Smart connectors for robotic tools

Abstract

A system and method for performing robotic surgery are provided. The system may include a robotic manipulator having a working end connected to a base by a plurality of joints and links, a surgical tool having a tool portion and a connector portion connected to the working end of the robotic manipulator, and a control system, the control system having a tool interface operable to communicate with the surgical tool, a robotic manipulator interface communicatively coupled to the robotic manipulator, and a processor coupled to the tool interface and the robotic manipulator interface. The processor may be configured to receive data from the surgical tool and to control the robotic manipulator based on the data received from the surgical tool. The method may include receiving data from a surgical tool connected to the working end of the robotic manipulator and controlling the robotic manipulator based on the data received from the surgical tool.

Description

[[Technical Field]]

[0001] The present disclosure relates generally to robotic tools, and more specifically, but not by way of limitation, to smart connectors for robotic tools. [[Background Art]]

[0002] This section provides background information to facilitate a better understanding of various aspects of the present disclosure. It should be understood that the statements in this section of the present specification are to be read in this light, and not to be construed as an admission of prior art.

[0003] Many ophthalmic surgical procedures have the potential to utilize robotics to perform surgery accurately. However, manual data entry of surgical tool data into a surgical system is error-prone and may not adequately address the need for efficient performance of surgery, and the need, for example, to accurately determine gravity compensation and collision avoidance of surgical tools in the surgical environment. [[Summary of the Invention]] [[Means for Solving the Problems]]

[0004] This summary is provided to introduce examples of concepts that are further described below in the Detailed Description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in limiting the scope of the claimed subject matter.

[0005] In certain embodiments, the present disclosure relates to a method including, but not limited to, receiving data from a surgical tool connected to a working end of a robotic manipulator, and controlling the robotic manipulator based at least in part on the data received from the surgical tool.

[0006] In certain embodiments, the present disclosure may include, but is not limited to, a robotic manipulator having a working end coupled to a base by a plurality of joints and a plurality of links; a surgical tool having a tool portion and a connector portion coupled to the working end of the robotic manipulator; and a control system. The control system may include, but is not limited to, a tool interface operable to communicate with the surgical tool; a robotic manipulator interface communicatively coupled to the robotic manipulator; and a processor coupled to the tool interface and the robotic manipulator interface. The processor may be configured to receive data from the surgical tool and to control the robotic manipulator at least in part based on the data received from the surgical tool.

[0007] A more complete understanding of the subject matter of this disclosure can be obtained by referring to the following “Modes for Carrying Out the Invention” when interpreted in conjunction with the accompanying drawings. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 shows a perspective view illustrating a surgical procedure performed in a surgical environment using a surgical system according to an embodiment of the present disclosure. [Figure 2] Figure 2 shows a perspective view of a robotic manipulator for use with the surgical system of Figure 1, according to an embodiment of the present disclosure. [Figure 3] Figure 3 shows a tool assembly at the working end of the robot manipulator shown in Figure 2, according to an embodiment of the present disclosure. [Figure 4A-4B] Figures 4A-4B show schematic diagrams of various embodiments of a tool assembly removable from the robot manipulator of Figure 2, according to embodiments of the present disclosure. [Figure 5A] Figure 5A shows a robot manipulator connection interface according to an embodiment of the present disclosure. [Figure 5B-5C]Figures 5B-5C illustrate various embodiments of the tool connector connection interface according to the embodiments of this disclosure. [Figure 6] Figure 6 shows a schematic block diagram illustrating the components of the control system of a robotic surgical system according to an embodiment of the present disclosure. [Figure 7] Figure 7 shows a flowchart illustrating a method for controlling a robotic manipulator according to an embodiment of the present disclosure. [Figure 8] Figure 8 shows a flowchart of a method for applying torque values ​​to the joints of a robotic manipulator according to an embodiment of the present disclosure. [Figure 9] Figure 9 shows a flowchart of a method for avoiding collisions with obstacles within the operating volume of a robotic manipulator according to an embodiment of the present disclosure. [Figure 10] Figure 10 shows a flowchart of a method for calibrating the operation of a surgical tool according to an embodiment of the present disclosure. [Figure 11] Figure 11 shows a flowchart of a method for controlling a surgical tool and a robotic manipulator based on identification data of the surgical tool, according to an embodiment of the present disclosure. [Modes for carrying out the invention]

[0009] It should be understood that the following disclosure provides many different embodiments or examples for carrying out different features of various embodiments. For the sake of brevity of this disclosure, specific examples of components and arrangements are listed below. Naturally, these are merely examples and are not intended to be limiting. The section headings used herein are for structural purposes and should not be construed as limiting the subject matter described.

[0010] Many ophthalmic surgical procedures have the potential to utilize robotics to ensure precise surgical execution. However, manually inputting surgical tool data into a surgical system is prone to errors and may not adequately address the need for efficient surgical execution, as well as the need to accurately determine gravity compensation and collision avoidance of surgical tools in the surgical environment. This disclosure presents various embodiments that enable convenient tool exchange using connectors (which may be universal in some embodiments) while also allowing for seamless data transfer from surgical tools to control systems and / or robotic manipulators.

[0011] As used herein, the term “surgical tool” may refer to any surgical tool or device used to perform a surgical procedure. For example, the term “surgical tool” may refer to surgical tools such as phacoemulsification tools, vitrectomy tools, passive tools (such as blades), active tools (such as drills, saws, cutters), optical tools (such as lasers, lights), or any other tools or devices used in ophthalmology or intraocular surgery as known to those skilled in the art.

[0012] Figure 1 shows a perspective view illustrating a surgical procedure being performed in a surgical environment using a surgical system 100 according to an aspect of the present disclosure. The system 100 includes a surgical console 102 and a robotic manipulator 105, such as a serial manipulator, parallel manipulator, hybrid serial-parallel manipulator, manipulator arm, robotic arm, etc. The surgical console 102 may include, or be operably coupled to, one or more modules, systems, devices, and / or surgical tools for performing one or more surgical procedures. For example, in a particular embodiment, the surgical console 102 may include one or more ports for coupling a surgical tool 106 to an internal fluid source, vacuum source, and / or driver. In a particular embodiment, the surgical console 102 may communicate with the robotic manipulator 105 physically or wirelessly.

[0013] The robotic manipulator 105 is operable to hold, move, and / or insert a tool assembly into and within the internal and / or external volumes of the eye of a medical patient 107. Here, the medical patient is assumed to be a human patient in most cases, but in veterinary applications, “patient” may be a non-human animal, and this term should be understood to encompass any such possibility when used in this disclosure.

[0014] The robotic manipulator 105 may be supported by any suitable device or system in the operating environment. In the example in Figure 1, the robotic manipulator 105 is supported by a cart 103. The cart 103 itself can be fixed or movable in relation to a structure for supporting a medical patient 107. In the setup shown in Figure 1, the cart 103 is supported on wheels 118, thereby allowing the cart 103 to be rolled to a predetermined position in relation to a patient support stand 120, which is shown to be fixed to the floor of the operating room where the procedure is performed. However, in other embodiments, the robotic manipulator 105 may also be supported by a surgical console 102 or other support structures in the surgical environment. In certain embodiments, the robotic manipulator 105 may be supported, for example, by a mobile cart (e.g., a device, case, or supply cart), the floor, ceiling, or wall of the operating room or other room where the setup is installed, a bed or similar structure on which the patient lies for treatment, or any other suitable location. In certain embodiments, the robotic manipulator 105 is movably mounted on a track or rail on which the robotic manipulator 105 can translate. Such a track or rail may be installed, for example, on the floor, ceiling, or walls of a surgical console 102, cart 103, operating room, or other room.

[0015] System 100 may further include one or more video display monitors 110 or other visualization devices, such as augmented reality (AR) or virtual reality (VR) headsets, for providing information and images to medical personnel during the course of surgery. Figure 1 shows a system comprising two display monitors 110 placed on a cart 103 for use by, for example, a surgeon 112 and an assistant 115. The display monitors 110 can be communicatively coupled to a surgical console 102, a visualization system in the surgical environment, and / or a tool assembly supported by a robotic manipulator 105. In some embodiments, the display monitors 110 can receive information (e.g., surgical parameters) and / or images from the surgical console 102 and the tool assembly, respectively, and display the information and images on the display monitors 110. The surgical console 102 can also transmit signals to the display monitors 110 for performing operations (e.g., starting and stopping video recording).

[0016] Figure 2 shows a perspective view of a robotic manipulator 105 for use with the surgical system 100 of Figure 1, according to a particular aspect of the present disclosure. With respect to Figure 2, the elements of the robotic manipulator 105 are shown in more detail. As shown, the robotic manipulator 105 includes a support base 123, which in a particular embodiment may be configured to be attached to a cart 103. Alternatively, as previously stated, the support base 123 may be attached to another fixture in the surgical environment or may be a standalone component. The robotic manipulator further includes a first manipulator joint 125 that is rotatable with respect to the support base 123 around a first pivot axis 127.

[0017] The second manipulator joint 130 is fixed to the first manipulator joint 125 via the first link 132. The second manipulator joint 130 is rotatable about the second rotation axis 135 relative to the first manipulator joint 125 and the first link 132. In a specific embodiment, the second rotation axis 135 is perpendicular to the first rotation axis 127.

[0018] The second link 138 attaches the third manipulator joint 140 to the second manipulator joint 130. The third manipulator joint 140 is rotatable about the third rotation axis 143 relative to the second link 138. In a specific embodiment, the third rotation axis 143 is parallel to the second rotation axis 135.

[0019] The third link 145 extends between the third manipulator joint 140 and the fourth manipulator joint 147. The fourth manipulator joint 147 rotates relative to the third link 145 about the fourth rotation axis 150. In a specific embodiment, the fourth rotation axis 150 is parallel to the second rotation axis 135.

[0020] The fourth link 152 joins the fourth manipulator joint 147 to the fifth manipulator joint 155. The fifth manipulator joint 155 rotates relative to the fourth link 152 about the fifth rotation axis 158. In a specific embodiment, the fifth rotation axis 158 is perpendicular to the first rotation axis 127.

[0021] A fifth link 160, attached to a fifth manipulator joint 155, supports a sixth manipulator joint 163, which rotates relative to the fifth link 160 about a sixth pivot axis 165. In certain embodiments, the sixth pivot axis 165 is perpendicular to the fifth pivot axis 158. The sixth manipulator joint 163 supports a sixth link 167. In this embodiment, a working element in the form of a surgical tool 170 extends from the working end 172 of the sixth link 167 in a direction parallel to the sixth pivot axis 165.

[0022] The configuration of the robotic manipulator 105 in Figure 2 illustrates one embodiment, and it should be noted that the exact configuration of the robotic manipulator 105 can vary considerably in any given embodiment. In certain embodiments, the robotic manipulator 105 includes elements that provide movement with at least 6 degrees of freedom (DOF), facilitating effective minimally invasive surgery or other minimally invasive procedures at a target site inside the patient's eye through a small incision on the outer surface of the eye. However, in other embodiments, more or fewer DOFs than 6 are readily conceivable.

[0023] Figure 3 shows a surgical tool 170 located at the working end of the robotic manipulator 105 of Figure 2, according to a particular aspect of the present disclosure. Figure 3 shows one embodiment of a surgical tool 170 that may be coupled to the working end 172 of a sixth link 167. The surgical tool 170 includes a tool portion 175. The tool portion 175 is fixed to the working end 172 of the sixth link 167 via a mount 178 at the proximal end 180 of the tool portion 175. The distal end 183 of the tool portion 175 may include one or more working elements. In a particular embodiment, the surgical tool 170 may be permanently fixed to the working end 172. However, in many cases, it may be preferable that the surgical tool 170 be conveniently removable and / or replaceable at the working end 172.

[0024] Figures 4A and 4B show schematic diagrams of various embodiments of a surgical tool 170 detachable from the robotic manipulator 105 of Figure 2, according to a particular aspect of the present disclosure. The surgical tool 170 can be attached to and detached at the working end 172 via a connector portion 185 located at the proximal end 180 of the tool portion 175 of the surgical tool 170. For illustrative purposes, Figure 4A shows the connector portion 185 including a press-fit portion 187 at its proximal end, interface with a corresponding internal press-fit portion in a recess 190 at the working end 172 of the last robotic manipulator link (e.g., the sixth link 167), so that the surgical tool 170 can be conveniently attached, mounted, held and secured to, and detached from, the robotic manipulator 105.

[0025] In a particular embodiment shown in Figure 4B, the connector portion 185 may be molded to reduce the overall weight of the connector portion 185, and therefore the overall weight of the assembly connected to the robot manipulator 105. As shown in Figure 4B, the proximal end of the connector portion 185 is shown as a semicircular structure having a press-fit portion 187. The semicircular structure is formed by removing a section 188 of the connector portion 185, i.e., a semicircle, which interfaces with the corresponding press-fit portion in a recess 190 of the working end 172 of the last robot manipulator link (the sixth link 167).

[0026] In some embodiments, the support 189 is omitted, and the proximal end of the connector portion 185 ends with a configuration formed by the removal of section 188 (e.g., a semicircular or crescent configuration). Figure 4B shows a semicircular structure removed from section 188, and other shapes and forms that can be removed from section 188 are readily conceivable. Such shapes may include, for example, V-shaped grooves, U-shaped grooves, corrugated patterns, patterned or unpatterned holes, half and / or partial crescent shapes, and combinations thereof.

[0027] In addition, any tool portion 175 can be associated with the connector portion 185, and the connector portion 185 can be appropriately configured to attach the surgical tool 170 to the work end 172 with sufficient security, while allowing the surgical tool 170 to be removed and replaced as needed. Thus, the connector portion 185 can serve as a universal connection interface with the robotic manipulator 105. Figures 4A-4B show the connector portion 185 having a press-fit portion 187, while any kind of temporary or semi-permanent connection is readily conceivable. For example, in certain embodiments, the connector portion 185 may include latch or multi-latch connectors, slip connectors, socket connectors, push-in connectors, push-in mating connectors, twist-and-lock connectors, quick-connect connectors, flared threaded connectors, compression connectors, crimp-type connectors, snap connectors, magnetic connectors, and combinations thereof. Other suitable retaining assemblies for use with the connector portion 185 may include slide and latch mechanisms of various configurations, or other assemblies for holding the surgical tool 170 on the robotic manipulator 105 via the connector portion 185, as appropriate for any particular application.

[0028] With respect to the robotic manipulator 105, removable surgical tools 170 may allow for the use of various types of surgical tools 170 for various procedures, the removal and sterilization of reusable surgical tools 170 after each procedure, the removal and disposal of single-use disposable surgical tools 170 after the completion of the procedure, and / or for other appropriate advantages depending on the specific application. Often, it may be preferable that the connector portion 185 allows the user of the system 100 to manually remove and replace different surgical tools 170 at the working end 172 of the robotic manipulator 105 without using a wrench, screwdriver, or other additional tools. In certain embodiments, the tool portion 175 is removable from the connector portion 185. In such embodiments, the connector portion 185 may function as a universal connector for various different tool portions 175. In other embodiments, the connector portion 185 may be an integrated part of the tool portion 175.

[0029] The connector portion 185 of this disclosure can function as a “smart” connector capable of transmitting data from a surgical tool 170 to, for example, a surgical console 102 or a control system of any other device in the system 100, as will be discussed in more detail below. In certain embodiments, the connector portion 185 can store and transmit information including, but not limited to, mass-related data, dimensional data, calibration data, tool identification data, and combinations thereof.

[0030] In certain embodiments, mass-related data may include, but are not limited to, the mass of the surgical tool 170, the center of mass of the surgical tool 170 relative to the surgical tool coordinate system, the moment of inertia of the surgical tool 170, the length of the surgical tool 170, and combinations thereof. In some embodiments, dimensional data may include, for example, the length of the surgical tool 170, a first maximum offset from the centerline of the surgical tool 170 in a first dimension, a second maximum offset from the centerline of the surgical tool 170 in a second dimension, and a third maximum offset from the centerline of the surgical tool 170 in a third dimension. In certain embodiments, the first, second, and third dimensions correspond to the X, Y, and Z planes of the surgical environment.

[0031] In certain embodiments, calibration data may include mass-related data, dimensional data, and other data necessary to calibrate the surgical tool 170 for use. Depending on the type of tool assembly, such data may include, but are not limited to, power requirements for operating the surgical tool 170, pressure required for pneumatic operation, wavelength or intensity of light for optical tools, and combinations thereof. In various embodiments, tool identification data may include, but are not limited to, the serial number of the surgical tool 170, a description of the surgical tool 170, the name of the surgical tool 170, the type of tool assembly (e.g., optical, pneumatic, electrical, etc.), and combinations thereof.

[0032] In certain embodiments, data related to the surgical tool 170 (e.g., mass-related data, dimensional data, calibration data, and tool identification data) can be stored via internal memory embedded within the connector portion 185. Such internal memory may include, but is not limited to, flash memory, random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), non-volatile memory, or various types of drives such as hard disk drives (HDDs), solid-state drives (SSDs), or other non-temporary storage media. In certain embodiments, data related to the surgical tool 170 can be stored in the form of a quick-response (QR) code or a digital data tag. In certain embodiments, data related to the surgical tool 170 can be stored in a radio identification (RFID) chip or in a near-field communication (NFC) circuit. In certain embodiments, data related to the surgical tool 170 is stored via internal memory embedded within the connector portion 185 at the proximal end of the connector portion 185. In certain embodiments, data related to the surgical tool 170 is stored via internal memory embedded within the connector portion 185 at the distal end of the connector portion 185.

[0033] In view of the foregoing, the connector portion 185 can communicate with the control system of the surgical console 102 or any other device in the system 100, for example, as will be discussed in more detail below. In such embodiments, the connector portion 185 may be capable of communicating via wired connections such as USB (Universal Serial Bus), Ethernet (IEEE 802.3), etc., and / or wireless connections such as Bluetooth®, Bluetooth® Low Energy (BLE), WiFi (IEEE 802.11), Wireless PAN (Personal Area Network) (IEEE 802.15), NFC (Near Field Communication), RFID (Radio Frequency Identification), etc.

[0034] Some embodiments may include a surgical tool 170 that can be driven or otherwise adjusted to articulate, or actuated or otherwise engaged, depending on the type of surgical tool 170 used. Thus, the connector portion 185 may include connections within the connector portion 185 for operating the surgical tool 170 via optical connections, pneumatic connections, electrical connections, data connections, power connections, signal connections, and combinations thereof.

[0035] Figure 5A shows a robot manipulator connection interface 500 according to a particular aspect of the present disclosure. The robot manipulator connection interface 500 can be positioned at the terminal end of the working end 172 in the recess 190 so as to mate with the connection interface of the connector portion 185 when the surgical tool 170 is mounted via the connector portion 185 being received into the recess 190 (as shown, for example, in Figures 4A-4B). In a particular embodiment, the robot manipulator connection interface 500 may include a plurality of connection points 501a, 501b, 501c, 501d, and 501e (collectively referred to as connection point 501). The connection points 501 provide, for example, various means for manipulating the surgical tool 170. The connection points 501 may include, for example, optical, pneumatic, electrical, data, power, or signal connections, and various combinations thereof. The connection points 501 can provide some or all of the necessary connections to the surgical tool 170.

[0036] Figures 5B and 5C illustrate various embodiments of the tool connection interfaces 510 and 520 of the connector portion 185 according to a particular aspect of the present disclosure. As shown in Figure 5B, the tool connection interface 510 has a plurality of connection points 511a, 511b, 511c, 511d, and 511e (collectively, connection point 511). In the embodiment shown in Figure 5B, connection points 511a, 511b, 511c, 511d, and 511e are aligned with and interface / connect to 501a, 501b, 501c, 501d, and 501e of the robot manipulator connection interface 500, respectively. In some embodiments, one or more of the connection points 511 can be used to operate a surgical tool 170. Similar to connection point 501, connection point 511 can provide one or more means for operating the surgical tool 170 (e.g., optical, pneumatic, electrical, data, power, or signal connections, suction line control, fibers for lasers and internal illumination, and wires for high-frequency (diathermy), and combinations thereof). Figure 5C shows an embodiment in which the tool connection interface 520 has fewer connection points than the robot manipulator connection interface 500. As shown in Figure 5C, the tool connection interface 520 includes connection point 521, which is aligned with and interfaces / connects to connection point 501e of the robot manipulator connection interface 500. Note that connection points 501, 511, and 521 are merely illustrative, and each of the robot manipulator connection interface 500 and the tool connection interfaces 510 and 520 may include any number or arrangement of connection points.

[0037] Figures 5A–5C are for illustrative purposes only and are not intended to limit the scope of this disclosure. Those skilled in the art can easily imagine various configuration patterns, numbers, etc., related to the robot manipulator connection interface 500 and the tool connection interfaces 510 and 520. It should be further noted that each connection point (e.g., connection points 501, 511, and 521) can be aligned, interfaced, connected, or mated in a variety of ways. For example, connection points 511 and 521 can be aligned, interfaced, connected, or mated with connection point 501 via grooves that can accept any alignment of various elements such as contact interfaces, connection points, latches, washers, or combinations thereof, as is known to those skilled in the art.

[0038] Alignment, interface connection, connection, or mating with connection point 501 and connection points 511 and 521 may also vary based on the type of temporary or semi-permanent connection of the connector portion 185 of the work end 172. Such types of alignment, interface connection, connection, or mating may be in accordance with the appropriate technology when the connector portion 185 connects to the work end 172 using, for example, a barbed or multi-barbed connector, slip connector, socket connector, push-in connector, push-in mating connector, twist-and-lock connector, quick-connect connector, flared threaded connector, compression connector, crimp connector, and combinations thereof. In addition, alignment, interface connection, connection, or mating may be in accordance with the appropriate technology when the connector portion 185 connects to the work end 172 using sliding and latching mechanisms of various configurations, which will be readily conceivable by those skilled in the art.

[0039] Figure 6 shows a schematic block diagram illustrating the components of a control system 630 of a robotic surgical system 600 according to a particular aspect of this disclosure. The robotic surgical system 600 may include, for example, a surgical tool 610, a robotic manipulator 620, and a control system 630. In a particular embodiment, the surgical tool 610 may be any embodiment of the surgical tool 170 as shown in Figures 1-4. In addition, the robotic manipulator 620 may represent any embodiment of a robotic manipulator as detailed in Figures 1-2 and can be mechanically coupled to the surgical tool 610.

[0040] In certain embodiments, the control system 630 may represent, for example, a control system within the surgical console 102 in Figure 1. In other embodiments, the control system 630 may be a standalone system located within the system 100 in Figure 1 for performing ophthalmic surgery. In various embodiments, the control system 630 may include a processor 631, memory 632, a network interface 633, an input / output (I / O) interface 634, and a display interface 635, all coupled to an interconnect (bus) 636. The memory 632 may include an operating system 640, software 641, and data 642. Generally, the network interface is communicatively coupled to a data communication network 637, the I / O interface 634 is communicatively coupled to an I / O device 638, and the display interface 635 is communicatively coupled to a display 639. The interconnect 636 transmits programming instructions and application data between the processor 631, the network interface 633, the I / O interface 634, the display interface 635, and / or the surgical tool 610 via the tool interface 643, and between the robot manipulator 620 via the robot manipulator interface 644.

[0041] The interconnect 636 may include, for example, the Advanced Industrial Standards Configuration (EISA) bus, Front Side Bus (FSB), Hypertransport (HT) interconnect, Industrial Standards Configuration (ISA) bus, Infiniband interconnect, Low-pin-count (LPC) bus, Memory bus, Microchannel Architecture (MCA) bus, Peripheral Components Interconnect (PCI) bus, PCI Express (PCIe) bus, Serial Advanced Technology Attachment (SATA), and combinations thereof.

[0042] The processor 631 can retrieve and store application data within the data 642, process software 641, and process operating system 640, and can also retrieve and execute instructions stored in memory 632. The processor 631 may represent a single central processing unit (CPU), multiple CPUs, a single CPU with multiple processing cores, a single graphics processing unit (GPU), multiple GPUs, a single GPU with multiple cores, and so on. In certain embodiments, the processor 631 may include a microprocessor, a controller, or any other suitable computing device, resource, or a combination of hardware, software, and / or encoded logic that can operate alone or in conjunction with other components in the robotic surgical system 600.

[0043] The processor 631 may include a single integrated circuit such as a microprocessing device, or multiple integrated circuit devices and / or circuit boards that work together to achieve a suitable function. In addition, the processor 631 may execute computer programs or modules such as an operating system 640, software 641, etc., stored in memory 632.

[0044] In certain embodiments, memory 632 may be any form of volatile or non-volatile memory, including but not limited to magnetic media, optical media, RAM, ROM, flash memory, removable media, or one or more other suitable local or remote memory components. In certain embodiments, memory 632 may include RAM, which may be volatile memory where appropriate. Where appropriate, this RAM may be DRAM or SRAM. Furthermore, where appropriate, this RAM may be single-port or multi-port RAM, or any other suitable type of RAM or memory. Memory 632 may include one or more memory 632 where appropriate. Memory 632 may store any suitable data or information used by the control system 630, including software embedded in a computer-readable medium and / or encoded logic (e.g., firmware) incorporated into hardware or otherwise stored. In certain embodiments, memory 632 may include main memory for storing instructions for processor 631 to execute or data for processor 631 to operate.

[0045] In addition, memory 632 may include mass storage for data or instructions. As an example, but not an limitation, memory 632 may include an HDD, SSD, flash memory, optical disk, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Memory 632 may include removable or non-removable (i.e., fixed) media, where appropriate. Memory 632 may reside inside or outside the control system 630, where appropriate. In certain embodiments, memory 632 may be non-volatile solid-state memory. In certain embodiments, memory 632 may include ROM. Where appropriate, this ROM may be a mask-programmed ROM, PROM, EPROM, EEPROM, electrically modifiable ROM (EAROM), or flash memory, or a combination of two or more of these. Memory 632 can take any suitable physical form and may include any suitable number or type of storage.

[0046] In certain embodiments, memory 632 may include data 642 such as data related to the robot manipulator 620, individual tool settings, operation settings, etc. In addition, in certain embodiments, memory 632 may include software 641, which includes software and / or modules for determining gravity compensation requirements for the surgical tool 610, software and / or modules for determining collision avoidance requirements for the surgical tool 610, software and / or modules for determining calibration parameters for the robot manipulator 620 or the surgical tool 610, etc.

[0047] The network interface 633 is configured to transmit data to and from the data communication network 637 using wired connections such as USB and Ethernet (IEEE 802.3), wireless connections such as Bluetooth®, BLE, WiFi (IEEE 802.11), Wireless PAN (IEEE 802.15), NFC, RFID, and / or wireless cellular connections such as Code Division Multiple Access (CDMA), Frequency Division Multiple Access (FDMA), Time Division Multiple Access (TDMA), 4G, 4G Long-Term Evolution (LTE), GSM for Mobile, and 5G cellular networks. For example, the data communication network 637 may include a local area network (LAN) connected to a wide area network (WAN) via a router, and the WAN may be connected to the Internet via an Internet service provider (ISP), etc.

[0048] The I / O interface 634 is configured to transmit and / or receive data to and from the I / O device 638. The I / O interface 634 enables connectivity between the processor 631, memory 632, and I / O device 638 by encoding data transmitted from the processor 631 or memory 632 to the I / O device 638 and decoding data received from the I / O device 638 for the processor 631 or memory 632. Generally, data can be transmitted via wired and / or wireless connections. For example, the I / O interface 634 may include one or more wired communication interfaces such as USB, Ethernet (IEEE 802.3), etc., and / or one or more wireless communication interfaces coupled to one or more antennas such as Bluetooth®, BLE, WiFi (IEEE 802.11), Wireless PAN (IEEE 802.15), NFC, RFID, etc.

[0049] Generally, the I / O device 638 provides inputs for controlling the control system 630 and / or outputs from the control system 630 to, for example, a robotic manipulator 620 and / or a surgical tool 610. The I / O device 638 is operablely connected to control the control system 630 using wired and / or wireless connections. The I / O device 638 may include a local processor coupled to a communication interface configured to communicate with the control system 630 using wired and / or wireless connections. In certain embodiments, the I / O device 638 may include, for example, a touchscreen, keyboard, mouse, touchpad, joystick, or a control unit for operating the surgical tool 610 and / or the robotic manipulator 620. The display interface 635 may be configured to transmit data (e.g., image data, data related to the surgical tool 610, or data related to the robotic manipulator 620) from the control system 630 to the display 639. The display 639 may include monitors such as liquid crystal (LCD) displays, light-emitting diode (LED) displays, thin-film transistor (FTF) LCD displays, organic LED (OLED) displays, active-matrix organic LED (AMOLED) displays, and the like.

[0050] As shown in the embodiment of Figure 6, the surgical tool 610 is communicated / operable and mechanically coupled to the robotic manipulator 620 (e.g., robotic manipulator 105) via a connector 612 so that the robotic manipulator 620 can control and manipulate the surgical tool 610 (e.g., surgical tool 170, etc.). In certain embodiments, the connector 612 may include any embodiment of the connector portion 185, as considered with respect to Figures 4 and 5B, 5C. In addition, the robotic manipulator 620 may be communicated / operable and mechanically coupled via a connector within the robotic manipulator 620, as described above with respect to Figures 4 and 5A.

[0051] As shown in Figure 6, the connector 612 includes a controller 614 and a communication interface 615. Generally, the controller 614 may include, but is not limited to, one or more microprocessors, CPUs, or any other suitable computing devices, resources (e.g., interconnects (buses) and / or memory), and / or a combination of hardware, software, and / or coding logic that can operate alone or in conjunction with other components in the surgical tool 610. In certain embodiments, the controller 614 can operate and / or manipulate the tool portion 611 of the surgical tool 610. In certain embodiments, the controller 614 provides a software and / or hardware (e.g., firmware) interface to the tool portion 611, allowing, for example, a control system 630 to directly or indirectly (e.g., via the tool interface 643) access to the hardware functions of the surgical tool 610. In various embodiments, the controller 614 communicates with the tool portion 611 of the surgical tool 610 so that when the control system 630 initiates a routine to the connector 612 via the tool interface 643, the controller 614 issues commands to the tool portion 611 of the surgical tool 610. In certain embodiments, the tool portion 611 may include, but is not limited to, a phacoemulsification tool, a vitrectomy tool, a laser tool, an optical tool, or any other tool or device known to those skilled in the art used in an ophthalmic or intraocular operating room.

[0052] The communication interface 615 of connector 612 is operable to communicate with the control system 630 or any other device in system 600. In certain embodiments, the controller 614 is coupled to the communication interface 615 and configured to transmit data (e.g., tool data 613) to the tool interface 643 of the control system 630. In certain embodiments, the communication interface 615 may be operable to communicate via wired connections such as USB, Ethernet (IEEE 802.3), and / or wireless connections such as Bluetooth®, BLE, WiFi (IEEE 802.11), Wireless PAN (IEEE 802.15), NFC, RFID, etc. In some embodiments, the communication interface 615 can provide bidirectional access and / or communication between connector 612 and tool interface 643. In various embodiments, the communication interface 615 can operate in a similar manner to the robot manipulator 620 via the robot manipulator interface 644.

[0053] The connector 612 of the surgical tool 610 may further include tool data 613, as discussed in relation to connector 185 in Figure 4. In certain embodiments, tool data 613 may include tool identification data, such as mass-related data, dimensional data, calibration data, and as discussed with reference to Figure 4. In certain embodiments, tool data 613 may include, but are not limited to, the mass and moment of individual surgical tools 610 to enable the robotic manipulator 620 to make the tool weightless (gravity compensated) in all orientations of the robotic manipulator 620. Additional data may include the length of the surgical tool 610 relative to the working end, the offset amount of angled surgical tools 610, an external profile for collision avoidance, and inverse kinematic control laws. Operating parameters of the surgical tool 610 and data related to electrically or pneumatically operated connectors can be incorporated into tool data 613. In addition, the tool data 613 may include individual operating parameters, serial numbers, and identification data such as a description and / or name of the surgical tool 610.

[0054] The tool data 613 can be transferred to the tool interface 643 (for example, via the communication interface 615) and stored in data 642 or other parts of memory 632. In certain embodiments, the connector 612 can transfer the tool data 613 to the tool interface 643 via a wired connection such as USB, Ethernet (IEEE 802.3), wireless connection such as Bluetooth®, BLE, WiFi (IEEE 802.11), wireless PAN (IEEE 802.15), NFC, RFID, or similar protocols utilizing the communication interface 615. In certain embodiments, the tool interface 643 can utilize the network interface 633 to transfer the tool data 613 from the connector 612 to the tool interface 643 so that the tool data 613 can be stored in data 642 or other parts of memory 632. In certain embodiments, the tool interface 643 may utilize the I / O interface 634 to scan a QR code (registered trademark) with the I / O device 638, for example, so that tool data 613 is captured and stored in data 642 or other parts of memory 632.

[0055] As briefly described above, memory 632 may include software 641 containing various modules and / or software components to determine various parameters necessary for operation. One such software component may include a gravity compensation module. With respect to gravity compensation, software 641 can retrieve tool data 613 previously retrieved from the tool interface 643 from data 642, but in certain embodiments, if the tool data 613 is not currently present in data 642, software 641 can activate the tool interface 643 to retrieve the tool data 613 via connector 612. In addition, software 641 can retrieve data related to the robotic manipulator 620 from data 642. In certain embodiments, multiple surgical tools 610 may be available, and therefore the software module can retrieve the tool data 613 for each of the multiple surgical tools 610. In some embodiments, multiple robotic manipulators 620 may be available, and therefore the software module can retrieve data related to each robotic manipulator 620 from data 642.

[0056] Gravity compensation in all postures requires mass and moment data from each surgical tool 610. Generally, when determining gravity compensation, software 641 utilizes mass-related data of the surgical tool 610, including but not limited to the mass of the surgical tool 610, the center of mass of the surgical tool 610 relative to the surgical tool coordinate system, the moment of inertia of the surgical tool 610, the length of the surgical tool 610, and combinations thereof. In addition, software 641 can query data 642 to retrieve robot manipulator data, including but not limited to the number of joints of the robot manipulator 620, the length of each link between the joints of the robot manipulator 620, the weight of each link of the robot manipulator 620, the weight of the motors in the robot manipulator 620, and combinations thereof. In this way, software 641 can calculate the moment acting on each joint of the robot manipulator 620. In response to determining the moment of each joint of the robot manipulator 620, the software 641 can transmit information to the robot manipulator interface 644 to apply torque to each joint of the robot manipulator 620. In certain embodiments, the software 641 can calculate gravity compensation in real time to apply torque to each joint of the robot manipulator 620 in real time.

[0057] Gravity compensation is generally described in relation to a single surgical tool 610 and a single robotic manipulator 620, but those skilled in the art will understand that such a function can be applied to multiple surgical tools 610 and multiple robotic manipulators 620. In such cases, the software 641 can determine gravity compensation for each robotic manipulator 620 and each surgical tool 610 so as to determine the moment acting on each joint of each robotic manipulator 620. In response to determining the moment on each joint of each robotic manipulator 620, the software 641 can transmit the information to the robotic manipulator interface 644 so that torque can be applied to each joint of each robotic manipulator 620. In certain embodiments, the software 641 can calculate gravity compensation in real time so as to apply torque to each joint of each robotic manipulator 620 in real time.

[0058] Another software component may include a collision avoidance module. With regard to collision avoidance, software 641 can retrieve tool data 613 previously retrieved from the tool interface 643 from data 642, but in certain embodiments, if tool data 613 is not currently present in data 642, software 641 can call the tool interface 643 to retrieve the tool data 613 via connector 612. In addition, software 641 can retrieve data related to robotic manipulators 620 from data 642. In certain embodiments, multiple surgical tools 610 may be available, and therefore the software module can retrieve the tool data 613 for each of the multiple surgical tools 610. In some embodiments, multiple robotic manipulators 620 may be available, and therefore the software module can retrieve data related to each robotic manipulator 620 from data 642.

[0059] For example, collision avoidance with the retina and lens requires information about the length, offset, and outer capsule dimensions of the intraocular portion of the surgical tool 610, as well as information about the wide-angle visualization system outside the eye. Generally, when determining collision avoidance, the software 641 may utilize dimensional data of the surgical tool 610, which may include, for example, the length of the surgical tool 610, a first maximum offset from the centerline of the surgical tool 610 in a first dimension, a second maximum offset from the centerline of the surgical tool 610 in a second dimension, and a third maximum offset from the centerline of the surgical tool 610 in a third dimension. In addition, the software 641 can query data 642 to retrieve robot manipulator data that may include, but is not limited to, the number of joints of the robot manipulator 620, the length of each link between the joints of the robot manipulator 620, the position of each link and joint of the robot manipulator 620 in first, second, and third dimensions (e.g., X-, Y-, and Z-planes), the position of the robot manipulator 620 relative to a surgical environment (e.g., a system 100 for performing ophthalmic surgery), a first maximum offset amount from the centerline of each link of the robot manipulator 620 in the first dimension, a second maximum offset amount from the centerline of each link of the robot manipulator 620 in the second dimension, and a third maximum offset amount from the centerline of each link of the robot manipulator 620 in the third dimension, and combinations thereof. Furthermore, the software 641 can extract surgical parameters from the data 642, which may include patient position and dimensional data relative to the surgical tool 610 and robotic manipulator 620, the type of surgery to be performed, the curvature, size, shape, and dimensions of the patient's eye, the dimensions of the lens on the patient's eye if a lens is used during surgery, information on wide-angle visualization system parameters (contact and / or non-contact), and combinations thereof.

[0060] In this way, the software 641 can calculate the three-dimensional position of each link of the robotic manipulator 620 and the surgical tool 610 to determine whether the surgical tool 610 or the robotic manipulator 620 is approaching any undesirable location (e.g., inadvertently puncturing a patient's eye or a lens worn by the patient). In certain embodiments, digital imaging can be used in collision avoidance determination. In such embodiments, the camera and / or sensor may be part of the surgical tool 610, part of the robotic manipulator 620, or may be located externally, such as around the surgical environment (e.g., system 100 for performing ophthalmic surgery). In certain embodiments, the software 641 runs a collision avoidance routine in real time so that the surgical tool 610 and the robotic manipulator 620 are continuously monitored to avoid potential collisions.

[0061] In certain embodiments, upon detecting a potential collision, software 641 can activate the robot manipulator interface 644 to stop or move the robot manipulator 620 along a different path before the collision. In addition, software 641 can include proximity alarms and / or alerts indicating that a potential collision is imminent. In this way, a surgeon (e.g., surgeon 112) can reposition or stop the robot manipulator 620 before the collision. In some embodiments, the alarms and / or alerts may include, but are not limited to, visual or audible alarms and / or alerts. In certain embodiments, a surgeon may override software 641 if the surgeon wants to insert a portion of a surgical tool 610, for example, into the patient's eye.

[0062] Collision avoidance is generally described in relation to a single surgical tool 610 and one robotic manipulator 620, but those skilled in the art will understand that such functionality can be applied to multiple surgical tools 610 and multiple robotic manipulators 620. In such examples, the software 641 can determine collision avoidance for each robotic manipulator 620 and each surgical tool 610, and can further determine positional and dimensional data for each robotic manipulator 620 and each surgical tool 610 within the surgical coordinate system. In this way, the software 641 can further identify potential collisions of each robotic manipulator 620 and each surgical tool 610 with respect to the patient, and can further identify potential collisions with other surgical tools and robotic manipulators operating within the surgical coordinate system. As described above, the software 641 can execute collision avoidance routines in real time so that each surgical tool 610 and each robotic manipulator 620 is continuously monitored to avoid potential collisions.

[0063] Furthermore, the software 641 may include a calibration module for calibrating the surgical tools 610 and the robotic manipulators 620. With regard to calibration, the software 641 can retrieve previously recovered tool data 613 from data 642 via the tool interface 643. In certain embodiments, if the tool data 613 is not currently present in data 642, the software 641 can activate the tool interface 643 to retrieve the tool data 613 via connector 612. In addition, the software 641 can retrieve data related to the robotic manipulators 620 from data 642. In certain embodiments, multiple surgical tools 610 may be available, and therefore the software module can retrieve the tool data 613 for each of the multiple surgical tools 610. In some embodiments, multiple robotic manipulators 620 may be available, and therefore the software module can retrieve data related to each robotic manipulator 620 from data 642.

[0064] Generally, when determining calibration data for surgical tools 610 and robotic manipulators 620, software 641 can utilize operating pressure, current / voltage requirements, optical parameters, sensor data, manufacturing data (e.g., the slope of the pneumatic operating curve for cutting determined by the manufacturer during testing), signal connection data, and combinations thereof. In this way, software 641 can retrieve data related to the specific surgical tool 610 required for the surgery and store tool-specific data necessary to configure the robotic manipulator 620 and / or surgical tool 610 used by the control system 630. Calibration data can be stored in data 642 or other parts of memory 632. In certain embodiments, software 641 can then communicate the calibration data to the robotic manipulator 620 via the robotic manipulator interface 644. This may enable the robotic manipulator interface 644 to apply, for example, the correct pneumatic pressure to operate the surgical tool 610, the correct current / voltage to operate the surgical tool 610, and combinations thereof. In addition, in some embodiments, the software 641 may store calibration data in data 642 so that any component of the robotic surgical system 600 can access and use the calibration data according to the standard operating procedures of the surgical tool 610. For example, the control of suction lines, laser and internal illumination fibers, and high-frequency (diathermy) wires may also be included in the calibration data.

[0065] In some embodiments, the tool interface 643 can retrieve tool data 613 from the surgical tool 610, which may include, for example, mass-related data, dimensional data, and calibration data, as described above, and can also collect tool identification data. In certain embodiments, the tool identification data may include, for example, the serial number of the surgical tool 610, a description of the surgical tool 610, the name of the surgical tool 610, and combinations thereof. In some embodiments, the tool data 613 may include the length of the surgical tool 610 relative to the working end, the offset amount of the surgical tool 610, the external profile of the surgical tool 610, the operating parameters of the surgical tool 610, and combinations thereof.

[0066] In some embodiments, identification data from the surgical tool 610 can be used to determine other types of data through retrieval from a database stored in memory 632 (e.g., in data 642). For example, in some embodiments, the tool interface 643 can receive tool data 613 containing tool identification data. After retrieving the tool identification data, the software 641 can then retrieve mass-related data, dimensional data, and calibration data from the database in data 642 or from any part of memory 632, as described above. This enables the software 641 to perform the various functions described above (e.g., gravity compensation, collision avoidance, and / or calibration routines). Thus, the control system 630 can control the robotic manipulator 620 and the surgical tool 610 based on the mass-related data, dimensional data, and calibration data determined from the tool identification data stored in tool data 613 (e.g., serial number, description, and / or name of the surgical tool 610). In certain embodiments, multiple surgical tools 610 can be utilized, and therefore the software module can retrieve tool data 613 for each of the multiple surgical tools 610.

[0067] As shown in Figure 6, the control system 630 includes a robot manipulator interface 644 for operating / controlling the robot manipulator 620. In certain embodiments, the robot manipulator interface 644 can communicate with the control system 630 and / or the robot manipulator 620 via wired and / or wireless connections. In certain embodiments, the robot manipulator interface 644 may include, without limitation, an EISA bus, FSB, ISA bus, LPC bus, MCA bus, PCI bus, PCIe bus, SATA bus, USB connection, Ethernet interface, Wi-Fi interface, Bluetooth® interface, BLE Bluetooth® interface, etc. While Figure 6 shows the robot manipulator interface 644 within the control system 630, the robot manipulator interface 644 may alternatively reside outside the control system 630.

[0068] In certain embodiments, the robot manipulator interface 644 includes a driver within the robot manipulator interface 644 and / or the robot manipulator 620 for the control system 630 to operate and / or manipulate the robot manipulator 620. In certain embodiments, the driver provides a software and / or hardware (e.g., firmware) interface between the robot manipulator 620 and the robot manipulator interface 644, enabling, for example, the control system 630 to directly or indirectly access the hardware functions of the robot manipulator 620. In certain embodiments, the driver of the robot manipulator interface 644 communicates with the control system 630 so that when the control system 630 invokes a routine on the robot manipulator 620 through the robot manipulator interface 644, the driver issues commands to the robot manipulator 620. In some embodiments, the robot manipulator interface 644 can provide bidirectional access / communication between the robot manipulator 620 and the control system 630.

[0069] In certain embodiments, the robot manipulator interface 644 can control optical connections / controls, pneumatic connections / controls, electrical connections / controls, data connections, power connections / controls, signal (e.g., optical) connections / controls, etc., of the robot manipulator 620. In addition, in certain embodiments, the robot manipulator interface 644 can control various parts of the robot manipulator 620, such as specific joints and links of the robot manipulator 620. In some embodiments, the robot manipulator interface 644 can control an external pneumatic pump corresponding to the function of the robot manipulator 620.

[0070] Figure 7 shows a flowchart illustrating a method 700 for controlling a robotic manipulator, such as robotic manipulator 105 or robotic manipulator 620, according to a particular aspect of the present disclosure. In a particular embodiment, the method 700 is performed by a control system 630 via a tool interface 643, by which software 641 invokes the tool interface and transfers tool data 613 from a connector 612. In 701, the data is received from a surgical tool connected to the working end of robotic manipulator 620. In some embodiments, the surgical tool may include, but is not limited to, surgical tool 170 or surgical tool 610. In some embodiments, the data may be received from surgical tool 610, for example, via connector 612. In some embodiments, the received data may be, for example, tool data 613. In 702, the robotic manipulator (e.g., robotic manipulator 620) is controlled at least in part on the data received from the surgical tool. In some embodiments, the robotic manipulator is controlled by a control system 630 via a robotic manipulator interface 644 that communicates with the robotic manipulator 620. In certain embodiments, the method 700 can be performed continuously throughout a surgical procedure. In some embodiments, the method 700 can be performed in real time during a surgical procedure.

[0071] Figure 8 shows a flowchart of a method 800 for applying torque values ​​to the joints of a robotic manipulator, such as robotic manipulator 105 or robotic manipulator 620, according to a particular aspect of the present disclosure. In a particular embodiment, the method 800 is performed by a control system 630 via a tool interface 643, by which software 641 invokes the tool interface 643 to transfer tool data 613 from a connector 612. In 801, mass-related data is received from a surgical tool connected to the working end of robotic manipulator 620. In some embodiments, the surgical tool may include, but is not limited to, a surgical tool 170 or a surgical tool 610. In some embodiments, data may be received from the surgical tool 610 via, for example, a connector 612. In some embodiments, the received data may be, for example, tool data 613. In 802, gravity compensation is determined by software 641, as described above with respect to Figure 6. In 803, a torque value is applied to at least one joint of the robotic manipulator 620 (e.g., robotic manipulator 620) to compensate for the gravitational effect on the surgical tool (e.g., surgical tool 610) based at least in part on mass-related data. In certain embodiments, 801 corresponds to 701 of method 700, and 802 to 803 correspond to 702. In certain embodiments, method 800 can be performed continuously throughout a surgical procedure. In some embodiments, method 800 can be performed in real time during a surgical procedure.

[0072] Figure 9 shows a flowchart of a method 900 for avoiding collisions with obstacles within the working volume of a robotic manipulator, such as robotic manipulator 105 or robotic manipulator 620, according to a particular aspect of the present disclosure. In a particular embodiment, the method 900 is performed by a control system 630 via a tool interface 643, by which software 641 invokes the tool interface and transfers tool data 613 from a connector 612. In 901, dimensional data is received from a surgical tool connected to the working end of robotic manipulator 620. In some embodiments, the surgical tool may include, but is not limited to, surgical tool 170 or surgical tool 610. In some embodiments, data may be received from surgical tool 610 via, for example, connector 612. In some embodiments, the received data may be, for example, tool data 613. In 902, collision avoidance is determined by software 641, as described above with respect to Figure 6. In 903, the control system 630 identifies whether a potential collision is imminent by software 641, as described above with respect to Figure 6. If a potential collision is found, method 900 proceeds to 904. In 904, the control system 630 warns the surgeon and / or avoids the collision (e.g., automatically stops or changes course), as described above with respect to Figure 6. If no potential collision is found, method 900 proceeds to 905, which includes the continuous operation of a surgical tool (e.g., surgical tool 610) via a robotic manipulator (e.g., robotic manipulator 620). In certain embodiments, 901 corresponds to 701 of method 700, and 902 to 905 correspond to 702. In certain embodiments, method 900 can be performed continuously throughout a surgical procedure. In some embodiments, method 900 can be performed in real time during a surgical procedure.

[0073] Figure 10 shows a flowchart of a method 1000 for calibrating the operation of a surgical tool, such as a surgical tool 170 or a surgical tool 610, according to a particular aspect of the present disclosure. In a particular embodiment, the method 1000 is performed by a control system 630 via a tool interface 643, by software 641 invoking the tool interface and transferring tool data 613 from a connector 612. In 1001, the calibration data is received from a surgical tool connected to the working end of a robotic manipulator 620. In some embodiments, the surgical tool may include, but is not limited to, a surgical tool 170 or a surgical tool 610. In some embodiments, the data may be received from the surgical tool 610 via, for example, a connector 612. In some embodiments, the received data may be, for example, tool data 613.

[0074] In 1002, calibration of the surgical tool (e.g., surgical tool 610) is performed by software 641, at least in part, on calibration data, as described above with respect to Figure 6. In certain embodiments, as considered with respect to Figure 6, calibration may include, for example, calibrating the surgical tool 610 and the robotic manipulator 620 for operation of the surgical tool 610 by the robotic manipulator 620. In certain embodiments, 1001 corresponds to 701 of method 700, and 1002 corresponds to 702. In some embodiments, 1002 may occur before and / or during control of the robotic manipulator (e.g., before and / or during 702 of method 700). In certain embodiments, method 1000 may be performed continuously throughout a surgical procedure. In some embodiments, method 1000 may be performed in real time during a surgical procedure.

[0075] Figure 11 shows a flowchart of a method 1100 for controlling a surgical tool 610 and a robotic manipulator 105 or robotic manipulator 620 based on identification data of the surgical tool, according to a particular aspect of the present disclosure. In a particular embodiment, method 1100 is performed by a control system 630 via a tool interface 643, by software 641 invoking the tool interface and transferring tool data 613 from a connector 612. In 1101, identification data is received. Generally, the identification data may include, but is not limited to, information such as the serial number of the surgical tool, a description of the surgical tool, the name of the surgical tool, and combinations thereof. In 1102, appropriate data corresponding to the tool (e.g., surgical tool 610) is determined. As described above with respect to Figure 6, the identification data may be used, for example, to query a database in data 642. From this database, the control system 630 can identify relevant data, including but not limited to mass-related data, dimensional data, and surgical tool calibration data, based on the identification data of the surgical tool. In 1103, the robotic manipulator may be controlled at least partially on the mass-related data and dimensional data of the surgical tool in any manner as described above with respect to Figure 6. In 1104, the operation of the surgical tool is controlled at least partially on the surgical tool calibration data in any manner as described above with respect to Figure 6. As shown in Figure 11, 1103 and 1104 can be performed in parallel. In other embodiments, 1103 and 1104 can be performed sequentially / in series. In certain embodiments, the control of the robotic manipulator and the surgical tool can utilize software 641 to perform gravity compensation, collision avoidance, and calibration routines as described above with respect to Figure 6. In certain embodiments, 1101 corresponds to 701 of method 700, and 1102 to 1104 correspond to 702. In certain embodiments, method 1100 can be performed continuously throughout a surgical procedure.In some embodiments, method 1100 can be performed in real time during a surgical procedure.

[0076] In certain embodiments, Figures 8-11 show variations of the embodiment shown in Figure 7. It should be noted that in some embodiments, each of methods 700, 800, 900, 1000, and 1100 may be performed in parallel or in series. Furthermore, in certain embodiments, methods 700, 800, 900, 1000, and 1100 correspond to processes performed by the control system 630 activating the tool interface 643 and / or the robot manipulator interface 644 via software 641 to communicate with the connector 612 and / or the robot manipulator 620, respectively, as described above with respect to Figure 6. In certain embodiments, methods 700, 800, 900, 1000, and 1100 can be performed continuously and / or in real time while a surgical procedure is being performed. In some embodiments, methods 700, 800, 900, 1000, and 1100 can be performed automatically when a surgical tool is connected to the robot manipulator.

[0077] In one embodiment, the system includes a robotic manipulator having a working end connected to a base by a plurality of joints and a plurality of links, a surgical tool, and a control system. The surgical tool includes a tool portion and a connector portion connected to the working end of the robotic manipulator. The control system includes a tool interface operable to communicate with the surgical tool, a robotic manipulator interface communicatively coupled to the robotic manipulator, and a processor coupled to the tool interface and the robotic manipulator interface. The processor is configured to receive data from the surgical tool and to control the robotic manipulator at least in part based on the data received from the surgical tool.

[0078] In another embodiment of the system, the tool portion includes a phacoemulsification and aspiration tool, a vitrectomy tool, a laser tool, or an optical tool.

[0079] In another embodiment of the system, the data received from the surgical tool includes mass-related data of the surgical tool, and the control includes applying a torque value to at least one joint, at least in part, based on the mass-related data of the surgical tool, to compensate for the effect of gravity on the surgical tool.

[0080] In another embodiment of the system, data received from a surgical tool includes dimensional data of the surgical tool, and the control includes avoiding collisions with obstacles within the working volume of the robotic manipulator, at least in part, based on the dimensional data of the surgical tool.

[0081] In another embodiment of the system, data received from a surgical tool includes calibration data for the surgical tool, and the processor is further configured to calibrate the operation of the surgical tool based at least in part on the calibration data for the surgical tool.

[0082] In another embodiment of the system, data received from a surgical tool includes identification data, and the control includes determining mass-related data, dimensional data, and calibration data of the surgical tool based on the identification data of the surgical tool; controlling a robotic manipulator based at least partially on the mass-related data and dimensional data of the surgical tool; and controlling the operation of the surgical tool based at least partially on the calibration data of the surgical tool.

[0083] In another embodiment of the system, the control system is operable to communicate with the tool interface via a wireless or wired connection.

[0084] While various embodiments of this disclosure are shown in the accompanying drawings and described in the above-mentioned detailed description, it will be understood that this disclosure is not limited to the embodiments disclosed herein and that numerous reconfigurations, modifications, and substitutions are possible without departing from the spirit of this disclosure as described herein.

[0085] The term “substantially” is defined as being approximate but not necessarily complete as understood by those skilled in the art. In any disclosed embodiment, the terms “substantially,” “approximately,” “generally,” and “about” may be replaced with “within [percentage]” of being specified, where percentages include 0.1, 1, 5, and 10%.

[0086] The above outlines some features of embodiments so that those skilled in the art may gain a deeper understanding of the aspects of this disclosure. Those skilled in the art will understand that this disclosure can be readily used as a basis for designing or modifying other processes and structures to accomplish the same objectives and / or achieve the same advantages of the embodiments presented herein. Those skilled in the art will also understand that such equivalent structures will not depart from the spirit and scope of this disclosure, and that various changes, substitutions, and modifications of this specification can be made without departing from the spirit and scope of this disclosure. The scope of the present invention should be determined solely by the following claims language. The term “comprising” in the claims is intended to mean “at least including” such that the enumerated list of elements in the claims is an open group. The terms “a,” “an,” and other singular terms are intended to include their plural forms unless specifically excluded.

[0087] Depending on the embodiment, any particular action, event, or function of any of the algorithms described herein may be performed in a different sequence, added, merged, or completely excluded (for example, not all described actions or events are required for the implementation of the algorithm). Furthermore, in certain embodiments, actions or events may be performed concurrently, not sequentially, but for example, through multithreading, interrupt handling, or multiple processors or processor cores or other parallel architectures. While certain computer implementation tasks are described as being performed by specific entities, other embodiments are possible in which these tasks are performed by different entities.

[0088] In particular, conditional language used herein, such as “can be,” “may be,” “may be,” and “for example,” is generally intended to convey that certain features, elements, and / or states are not included in other embodiments but are included in certain embodiments, unless otherwise specifically stated or understood in the context in which they are used. Accordingly, such conditional language is not generally intended to imply that features, elements, and / or states are necessarily required in one or more embodiments, or that one or more embodiments necessarily include logic for determining whether these features, elements, and / or states are included in or performed in a particular embodiment, with or without input or prompting from the inventor.

[0089] While the detailed description above illustrates, explains, and points out novel features applicable to various embodiments, it should be understood that various omissions, substitutions, and modifications may be made to the forms and details of the devices shown without departing from the spirit of this disclosure. As will be recognized, the processes described herein can be embodied in forms that do not provide all the features and benefits shown herein, as some features can be used or implemented separately from others. The scope of protection is defined not by the foregoing description but by the appended claims. All modifications that fall within the same meaning and scope as the claims should be included within that scope.

[0090] Various embodiments of the methods and apparatus of the present invention are shown in the accompanying drawings and described in the preceding "Modes for Carrying Out the Invention." However, it will be understood that the present invention is not limited to the disclosed embodiments and that numerous reconfigurations, modifications, and substitutions are possible without departing from the spirit of the invention as described herein.

Claims

1. A method for performing robotic surgery, Receiving data from surgical tools connected to the working end of a robotic manipulator and Controlling the robotic manipulator based at least partially on the data received from the surgical tool. A method that includes this.

2. The data received from the surgical tool includes mass-related data of the surgical tool. The control includes, at least in part, applying a torque value to at least one joint to compensate for the effect of gravity on the surgical tool, based on the mass-related data of the surgical tool. The method according to claim 1.

3. The mass-related data of the surgical tool is mass, The mass center position defined with respect to the aforementioned surgical tool coordinate system, Moment of inertia, and The length of the surgical tool, The method according to claim 2, including the method described in claim 2.

4. The data received from the surgical tool includes the dimensional data of the surgical tool. The control includes, at least in part, avoiding collisions with obstacles within the operating volume of the robotic manipulator, based on the dimensional data of the surgical tool. The method according to claim 1.

5. The dimensional data of the surgical tool is The length of the surgical tool, A first maximum offset amount from the centerline of the surgical tool in the first dimension, The second maximum offset amount of the surgical tool from the center line in the second dimension, and The third maximum offset amount of the surgical tool from the center line in the third dimension, The method according to claim 4, including the method described in claim 4.

6. The data relating to the surgical tool includes calibration data for the surgical tool. The method further includes calibrating the operation of the surgical tool based at least in part on the calibration data of the surgical tool. The method according to claim 1.

7. The method according to claim 6, wherein the calibration data includes at least one of the following: mass-related data of the surgical tool, dimensional data of the surgical tool, data necessary for operating the surgical tool, power requirements of the surgical tool, pressure necessary for pneumatic operation of the surgical tool, wavelength of light required by the surgical tool, or intensity of light required by the surgical tool.

8. The data relating to the surgical tool includes identification data. The above control is Based on the identification data of the surgical tool, the mass-related data, dimensional data, and calibration data of the surgical tool are determined. Controlling the robotic manipulator based at least partially on the mass-related data and dimensional data of the surgical tool, Controlling the operation of the surgical tool based at least partially on the calibration data of the surgical tool. The method according to claim 1, including the method described in claim 1.

9. The identification data related to the surgical tool is The serial number of the aforementioned surgical tool, Description of the aforementioned surgical tools, and The name of the surgical tool mentioned above, The method according to claim 8, including the method described in claim 8.

10. The surgical tool comprises a tool portion and a connector portion, The tool portion includes a lens ultrasound emulsification tool, a vitrectomy tool, a laser tool, or an optical tool. The method according to claim 1.

11. It is a surgical tool, Tool part and The connector portion comprises a connector portion configured to be coupled to the working end of a robot manipulator, and the connector portion is Communication interface, The system comprises a controller coupled to the aforementioned communication interface and configured to transmit data to the tool interface of the robot manipulator control system, Surgical tools.

12. The surgical tool according to claim 11, wherein the tool portion includes a lens ultrasound emulsification and aspiration tool, a vitrectomy tool, a laser tool, or an optical tool.

13. The proximal end of the connector portion is provided with a tool connection interface configured to connect in alignment with the corresponding robot manipulator connection interface of the work end, The tool connection interface includes optical connection, pneumatic connection, electrical connection, data connection, power connection, or signal connection. The communication interface is capable of operating to communicate with the tool interface via a wireless or wired connection. The connector portion stores data corresponding to the surgical tool. The surgical tool according to claim 11.

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