a parallel rotation axis (e.g., the rotation axis of link 155). The rotary encoder detects the rotation of each link and / or frame 150 around its rotation axis and generates a signal in response. The 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 152X, 152Y, and 152Z to provide redundancy to the system (for example, so that if one rotary encoder fails, the other is used).

[0057] 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 170, and yaw angular rotation by the rotation of the shaft 153 (to which the control component tool is mounted) around its own axis 172 (which functions as the yaw rotation axis). Typically, the control component tool undergoes roll angular rotation by rotating around its own axis 174 (which functions as the roll rotation axis). In some applications, an inertial measurement unit 176 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 unit 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 unit 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 176 for redundancy (for example, so that the rotary encoders are used if the inertial measurement unit fails).

[0058] 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.

[0059] Typically, the direct-drive motors 156X, 156Y, and 156Z (i.e., motors that do not transmit motion via gears) are 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 position of the surgical tool in the incision toward the patient's eye. 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 that resists the movement of the control component tool 32 which would cause the tool attempted by the operator to move beyond the edge of the incision. For example, in response to the operator moving the control component tool by yaw rotation which would result in the corresponding surgical tool 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 surgical 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 156X, 156Y, and 156Z.

[0060] 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 (excluding reaction forces intentionally applied via motors 156X, 156Y, and 156Z). In some applications, the control component tool includes a counterweight 158, which balances the weight of the control component tool relatively evenly with respect to the pitch rotation axis 170. In some applications, the control component tool is not perfectly balanced with respect to the pitch rotation axis 170 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 154 extends on both sides of the Z rotation axis 152Z, and the control component tool and additional components are arranged on the link 154 (and / or parallel link 155) on the first side of the rotation axis 152Z. In some applications, the motor 156Z, positioned along the Z-axis, is positioned on link 154 on the opposite side of the rotation axis 152Z, 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 156Z.

[0061] In some applications, the frame 150 (which functions as a link providing linear motion in the X direction) has two curved arms, and the motor 156Y (and optionally its extension 156YE) passes linearly between the two curved arms. In some applications, the end of the frame 150 adjacent to the Z rotation axis 152Z is ​​aligned with the Z rotation axis 152Z (as shown in Figure 2E), so that the frame 150 does not torque around the Z rotation axis 152Z. Therefore, the frame 150 does not need to be counterbalanced with respect to the Z rotation axis 152Z. In some applications, even if the frame 150 moves (due to movement in the X direction), the frame remains aligned with the Z rotation axis 152Z, and no compensatory movement is required to balance the movement of the frame.

[0062] 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 2E to 2H, the motor 156Z 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.

[0063] In some applications, as shown in Figures 2E to 2H, the motor 156Y is positioned in the XY plane such that its center of mass is substantially aligned with the X rotation axis 152X when the motor 156Y is extended or retracted. Typically, this prevents the movement of the motor 156Y from imparting torque in the Z direction to the link 154 when the motor 156Y 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 such that its center of mass is aligned with the X rotation axis 152X 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 152X 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 152X when the motor is fully extended or fully retracted. Furthermore, it should be noted that the motor 156Y is typically coupled to the frame 150 and configured to rotate together with the frame 150. Because of this configuration, even when the frame 150 rotates, the motor does not apply torque to the frame 150.

[0064] In some applications, the frame 150 includes an angled extension 150E to which a motor 156X (and optionally its extension 156XE) is coupled. The motor 156X rotates the frame 150 around axis 152X by pushing or pulling the angled extension 150E. Typically, the inclusion of the angled extension 150E 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 156X (or its extension 156XE) is coupled to a non-angled continuum of the frame 150 opposite axis 152X from the main part of the frame 150. In some applications (not shown), the motor 156X (or its extension) rotates the frame 150 around axis 52X by pushing or pulling a non-angled extension located within the frame's footprint.

[0065] Similarly, in some applications, link 154 includes an angled extension 154E to which a motor 156Y (and optionally its extension 156YE) is coupled. The motor 156Y (or its extension) rotates link 154 around axis 152Y by pushing or pulling the angled extension 154E. Typically, the inclusion of the angled extension 154E 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 156Y (or its extension 156YE) is coupled to a non-angled continuum of link 154 opposite axis 152Y from the main part of link 154. In some applications (not shown), the motor 156Y (or its extension) rotates frame 150 around axis 152Y by pushing or pulling link 154 at a position offset from the Y rotation axis 152Y.

[0066] In some applications, the vertical axis 172 of shaft 153 (which functions as the yaw axis) is aligned with the ends of links 154 and 155.

[0067] As described above, in some applications, the operator provides commands to the robot unit via the control component 26. Typically, such commands include commands that 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 that control the imaging system (e.g., zoom, focus, orientation, and / or XYZ positioning of the imaging system). In some applications, the control component tool 32 (and / or another part of the control component unit) includes one or more input receiving components 50 configured to receive such inputs from the operator. An input receiving component 50 for some applications of the present invention is shown in Figures 3A to 5C and Figures 8A to 10B.

[0068] In some applications, the input receiving component 50 is configured to be rotation-independent, so that the detected input is the same regardless of the roll orientation of the control component tool relative to the operator's hand. In some cases, this is desirable because the control component tool typically undergoes roll angle rotation relative to the operator's hand during use. In some applications, one or more input receiving components are arranged at discrete circumferential positions relative to the control component tool, so that the input receiving components can only be pressed at specific circumferential positions. In some cases, this is desirable because the input receiving components are more similar to conventional surgical tools such as forceps.

[0069] Next, refer to Figures 3A and 3B, schematic cross-sectional views of the handle 52 of a control component tool 32 including an input receiving component 50, according to some applications of the present invention. Also refer to Figures 4A, 4B, and 4C, schematic views of the handles of the control component tool in Figures 3A and 3B, according to some applications of the present invention. In some applications, the input receiving component 50 includes a deformable sleeve 54, one or more light sources 56, and one or more photodetectors 58. In some applications, the deformable sleeve includes an elastomer material such as silicon. In some applications, the handle 52 defines a first radial wall 60, and one or more light sources include a plurality of LEDs positioned circumferentially on the first radial wall so as to guide light parallel to the axis of the handle. In some applications, the handle 52 defines a second radial wall 62 facing the first radial wall, and one or more photodetectors include another ambient photodetector positioned circumferentially on the second radial wall so as to face the LEDs. Typically, the deformable sleeve extends axially between the first and second radial walls.

[0070] In some applications, the control component unit is configured to provide input to the robotic system by an operator pressing a deformable sleeve 54. Typically, when pressure is applied to the deformable sleeve, the sleeve deforms (as shown in the transition from Figure 3A to Figure 3B), at least partially attenuating the light from the light source 56 toward the photodetector 58. The computer processor 28 typically receives a signal from the photodetector indicating the light attenuation and controls the robotic system and / or imaging system in response to the detection of light attenuation. In some applications, based on the level and / or type of light attenuation, the computer processor detects the degree to which the sleeve has been deformed (indicating the amount of pressure applied by the operator) and controls the robotic system and / or imaging system accordingly. For example, the amount of force applied by the robotic system to close the forceps may be controlled according to the amount of pressure applied by the operator. In some applications, the input receiving component 50 is configured to receive input via the pressure applied to the deformable sleeve by one of the operator's fingers or thumb. Alternatively or additionally, the input receiving component 50 is configured to receive input via pressure applied to a sleeve that is deformable by two fingers (or one finger and a thumb), for example, by a pinching motion.

[0071] As described above, in some applications, the input receiving component 50 is configured to be rotation-independent, and the detected input is the same regardless of the roll orientation of the control component tool relative to the operator's hand. Typically, in such applications, the light source and photodetector are distributed unevenly around the handle 52. In some applications, the light source and photodetector are distributed unevenly around the handle 52, and the control component is configured to provide input by the operator applying pressure to a deformable sleeve at discrete positions around the handle 52.

[0072] It should be noted that the input receiving component 50 does not rely on the mechanical rigid body motion of any component for the computer processor to detect input from the operator. Therefore, the input receiving component is less susceptible to the mechanical failures inherent in components that rely on such mechanical rigid body motion.

[0073] The following references to Figures 5A, 5B, and 5C, schematic cross-sectional views of the handle 52 of a control component tool 32 including an input receiving component 50, according to some applications of the present invention. In some applications, the input receiving component includes one or more magnetic structures 64 (e.g., magnetic leaf springs arranged parallel to the axis of the handle). Typically, the magnetic structure is covered by a flexible sleeve 66, such as an elastomer sleeve (e.g., a silicone sleeve). In some applications, one or more magnetic materials are embedded within the sleeve 66. In some applications, the sleeve itself is magnetic. For example, the sleeve may contain magnetic silicon. Typically, one or more magnetometers 68 (e.g., Hall sensors) are disposed within the handle 52 and configured to measure the magnetic flux generated by the magnetic structure in response to pressure applied to the magnetic structure by an operator.

[0074] The computer processor 28 typically controls the robotic system and / or imaging system in response to the detection of magnetic flux generated by the magnetic structure. In some applications, the computer processor detects the amount of pressure applied by the operator and controls the robotic system and / or imaging system accordingly. For example, the amount of force applied by the robotic system when closing forceps may be controlled in accordance with the amount of pressure applied by the operator. In some applications, the input receiving component 50 is configured to receive input via pressure applied to the magnetic structure by one finger or thumb of the operator. Alternatively or additionally, the input receiving component 50 is configured to receive input via pressure applied to the magnetic structure by two fingers (or one finger and a thumb) in a pinching motion, for example.

[0075] In some applications, the input receiving component 50 is configured to be rotation-independent, and the input detected is the same regardless of the roll orientation of the control component tool relative to the operator's hand. Typically, in such applications, the magnetic structure is unevenly distributed around the handle 52. In some applications, the magnetic structure is unevenly distributed around the handle 52, and the control component is configured to provide input by the operator applying pressure to a deformable sleeve at discrete positions around the handle 52.

[0076] The following references to Figures 6A, 6B, and 6C, schematic diagrams showing the arrangement of the magnetic structure 64 and magnetometer 68 according to some applications of the present invention. Typically, the magnetometer 68 is a three-dimensional magnetometer. Referring to Figure 6A, in some applications, the magnetic structure includes two magnets 64A and 64B located at one or more circumferential positions around the handle, positioned radially opposite to each other from the handle. These magnets are positioned such that their magnetic axes are perpendicular to the longitudinal axis of the handle and face opposite directions from each other, so that the same pole of each magnet is positioned closer to the radial center (i.e., the longitudinal axis) of the handle. For example, as shown in Figure 6A, the north pole of each magnet is positioned closer to the radial center of the handle than the south pole. In some applications, the magnetometer is positioned within the handle along the radial centerlines 72 of the two magnets (i.e., the centerlines measured across the radial direction of the handle, which is also the longitudinal axis of the handle), but off-center from the axial centerlines 74 of the magnets (i.e., the centerlines of the magnets measured along the axial direction of the handle).

[0077] Referring to Figure 6B, in some applications, the magnetic structure at one or more circumferential positions around the handle includes two magnets 64A and 64B positioned radially opposite each other from the handle, with their magnetic axes parallel to the longitudinal axis of the handle and their poles oriented in the same direction. Similar to the configuration shown in Figure 6A, the magnetometer is typically positioned within the handle along the radial centerlines 72 of the two magnets, but off-center from the axial centerlines 74 of the magnets.

[0078] Referring to Figure 6C, in some applications, the magnetic structure at one or more circumferential positions around the handle includes two magnets 64A and 64B positioned radially opposite each other from the handle, with their magnetic axes in the xy-plane and their poles opposite but not opposite (i.e., neither 0 degrees nor 180 degrees to each other). In such some applications, the magnetometer is positioned within the handle along the radial centerlines 72 of the two magnets and along the axial centerlines 74 of the magnets.

[0079] Next, we refer to Figures 7A and 7B, which are graphs showing the magnetic flux generated along each direction using the arrangement shown in Figure 6A, according to some applications of the present invention. Figure 7A shows that equal but opposite magnetic fluxes (indicated by Bz) are generated along the radial direction in response to magnet 64A being pushed radially inward (indicated by Dz1 in Figure 6A) or magnet 64B being pushed radially inward (indicated by Dz2 in Figure 6A). Therefore, if only one of the magnets is pushed radially inward (for example, by one finger or thumb of an operator), a computer processor can determine which magnet has been pushed and by how much, based on the magnetic flux along the radial direction. However, if both magnets 64A and 64B are pushed radially inward, the magnetic fluxes along the radial direction generated by each magnet (indicated by Bz) cancel each other out. (For example, if both magnets are pushed radially inward by the same distance from each other, the net magnetic flux produced is zero, as shown by the dashed line in Figure 7A.) ​​Therefore, when both magnets 64A and 64B are pushed radially inward, the computer processor cannot measure the pressure exerted on each of the magnets.

[0080] Figure 7B shows that in response to magnet 64A being pushed radially inward (indicated by Dz1 in Figure 6A) or magnet 64B being pushed radially inward (indicated by Dz2 in Figure 6A), an axial magnetic flux (indicated by Bx) is generated. This is because the magnetometer is axially offset from the axial centerline of the magnets. Furthermore, the axial magnetic flux (indicated by Bx) generated in response to magnet 64A being pushed radially inward (indicated by Dz1 in Figure 6A) or magnet 64B being pushed radially inward (indicated by Dz2 in Figure 6A) is usually in the same direction. Therefore, when both magnets 64A and 64B are pushed radially inward, the axial magnetic flux (indicated by Bx) generated by each magnet is added together. Typically, a computer processor can measure the total pressure when the magnets are pushed based on the magnetic flux measured both radially and axially.

[0081] The scope of this application includes other variations in the configuration of the magnet and magnetometer (including other configurations of the magnet, the position of the magnetometer, the size of the magnetometer, and / or the orientation of the magnetometer). Typically, these configurations allow a computer processor to derive the resultant force applied to the input receiving component 50. In some applications, these configurations allow a computer processor to derive the circumferential position to which the input receiving component 50 is applied. In some applications, the magnet and magnetometer are arranged as shown in Figures 6B and / or 6C, and the computer processor can determine when the first magnet is applied, when the second magnet is applied, or when both magnets are applied, because each of these inputs causes a different change in the magnetic flux detected by the magnetometer.

[0082] The following references to Figures 8A and 8B, schematic perspective and cross-sectional views of the handle 52 of a control component tool 32 including an input receiving component 50, according to some applications of the present invention. In some applications, the input receiving component 50 includes a fluid-filled chamber 84 coupled to a pressure sensor 86. For example, the fluid-filled chamber may include an elastomer sleeve 87 containing air, oil, or another fluid. Typically, in response to an operator pushing the fluid-filled chamber, the pressure inside the chamber changes, and the pressure sensor detects this pressure change.

[0083] The computer processor 28 typically controls the robotic system and / or imaging system in response to detected pressure changes. In some applications, the computer processor detects the amount of pressure applied by the operator and controls the robotic system and / or imaging system accordingly. For example, the amount of force applied by the robotic system to close the forceps may be controlled in accordance with the amount of pressure applied by the operator. In some applications, the input receiving component 50 is configured to receive input via the pressure applied to the fluid-filled chamber by one finger or thumb of the operator. Alternatively or additionally, the input receiving component 50 is configured to receive input via the pressure applied to the fluid-filled chamber by two fingers (or one finger and a thumb) in a pinching motion, for example.

[0084] In some applications, the input receiving component 50 is configured to be rotation-independent, and the detected input is the same regardless of the roll orientation of the control component tool relative to the operator's hand, and / or regardless of whether pressure is applied using two fingers (or one finger and thumb) or one finger or thumb. Typically, in such applications, there is a single fluid-filled chamber surrounding the entire circumference of the handle 52. In some applications, multiple fluid-filled chambers are distributed around the handle, and a computer processor is configured to detect which fluid-filled chamber has been pressed based on signals from a pressure sensor (or multiple pressure sensors), thereby determining which circumferential positions have been pressed and by how many.

[0085] The following references to Figures 9A, 9B, and 9C, schematic diagrams of the handle 52 of a control component tool 32 including an input receiving component 50, according to some applications of the present invention. In some applications, the input receiving component 50 includes one or more spring wires 100, a piston barrel 102 having a neck 104, and a conical head 106, usually wider than the neck. Each spring wire includes a first radial projection 108 (typically protruding from the housing of the handle) and a second portion 110 that contacts the conical head of the piston barrel. In some applications, the radial projection of the spring wire is covered with a sleeve 111, an elastomer sleeve such as a silicone sleeve. (In Figure 9B, the handle 52 is shown without the sleeve 111 for illustrative purposes.) Typically, even if only one of the spring wires has its radial projection pressed, the second portion of the wire pushes the piston barrel axially in response. Typically, a magnet 112 is placed inside the neck 104 of the piston barrel, and a magnetometer 114 is configured to detect the axial motion of the piston barrel.

[0086] The computer processor 28 typically controls the robotic system and / or imaging system in response to the detection of axial motion of the piston barrel. In some applications, the computer processor detects the amount of pressure applied by the operator and controls the robotic system and / or imaging system accordingly. For example, the amount of force applied by the robotic system to close the forceps may be controlled according to the amount of pressure applied by the operator. In some applications, the input receiving component 50 is configured to receive input via pressure applied to a spring wire by one finger or thumb of the operator. Alternatively or additionally, the input receiving component 50 is configured to receive input via pressure applied to a spring wire by two fingers (or one finger and a thumb) in a pinching motion, for example.

[0087] In some applications, the input receiving component 50 is configured to be rotation-independent, and the detected input is the same regardless of the roll orientation of the control component tool relative to the operator's hand, and / or regardless of whether pressure is applied using two fingers (or one finger and thumb) or one finger or thumb. Typically, in such applications, the spring wire is uniformly distributed around the entire circumference of the handle 52. In some applications, the spring wire is non-uniformly distributed around the handle 52, and the computer processor is configured to detect which circumferential position is being pressed by the operator.

[0088] In some applications, the piston barrel 102 is coupled to the handle 52, and the piston barrel rotates as the handle rotates at a roll angle. In some applications, a magnetometer 114 (and / or another magnetometer) detects the roll angle rotation experienced by the magnet 112, which allows a computer processor to determine that the handle has been subjected to roll angle rotation. In some applications, one or more additional sensors are configured to detect the axial and / or rotational motion of the piston barrel. For example, one or more vibration sensors, accelerometers, and / or inertial measurement units may be located within the handle and configured to detect the axial and / or rotational motion of the piston barrel.

[0089] The following references to Figures 10A and 10B, schematic diagrams of the different parts of the handle 52 of a control component tool 32, including an input receiving component 50, according to some applications of the present invention. In some applications, the input receiving component 50 includes a sleeve 120 from which a plurality of ribs 122 extend radially inward. A plurality of pressure sensors 124 are disposed inside the sleeve along an inner shaft 126 concentric with the sleeve 120. In response to an operator pressing the sleeve, at least one of the ribs is pressed against a pressure sensor, and the pressure generated by the rib is detected by the pressure sensor.

[0090] The computer processor 28 typically controls the robotic system and / or imaging system in response to the pressure detected by the pressure sensor 124. In some applications, the computer processor detects the amount of pressure applied by the operator and controls the robotic system and / or imaging system accordingly. For example, the amount of force applied by the robotic system to close the forceps may be controlled in response to the amount of pressure applied by the operator. In some applications, the input receiving component 50 is configured to receive input via pressure applied to the sleeve 120 by one finger or thumb of the operator. Alternatively or additionally, the input receiving component 50 is configured to receive input via pressure applied to the sleeve 120 by two fingers (or one finger and a thumb) in a pinching motion, for example.

[0091] In some applications, the input receiving component 50 is configured to be rotation-independent, and the detected input is the same regardless of the roll orientation of the control component tool relative to the operator's hand, and / or regardless of whether pressure is applied using two fingers (or one finger and thumb) or one finger or thumb. Typically, in such applications, the ribs 122 and pressure sensors 124 are uniformly distributed around the entire circumference of the handle 52. In some applications, the ribs 122 and pressure sensors 124 are non-uniformly distributed around the handle 52, and the computer processor is configured to detect which circumferential position is being pressed by the operator.

[0092] Next, refer to Figure 11, a schematic diagram of a mechanism for controlling the roll angle rotation of a control component tool according to some applications of the present invention. In some applications, it is desirable to enable the roll angle rotation of the control component tool to exceed 360 degrees. In some such applications, inner and outer roll limiting components (130I and 130U) are disposed within the handle 52 of the control component tool, with the inner roll limiting component disposed within the outer roll limiting component. In some applications, the inner roll limiting component has a circular cross-section with a radial projection 132. The roll of the inner roll limiting component is limited by the radial projection 132 being obstructed by the inner radial projection 134 of the outer roll limiting component. In some applications, the outer roll limiting component has a circular cross-section with an inner radial projection 134 and an outer radial projection 136. The roll of the outer roll limiting component is limited by the radial projection 136 being obstructed by an inner radial projection 138 from the inner surface of the housing 140 of the handle 52. In some applications, the total amount of roll angle rotation that can be achieved by rotating both the inner and outer roll limiting components is greater than 400 degrees (e.g., greater than 450 degrees) and / or less than 600 degrees (e.g., less than 550 degrees), for example, from 400 to 600 degrees, or from 450 to 550 degrees.

[0093] In some applications, as an alternative to, or in addition to, the mechanism shown in Figure 11, the control component tool includes one or more slip rings to allow the control component tool to rotate more than 360 degrees while receiving power from the control component tool via wiring. In some applications, including one or more slip rings allows the control component tool to rotate indefinitely around its longitudinal axis.

[0094] While some applications of the present invention are described in relation to ophthalmic 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.

[0095] It should be noted that the scope of this application includes applying the apparatus and methods described herein to any ophthalmic procedure. Such procedures may include cataract surgery, collagen crosslinking, 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., Trab, tube, minimally invasive glaucoma surgery), automated superficial keratocyte transplantation (ALK), anterior vitrectomy, and / or anterior squamous vitrectomy.

[0096] The uses of the present invention as described herein may take the form of a computer program product accessible from a computer-enabled or computer-readable medium (e.g., a non-temporary computer-readable medium) that provides program code used by a computer such as a computer processor 28 or any instruction execution system, or in connection thereto. For the purposes of this description, the computer-enabled or computer-readable medium may be any device that can contain, store, transmit, propagate or transport a program used by or in connection thereto. The medium may be an electronic system, a magnetic system, an optical system, an electromagnetic system, an infrared system, or a semiconductor system (or device or apparatus) or a propagation medium. Typically, the computer-enabled or computer-readable medium is a non-temporary computer-enabled or computer-readable medium.

[0097] 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.

[0098] A data processing system suitable for storing and / or executing program code would include 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 for temporary storage of 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 the instructions of the present invention on the program storage device and execute the methods of embodiments of the present invention in accordance with these instructions.

[0099] A network adapter may be coupled to a processor to enable it to connect 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.

[0100] The computer program code for performing the operation of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the C programming language or similar programming languages.

[0101] It will be understood that the algorithms described herein can be implemented by computer program instructions. These computer program instructions may be provided to a 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 may generate means for implementing the functions / operations specified in the algorithms described herein. Furthermore, these computer program instructions may be stored in a computer-readable medium (e.g., a non-temporary computer-readable medium) to instruct a computer or other programmable data processing device to function in a particular manner, and instructions stored in the computer-readable medium may generate an article of manufacture containing instruction means for implementing the functions / operations specified in the algorithms. Additionally, computer program instructions may be 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 device may provide a process for implementing the functions / operations specified in the algorithms described herein.

[0102] 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 a memory, which is an actual physical item, to have different magnetic polarity, charge, etc., depending on the technology of the memory used. In some applications, the operations described as being performed by a computer processor are performed by a combination of multiple computer processors.

[0103] Those skilled in the art will understand that the present invention is not limited to what is specifically illustrated and described above. Rather, 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 procedures on a patient using surgical tools, wherein the device is A robotic unit configured to control the aforementioned surgical tool, A control component tool configured to be held by an operator, The handlebars and An input receiving component disposed on the handle, A first radial wall on which one or more light sources are arranged, A second radial wall facing the first radial wall, on which one or more photodetectors are disposed, An input receiving component comprising: a deformable sleeve extending axially between the first and second radial walls, configured to attenuate light directed from the one or more light sources to the one or more photodetectors in response to being pressed; A control component tool equipped with, A signal indicating the light attenuation is received from one or more photodetectors, A computer processor configured to control the surgical tool in response to this, A device equipped with.

2. The apparatus according to claim 1, wherein the input receiving component does not rely on the mechanical rigid body motion of any component for the computer processor to detect an input to the input receiving component.

3. The apparatus according to claim 1, wherein the input receiving component is configured to receive input via pressure applied to the deformable sleeve by one finger or thumb of an operator.

4. The apparatus according to claim 1, wherein the input receiving component is configured to receive input via pressure applied to the deformable sleeve by two fingers.

5. The apparatus according to claim 1, wherein the light source and photodetector are non-uniformly distributed around the handle, and the attenuation of the light in response to the deformable sleeve being pressed occurs only at discrete locations around the handle.

6. The apparatus according to any one of claims 1 to 5, wherein the apparatus is configured to perform an ophthalmic procedure on a patient's eye using one or more surgical tools having a tip, and the robotic unit is configured to move the one or more surgical tools within the patient's eye.

7. The aforementioned 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 apparatus according to claim 6, wherein the tip of the surgical tool is configured to move within the patient's eye so as to match the movement of the position and orientation of the tip of the control component tool.

8. The apparatus according to any one of claims 1 to 5, wherein the input receiving component is configured to be rotation-independent, and the attenuation of the light in response to the deformable sleeve being pressed is the same regardless of the roll orientation of the control component tool relative to the operator's hand.

9. The apparatus according to claim 8, wherein the light source and photodetector are uniformly distributed around the handle.

10. A device for performing procedures on a patient using surgical tools, wherein the device is A robotic unit configured to control the aforementioned surgical tool, A control component tool configured to be held by an operator, The handlebars and An input receiving component disposed on the handle, One or more magnetic leaf springs, An input receiving component equipped with a magnetometer A control component tool equipped with, The magnetometer receives a signal indicating that one or more magnetic leaf springs have been pressed. An apparatus comprising a computer processor configured to control the surgical tool in response to this.

11. The apparatus according to claim 10, wherein the magnetic leaf spring is covered with a flexible sleeve.

12. The apparatus according to claim 10, wherein the input receiving component is configured to receive input via pressure applied to the magnetic leaf spring by one finger or thumb of an operator.

13. The apparatus according to claim 10, wherein the input receiving component is configured to receive input via pressure applied to the magnetic leaf spring by two fingers.

14. The apparatus according to claim 10, wherein the magnetic leaf springs are unevenly distributed around the handle.

15. The apparatus according to any one of claims 10 to 14, wherein the apparatus is configured to perform an ophthalmic procedure on a patient's eye using one or more surgical tools having a tip, and the robotic unit is configured to move the one or more surgical tools within the patient's eye.

16. The aforementioned 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 apparatus according to claim 15, configured to move the tip of the surgical tool within the patient's eye so as to match the movement of the position and orientation of the tip of the control component tool.

17. The apparatus according to any one of claims 10 to 13, wherein the input receiving component is configured to be rotation-independent, and the magnetic flux generated by pressing the magnetic leaf spring is the same regardless of the roll orientation of the control component tool relative to the operator's hand.

18. The apparatus according to claim 17, wherein the magnetic leaf spring is uniformly distributed around the handle.

19. A device for performing procedures on a patient using surgical tools, wherein the device is A robotic unit configured to control the aforementioned surgical tool, A control component tool configured to be held by an operator, The handlebars and A first magnet disposed on the first side of the vertical axis of the handle, and a second magnet disposed on the second side of the vertical axis of the handle opposite to the first magnet, wherein the first magnet and the second magnet are disposed near the vertical axis and have the same poles. A magnetometer is disposed within the handle, along the centerlines of the first and second magnets in the radial direction of the handle, and offset from the centerlines of the first and second magnets in the axial direction of the handle. A control component tool equipped with, The magnetometer receives a signal indicating the magnetic flux generated when the magnetic structure is pressed. An apparatus comprising a computer processor configured to control the surgical tool in response to this.

20. The apparatus according to claim 19, wherein the computer processor is configured to determine, based on the signal from the magnetometer, that only the first magnet is being pressed, that only the second magnet is being pressed, and that both magnets are being pressed.

21. The apparatus according to claim 19, wherein the computer processor is configured to measure the total pressure when the magnet is pressed based on the signal from the magnetometer.

22. The apparatus according to claim 19, wherein the first and second magnets each include one or more leaf springs.

23. The apparatus according to any one of claims 19 to 22, wherein the apparatus is configured to perform an ophthalmic procedure on a patient's eye using one or more surgical tools having a tip, and the robotic unit is configured to move the one or more surgical tools within the patient's eye.

24. The aforementioned 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 apparatus according to claim 23, configured to move the tip of the surgical tool within the patient's eye so as to match the movement of the position and orientation of the tip of the control component tool.

25. A device for performing procedures on a patient using surgical tools, wherein the device is A robotic unit configured to control the aforementioned surgical tool, A control component tool configured to be held by an operator, The handlebars and An input receiving component disposed on the handle, A piston barrel defining the neck and the conical head, Each has a first portion that protrudes radially from the housing of the handle and a second portion that contacts the conical head of the piston barrel, and when pressure is applied to the first portion, one or more spring wires, the second portion pushes the piston barrel in the axial direction, A magnet disposed within the neck of the piston barrel, An input receiving component comprising a magnetometer configured to detect the magnetic flux generated by the movement of the aforementioned magnet, A control component tool equipped with, The magnetometer receives a signal indicating that one or more spring wires have been pressed. An apparatus comprising a computer processor configured to control the surgical tool in response to this.

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