Eye-simulating camera-assisted robot for live, virtual, or remote eye surgery training devices and methods

Abstract

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

Description

Technical Field

[0001] Cross - Reference to Related Applications This application claims priority to U.S. Patent Application No. 63 / 235,574, entitled "Eye - Simulation Camera - Assisted Robot for Live, Virtual or Remote Ophthalmic Surgery Training Device and Method," filed on August 20, 2021. The entire content of the said patent application is incorporated herein by reference.

[0002] The subject matter described herein relates to remote ophthalmic surgery training, and more particularly, to an eye - simulation camera analog robot (OSCAR) for ophthalmic surgery training.

Background Art

[0003] Laser eye therapies (e.g., surgeries) and ophthalmic treatments performed at various positions of the eye may require a high level of accuracy and precision to restore natural visual accommodation in near - vision, intermediate - vision, and far - vision for more than one billion presbyopic people who currently have no treatment solutions for their condition. Education and training over several hours to several years are essential for the success of surgeries, procedures, treatments, etc.

[0004] Current surgical training requires experience with live animals or humans. Animal robot simulations that can mimic the behavior of live animals or humans provide the ability to train surgeons in a live or remote environment, without sacrificing animals, and prevent potential human eye complications resulting from initial surgical experience.

[0005] Therefore, it is desirable to provide improved systems, devices, and methods for performing simulation eye treatments, including but not limited to robotic eye structures including the cornea, iris, trabecular meshwork, retina, ciliary muscle, lens, zonule, sclera, and choroid, to identify, observe, and manipulate important anatomical structures for performing remote procedures on the eye.

Summary of the Invention

[0006] In several embodiments, methods, computer program products, and systems are provided. In one implementation, a remote ophthalmic surgery training system is provided.

[0007] The system includes a base plate. The system further includes a face plate coupled to the base plate. The system further includes a data repository and database capable of communicating with multiple external inputs. The system can further collect telemetry data and generate outputs to various external devices. The system may include a controller electronically connected to at least one processor and configured to receive inputs for controlling eye position. The system further includes an eye holder positioned within the face plate. The system further includes an interface board configured to make an electronic connection between at least one processor and the eye holder. The system further includes an eye positioned within the eye holder. The system further includes a user interface configured to receive user inputs for controlling eye movement. The system further includes at least one processor coupled to the base plate. At least one processor and / or memory is configured to perform operations including initializing eye position. At least one processor is further configured to connect to one or more computing devices. At least one processor is further configured to control eye position by one or more computing devices. At least one processor is further configured to simulate human or animal eye movements. At least one processor is further configured to perform laser procedures on the eye to simulate multiple eye movements, both normal and abnormal. The simulator can operate at anatomical limits that may be impossible in reality.

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

[0009] The system includes a "blinking" function that mechanically simulates normal eye blinking, enabling the collection of eye data that is as close to reality as possible.

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

[0011] In one embodiment, a method is provided. The method includes the step of initializing a robot assembly by a processor. The method further includes the step of connecting to one or more computing devices by a processor. The method further includes the step of operating the robot assembly by a processor. The method further includes the step of simulating the eye movements of multiple people or animals by a processor. The method further includes the step of operating a laser by a processor to perform a determined movement with respect to the eyes of the robot assembly.

[0012] In some variations of the method, the determined movements may include, but are not limited to, multiple simulated eye procedures and surgeries, including simulated cataract surgery, simulated LASIK surgery, simulated retinal treatment, simulated implantation, vision treatment, or ophthalmometry. The step of simulating eye movements may include controlling the movements via user interface hardware commands, remote commands, or voice commands. The step of initializing a robot assembly may include mounting an eye to an eye holder of the robot assembly. The eye may include one of glass eyes, wooden eyes, cadaver eyes, model materials, and artificial eyes. The user interface may include one or more modes for simulating real human or animal eye movements or abnormal extreme movements. One or more modes may include directional gaze mode, flutter mode, nystagmus mode, saccadic eye mode, microsaccade mode, tremor mode, and drift mode, animal mode, and human mode. The eye holder may be configured to change intraocular pressure and / or change the position of the eye within the eye holder. The method may further include a step of tracking the position of the eye. The method may further include a step of verifying that the position matches the target position in response to tracking. The method may further include a step of fixing the eye on a specific target.

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

[0014] Details of one or more variations of the subject matter described herein are described in the accompanying drawings and the following description. Other features and advantages of the subject matter described herein will become apparent from the description and drawings, as well as the claims. Certain features of the subject matter currently disclosed are described for illustrative purposes in relation to enterprise resource planning (ERP) systems or other business software solutions or architectures, but it should be readily understood that such features are not intended to be limiting. The claims following this disclosure are intended to define the scope of the subject matter to be protected. [Brief explanation of the drawing]

[0015] The accompanying drawings incorporated herein and constituting part of this specification illustrate specific aspects of the subject matter disclosed herein and, together with the description, help to illustrate some of the principles relating to the disclosed implementations. [Figure 1] This document presents several exemplary implementations of a system for remote ophthalmic surgery training. [Figure 2A] This document presents several exemplary implementations of remote training environments. [Figure 2B] Block diagrams of systems for remote ophthalmic surgery training, relating to several exemplary implementation configurations, are shown. [Figure 2C] Diagrams illustrating exemplary wireless networks relating to several exemplary implementation configurations are shown. [Figure 2D] This document presents several exemplary implementations of a cloud-based system architecture. [Figure 3A] This is a perspective view of a robot assembly relating to several exemplary implementation configurations. [Figure 3B] This shows an exemplary side view of a faceplate with an animal face, relating to several exemplary implementation forms. [Figure 3C] This shows an exemplary side view of a faceplate with an animal face, relating to several exemplary implementation forms. [Figure 3D] This shows an exemplary side view of a faceplate with an animal face, relating to several exemplary implementation forms. [Figure 3E] This shows an exemplary side view of a faceplate with an animal face, relating to several exemplary implementation forms. [Figure 4A] This document shows an exemplary robot assembly with a shield, relating to several exemplary implementation configurations. [Figure 4B] This document shows an exemplary robot assembly with a shield, relating to several exemplary implementation configurations. [Figure 4C] This document shows an exemplary robot assembly with a shield, relating to several exemplary implementation configurations. [Figure 5A] This is an exploded view of a robot eye assembly relating to several exemplary implementation configurations. [Figure 5B] A side view of a robotic eye assembly 304 including an eye suction holder mechanism, according to some exemplary implementations. [Figure 5C] An aspiration cup device with an eye holder is shown. [Figure 5D] An aspiration cup device with an eye holder is shown. [Figure 6] A perspective view of an animatronics assembly, according to some exemplary implementations. [Figure 7] An exploded view of a robotic assembly, according to some exemplary implementations. [Figure 8A] A block diagram of a system for remote eye surgery training, according to some exemplary implementations, is shown. [Figure 8B] An exemplary neural network, according to some exemplary implementations, is shown. [Figure 9A] An exemplary flowchart of program execution, according to some exemplary implementations, is shown. [Figure 9B] An exemplary workflow and automatic feedback loop including a gaze tracking function, according to some exemplary implementations, is shown. [Figure 10A] An exemplary graphical user interface for interacting with a remote eye surgery training system, according to some exemplary implementations, is shown. [Figure 10B] An exemplary graphical user interface for interacting with a remote eye surgery training system, according to some exemplary implementations, is shown. [Figure 10C] An exemplary graphical user interface for interacting with a remote eye surgery training system, according to some exemplary implementations, is shown. [Figure 10D] A diagram showing various optical zones, according to some exemplary implementations. [Figure 10E] Various optical zones, according to some exemplary implementations, are shown. [Figure 10E1]This document presents exemplary graphical user interfaces for interacting with a remote ophthalmic surgery training system, relating to several exemplary implementations. [Figure 10F] One or more exemplary retinal zones relating to several exemplary implementation forms are shown. [Figure 10G] An example screenshot of the GUI is shown. [Figure 11A] This section shows exemplary profile windows of graphical user interfaces related to several exemplary implementation forms. [Figure 11B] This section shows exemplary profile windows of graphical user interfaces related to several exemplary implementation forms. [Figure 12] The following are block diagrams of exemplary computing devices relating to several exemplary implementation configurations. [Figure 13] This document presents an example of a method for remote ophthalmic surgery training, relating to several exemplary implementation forms. [Figure 14A] This document illustrates exemplary robot assemblies and eye-tracking devices relating to several exemplary implementation configurations. [Figure 14B] This document illustrates exemplary robot assemblies and eye-tracking devices relating to several exemplary implementation configurations. [Figure 15] This document presents exemplary use cases for cataract LASIK surgery related to several exemplary implementation configurations. [Figure 16] This document presents exemplary use cases for femtosecond surgery related to several exemplary implementation configurations. [Figure 17] This document presents several exemplary implementations and exemplary use cases for cataract surgery. [Figure 18] This document presents exemplary use cases for minimally invasive glaucoma surgery (MIGS) implants, relating to several exemplary implementation configurations. [Figure 19] This document presents exemplary use cases for keratoconus surgery, relating to several exemplary implementation configurations. [Figure 20] This illustrates an exemplary use case for laser scleral microporation. [Figure 21A] This shows the implementation configuration of the iris shutter mechanism. [Figure 21B] This shows the implementation configuration of the iris shutter mechanism. [Figure 21C] This shows the implementation configuration of the iris shutter mechanism. [Figure 22] This displays a data repository and database capable of communicating with multiple external inputs. The system can further collect telemetry data and generate outputs to various external devices. [Modes for carrying out the invention]

[0016] In practical terms, similar reference numbers indicate similar structures, features, or elements.

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

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

[0019] Figure 1 shows a system 100 for remote eye surgery training according to several exemplary implementations. As shown, the system 100 includes a robot assembly 110 and a controller 150. In some embodiments, the controller 150 may be configured to control the movement of at least some parts of the robot assembly 110 (e.g., one or more eyes). The controller 150 may include a joystick, keypad, mouse, game controller, touchscreen, etc.

[0020] Figure 2A shows a remote training environment 200 relating to several exemplary implementations. As shown, the exemplary training environment 200 includes at least one user 202 communicating with a server 225. In some embodiments, the server 225 can host webinars, presentations, virtual wet labs, etc. The user 202 can be associated with a client device 205 that is logged into a presentation on the server 225. In some embodiments, the server 225 may also communicate with a robot assembly 110 and provide remote control to the robot assembly 110. In some implementations, the client device 205 may also include a control device configured to move a part of the robot assembly 110. In some embodiments, remote training for the user 202 may be conducted using a remote demonstration device (e.g., the robot assembly 110) communicating with the server 225. The exemplary training environment 200 can, for the benefit of being able to host training seminars with multiple users 202, which can be completed at the user 202's convenience.

[0021] Figure 2B shows a block diagram of a system 250 for remote ophthalmic surgery training relating to several exemplary implementations. Figure 2B shows exemplary connections between a user (e.g., user 202) and computing devices (e.g., client device 205, server 225, robot assembly 110, etc.). As illustrated, all users and devices are connected directly or indirectly via a wireless connection (e.g., an internet connection) through commercially available video conferencing software. Although an internet connection is shown, the connection between the user and the devices may be wired or achieved by other wireless technologies. Although specific users and devices are shown, other users and other devices are also possible. The video conferencing software may include any video phone, chat, holographic, or any other type of video conferencing or meeting software.

[0022] Figure 2C shows a diagram of an exemplary wireless network 290 relating to several exemplary implementation forms. As shown, a remote robotic system (e.g., system 100) can operate via multiple network links in communication with a medical professional / expert (e.g., user 202 via client device 205, server 225, etc.). The multiple network links may include broadband network links such as Integrated Services Digital Network (ISDN), Local Area Network (LAN), and dedicated T-1 lines of the Internet, or low broadband links. As further shown in Figure 2C, the wireless network 290 includes a satellite link 291 and a ground link 292 to facilitate communication between system 100 and user 202. A remotely operated medical robotic system (e.g., system 100) can perform procedures such as surgery, treatment, and diagnosis over short or long distances while utilizing wired and / or wireless communication networks. Furthermore, a remote surgical medical robotic system can provide an operating room environment for remote real-time surgical consultations. The permitted video and audio video conferencing can support real-time consultations, as well as the transmission of real-time and store-and-forward images for observation by the consultant panel.

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

[0024] Figure 2D shows a cloud-based system architecture relating to several exemplary implementation forms. As shown in the figure, the cloud processing center can control the execution decisions of the robot assembly 110, perform calculations of the robot assembly 110's position data (e.g., the position data of the eyes 506), perform historical data analysis of previous training sessions with the robot assembly 110, store data, perform artificial intelligence (AI) training, provide research and development infrastructure, and provide analysis and health information.

[0025] Figure 3A is a perspective view of a robot assembly 110 relating to several exemplary implementations. As shown, the robot assembly 110 includes a faceplate 302, a robot eye assembly 304, a base plate 306, and a processor 310. In some embodiments, the robot assembly 110 may include an alternative exemplary eye holder 305. In some embodiments, the faceplate 302 may be coupled to the base plate 306 via connecting pins 307.

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

[0027] Figure 4A is a perspective view of a robot assembly 110 having a shield 408, relating to several exemplary implementations. Figure 4B is a side view of a robot assembly 110 having a shield 408, relating to several exemplary implementations. Figure 4C is a perspective view of a robot assembly 110 having a shield 408. As shown in the example in Figure 4C, the shield 408 has a recess 415. In some embodiments, the recess 415 may be configured to hold objects related to the robot assembly 110, ophthalmic surgical training procedures, etc. For example, the recess 415 may be sized and configured to hold an eye bottle, other eye cups, replacement parts, a bottle for eye drops, etc.

[0028] Figure 5A is an exploded view of an exemplary robot eye assembly 304 relating to several exemplary implementations. As shown, the robot eye assembly 304 may include a retaining ring 501, an eye holder 502, an O-ring 503, an eye cup 504, a spacer 505, an eye 506, a clamping ring 507, and a clamping screw 508. The retaining ring 501 may be configured to hold the eye cup 504 in place. The retaining ring 501 may have the ability to move the eye cup 504 downward or upward within the eye holder 502. The eye holder 502 can hold the eye cup 504 in place and can translate the movement input from the servo and linkage mechanism to the eye cup 504. The eye holder 502 may include two pivot points on each side for left / right (L / R) movement. The eye holder 502 may include flanges or bosses that are connection points to the linkage mechanism of the L / R servos.

[0029] The eye holder 502 may include a groove containing an O-ring (e.g., O-ring 503). The O-ring 503 may be designed to be slightly smaller than the eye cup 504 to hold it in place. The O-ring 503 may provide tension between the cup 504 and the holder 502 and may be designed to hold the eye cup 504 centered within the holder 502. The eye holder 502 may include a device (not shown) for initializing, monitoring, adjusting, and measuring intraocular pressure in the eye 506. The device may include a pressure gauge or transducer that measures, measures, monitors, and displays intraocular pressure and is attached to, detached from, or integrated with the holder's device.

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

[0031] Figure 5B is a side view of a robot eye assembly 304 relating to several exemplary implementations. As shown, the robot eye assembly 304 may include a spacer 510. The spacer 510 may be configured to receive the optic nerve or to allow the optic nerve to pass through the opening of the robot eye assembly 304. Further shown, the robot eye assembly 304 may include a pivot axis 515. In some embodiments, the pivot axis 515 may be the same as the axis of the eye 506. In some modifications of the system, such as those shown in Figures 5C and 5D, the eye holder includes a suction cup controlled by a user interface. The eye holder may include a device for initializing, monitoring, adjusting, and measuring intraocular pressure.

[0032] Figure 6 is a perspective view of an animatronics assembly 600 relating to several exemplary implementations. As shown, the animatronics assembly 600 includes an eye holder 502, an eye 506, a clamp ring 507, a pivot frame 604, a control arm 605, and a Y-link 607. The pivot frame 604 may be configured to hold an eye (e.g., eye 506) via two pins located in corresponding holes in the eye holder 502. The pivot frame 604 can provide a base for moving the eye from side to side and may be mounted on another frame moved by an up / down servo. The control arm 605 may include a pivot point in the center which can be coupled to a left / right (L / R) servo. In some embodiments, each end of the control arm 605 may be coupled to the eye holder 502 of the left eye 506 and the right eye 506, respectively. The Y-link 607 can connect an intermediate servo to the eye holder 502. The Y-link 607 may also be configured to transmit intermediate servo motion to the frame of the animatronics assembly 600. The frame may be mounted on both sides as pivot points so that when the servo is moved, the eyes can move upward and / or downward.

[0033] Figure 7 is an exploded view of a robot assembly 110 relating to several exemplary implementations. As shown, the robot assembly 110 includes a base plate 306, connection pins 307, a first standoff 703, a processor 310, a first bolt 715, a socket 712, a cap 718, a pump 709, an interface board 710, a second standoff 711, a second bolt 716, a shield 408, and a faceplate 302. In some embodiments, the first standoff 703 may be configured to hold electronic equipment away from the base plate 306. The first bolt 715 may include a 2.5 mm bolt for mounting the processor 310 to the base plate 306. The processor 310 may include a Raspberry Pi or other processor. The socket 712 may include a 12V socket as an input power socket. The cap 718 may include a rubber cap configured to fit onto an 8mm bolt, or it may be configured to fit into one or more holes in the bottom of the faceplate 302. The pump 709 may include a tank pump configured to provide vacuum to the eyeholder 502 to hold the eye 506 in a desired position. The interface board 710 can provide connections between the processor 310 and the servos of the animatronics assembly (e.g., animatronics assembly 600). A second standoff 711 may be configured to mount the interface board 710 to the bracket. The second bolt 716 may include a 4mm bolt configured to mount the bracket to the baseplate 306. The shield 408 may be sized and shaped to at least partially enclose the bottom of the robot assembly 110 and may be configured to protect the user from the electronics of the robot assembly. The shield 408 may provide mounting for a cooling fan and may include one or more holes to allow cables to pass through. The faceplate 302 may include one or more openings to allow the robot eye assembly 304 to be seen. The faceplate 302 may be designed to have the same or similar proportions as a human face in order to provide a sense of presence to the robot assembly 110.The faceplate 302 may include a tray near the bottom configured to collect any liquid. In some embodiments, the robot assembly 110 may include a camera or image capture device (not shown). In some embodiments, the camera or image capture device may be located outside the robot assembly to provide an eye view and to provide real-time image feedback and / or guidance to a user (e.g., user 202) controlling the robot assembly 110. The camera or image capture device may also provide feedback on the position of the eye at a fixed point of the eye (e.g., eye 506) or on eye tracking.

[0034] In some embodiments, the control of remote biological systems (e.g., systems 100, 250, etc.) can be based primarily on image and video guidance. The image acquisition process involved affects the portability and transportability of the telerobotic system, but the associated bandwidth requirements for encoded images and videos also largely define the telecommunication requirements.

[0035] Figure 8A shows a block diagram of a system 800 for remote eye surgery training relating to several exemplary implementations. As shown, the system 800 may include a processor 810, memory 820, a controller 850, a driver 830, a drive 840, one or more robotic eye assemblies 304, and a wireless connection 825. In some embodiments, the processor 810 may include a processor running an operating system (e.g., a Raspberry Pi computer). The memory 820 can store instructions for a graphical user interface application that causes the processor 810 to perform actions affecting a robotic assembly (e.g., robotic assembly 110) communicating with the system 800. In some embodiments, the controller 850 may include a game console controller configured to control the eye movements of the robotic assembly. The controller 850 may be coupled to the processor 810 via a USB controller driver. The processor 810 may be coupled to the driver 830 via an integrated circuit. The driver 830 may be electronically coupled to the drive 840. As shown in the example in Figure 8, the system 800 includes two drives 840, but more or fewer drives 840 are possible. The drives 840 may include servo drives configured to give movement to one or more eye assemblies 304.

[0036] In some embodiments, system 800 and / or processor 810 may implement a neural network to provide feedback to and from the system. Figure 8B shows an exemplary neural network 875 relating to some exemplary implementations. As shown, the neural network 875 includes an input layer 860, one or more hidden layers 870, and an output layer 880. It includes one or more input nodes 861. One or more hidden layers 870 include one or more hidden nodes 871, and the output layer 880 includes an output node 881. In some embodiments, inputs to the input layer 860 may include digital images, digital videos, mathematical equations, terrain images, wavefront images, optical images, etc. In some implementations, one or more hidden layers 870 may perform calculations, utilize physical tools, and include modulators, algorithms, digital codes, trigger functions, catalysts, and module transfer functions, etc. Outputs to the output layer 880 may include physical indicators, mathematical indicators, optical indicators, motion indicators, etc.

[0037] Figure 9A shows a flowchart 900 of exemplary program execution for controlling robot motion in a robot system (e.g., system 100) according to several exemplary implementations. In some embodiments, flowchart 900 may be executed by processors 310, 810, neural network 875, etc.

[0038] Figure 9B shows an exemplary workflow and automated feedback loop 950 relating to several exemplary implementations. As shown, the workflow and feedback loop 950 demonstrate exemplary interactions between a laser or instrument, an artificial intelligence controller, a simulated patient (e.g., an animal or a person, a robot assembly 110), a physician or other user, and an onboard eye-tracking camera.

[0039] In some embodiments, a robot assembly (e.g., assembly 110) can operate autonomously, semi-autonomously, or remotely robotically. In a remote robotic system (see, for example, Figure 2C), a remote manipulator (e.g., controller 150) can be controlled from a part of an operator (e.g., user 202) by transmitting position commands while receiving visual and other sensory feedback information (e.g., from cameras inside or outside the robot assembly 110). The local and remote systems may be referred to as “master” and “slave” systems, respectively, and the entire system (e.g., system 250) may be referred to as a “master-slave system.” The remote control device can be programmed to track the control of the operator (e.g., user 202). In some embodiments, the robot assembly 110 may include one or more sensors that can provide position triggers and / or feedback indicating whether the eyes of the assembly 110 (e.g., eye 506) are in a desired position, such as via a visual camera. Image processing may be performed during training or treatment. Image processing may include both digital capture images and live video acquisition. Synchronization can occur between two or more cameras. Synchronization may include a bidirectional navigation system (BNS) that implements feedback loop control to verify synchronization and data acquisition. This may be controlled by an artificial intelligence system (e.g., neural network 875, processor 810, etc.) or automated in accordance with a system operating autonomously. In a semi-autonomous state, the processor 810 can perform all functions and controls of the robot assembly 110, but can also receive user input (e.g., from user 202).

[0040] Program execution can begin in step 901, where a script for program execution can be started. In step 910, the processor can run a controller loop to determine whether a controller is connected to the remote ophthalmic surgery training system. In step 911, the processor can determine whether a controller (e.g., controller 150) is detected. If no controller is detected, the program can return to step 910. If a controller is detected, the program can proceed to step 912. In step 912, the detected controller can be configured to control a robot assembly (e.g., robot assembly 110). After the detected controller has gained control of the robot assembly, in step 913, the processor can check to determine if there is an incoming connection (e.g., wireless connection 825) that can override the detected controller.

[0041] In some embodiments, if the processor executes the controller loop in step 910, the processor may also continue to execute the parallel radio connection loop in step 920. In some embodiments, the radio connection loop may include adaptive feedback to compensate for missing signals, delays, and communications. In step 921, the processor determines whether there is an incoming radio connection. If a graphical user interface (GUI) connects via a matching IP address and port, the execution of the controller may be blocked. The robot assembly can be controlled via a remote GUI. This may continue until the GUI is closed or the connection is lost. If there is an incoming radio connection (e.g., radio connection 825, radio pairing, etc.), the program proceeds to step 922, where the processor may receive a message from a client device (e.g., a laptop, tablet, computer, etc.). In some embodiments, the message may include commands to move or control the robot assembly. If a message is received, in step 923, the processor may check to determine (e.g., via a decision engine) whether the message is valid. Otherwise, the program may return to step 922. If the message is valid, in step 925 the processor can execute a command. After an incoming wireless connection is detected in step 920, in step 924 the processor can start a timeout counter to determine if the connection has been lost. In step 926 the processor can determine if the timeout value has been met and indicate a timeout. If so, in step 928 the processor can determine if the timeout counter is less than or equal to the timeout counter threshold (e.g., 10). Otherwise the processor can increment the counter and return to step 924.If the timeout counter meets the threshold, the program can proceed to step 930, disconnect the robot assembly from the client device, and release any wireless connections (e.g., wireless connection 825, wireless pairing, etc.).

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

[0043] Figure 10B shows a screenshot 1050 of GUI 1000 after the GUI application has been launched. As shown in the figure, certain features of GUI 1000 are highlighted at the top of the screen. For example, screenshot 1050 includes a setting function 1051, a mode function 1052, a ginger function 1053, a random jitter function 1054, and a disconnection function 1055. In some embodiments, the setting function 1051 can open a menu for adjusting any setting of GUI 1000. For example, the setting menu may include a connection element configured to connect to a target system (e.g., client system 205). The setting menu may further include a disconnection element configured to disconnect from the target. The setting menu may further include an interval for a quadrant jitter function configured to adjust the jitter setting for one or more quadrants of an eye portion (e.g., eye portions 1060 and / or 1070). The setting menu may further include a profile element configured to open a profile subwindow. While specific settings are described herein, more or fewer setting elements are possible. In some embodiments, the mode function 1052 may be selected to open a mode menu for adjusting the operating mode of the GUI 1000. For example, the mode menu may include a random jitter mode that can initiate a random movement loop of one or more eyes. The mode menu may also include a start profile element that can open a file dialog where the user can select a file having a drive profile. While specific settings and modes are described herein, additional or fewer modes and settings are also possible.

[0044] As further shown in Figure 10B, the GUI 1000 further includes a right eye portion 1060 and a left eye portion 1070. In some embodiments, one or more of the eye portions 1060 and 1070 may include four quadrants. In the example in Figure 10B, the left eye portion 1070 includes the first quadrant 1071, the second quadrant 1072, the third quadrant 1073, and the fourth quadrant 1074. Furthermore, it includes anatomical zones: central, superior, nasal, inferior, and temporal. In some implementations, the eye quadrants may allow a physician or medical professional to highlight, visualize, diagnose, and treat specific areas of the anatomical structure of the eye that are not possible in static methods, facilitating realistic surgical or diagnostic experience using cadaveric eyes in vitro.

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

[0046] As further shown in Figure 10E1, GUI1000 further includes the scleral quadrant of the right eye and the scleral quadrant of the left eye. In some embodiments, the quadrants may include one or more quadrants including the superior nasal muscle, inferior nasal muscle, superior temporalis muscle, inferior temporalis muscle, or the entire 360 ​​degrees. As further shown, the optical zone may include the anatomical zones of central (1), superior (4), nasal (2), inferior (5), and temporal (3). In some implementations, the eye zone may allow a physician or medical professional to highlight, visualize, diagnose, and treat specific areas of the anatomical structure of the eye that are not possible in static methods, facilitating realistic surgical or diagnostic experience using cadaver eyes in vitro.

[0047] As further shown in Figure 10E, GUI1000 may further include the right eye retina 1041 and the left eye retina 1042. In some embodiments, the retina may include one or more zones. Figure 10F shows one or more exemplary retinal zones. As shown, Zone I (1083) is a small circle of retina surrounding the optic nerve 1081. The radius of the circle may be twice the distance from the macula 1082 to the center of the optic nerve 1081. Zone II (1084) is a ring-shaped portion of periretinal zone I that extends along the nasal serrated edge. Zone III (1085) is a crescent-shaped region of the temporal retina.

[0048] Figure 10F further includes retinal landmarks 1086, including the central (fovea, optic disc), mesoperiphery (vortex veins), and distal periphery (serrated margin). In some implementations, the eye zone may allow physicians or medical professionals to highlight specific areas of the anatomical structure of the eye, facilitating realistic surgical or diagnostic experience using cadaveric eyes in vitro.

[0049] Figure 10F further includes anatomical zone 1088, which encompasses the fovea, peri-supra-fovea, peri-fovea nasal, peri-fovea inferior, peri-fovea temporal, para-fovea superior, para-fovea nasal, para-fovea inferior, and para-fovea temporal.

[0050] In some implementations, the eye zone may allow physicians or medical professionals to highlight, visualize, diagnose, and treat specific areas of the anatomical structure of the eye that are not possible with static methods, facilitating realistic surgical or diagnostic experience using cadaver eyes in vitro.

[0051] Figure 10G shows an exemplary screenshot 1075 of GUI 1000 after the GUI application has been launched. As shown, GUI 1000 includes a virtual joystick area 1076. The virtual joystick area 1076 may represent the eye movement area. The user can click anywhere in this area, and the eye of the robot assembly 110 can move to that position. GUI 1000 further includes a right eye section 1060 which includes a curved slider 1077. The curved slider 1077 may be configured to allow fine-tuning via mouse selection to change the slider value and initiate eye movement. GUI 1000 further includes four quadrants 1071, 1072, 1073, and 1074. The user can click on a part of a particular quadrant, and the corresponding eye can move to the assigned quadrant. As further shown in the example in Figure 10C, if the user right-clicks in one or more of the quadrants, a quadrant jitter button 1080 will appear, initiating quadrant jitter mode.

[0052] Figures 11A and 11B show exemplary profile windows of a graphical user interface relating to several exemplary implementation forms. For example, a new window may appear after selecting a profile element from a settings menu. Figure 11A shows an exemplary profile window 1100. As shown, the profile window 1100 may include a settings menu 1102, a move area 1104, a numeric field area 1106, a button area 1108, and a data point area 1110. In some embodiments, the settings menu 1102 may include a delay addition element that allows the user to add multiple delays to the current drive profile. For example, if the user is drawing a drive profile of about 100 points, the user may need to provide engine time for movement. The delay addition function allows the user to add the currently set delay to the delay control between all points in the list. The settings menu 1102 may further include a save profile element configured to allow the user to save the current drive profile. The settings menu 1102 may further include a load profile element that allows the user to open a file dialog to load a saved drive profile. The settings menu 1102 may further include a clear element configured to clear the current settings. The settings menu may further include a freestyle element configured to allow the user to draw a drive path with a mouse or other input device.

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

[0054] In some implementations, the movement area 1104 may be configured to allow the user to select a target point via mouse selection. After selection, the X and Y coordinates may change to the selected target point. If the freestyle mode option is selected, the user can freely draw the drive path. The numeric field area 1106 may contain fields such as X coordinate, Y coordinate, and delay (milliseconds). The example in Figure 11A shows specific fields, but other fields are also possible. Often, the user only needs to change the value of the delay field. The button(s) area 1108 may contain buttons for adding data points or adding delays. In some embodiments, after pressing one of these buttons, the value may be transferred to a list box (e.g., data point area 1110). The data point area 1110 may contain a list box of data points. All assigned positions and delays may be displayed in this list. Right-clicking one or more elements may allow the deletion of data points in the list box. The data in this list in the data point area 1110 can later be used to create an XML file.

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

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

[0057] As illustrated, the computing device 1200 may include one or more processors, such as a processor 1210, for executing instructions that can perform operations consistent with those described herein. The device 1200 may include a memory 1220 for storing executable instructions and / or information. The memory 1220 may include solid memory, a solid disk drive, a magnetic disk drive, or any other information storage device. In some embodiments, the memory 1220 may store at least a portion of a database. The device 1200 may include an input / output device 1240 for a wired or wireless network (e.g., a wireless connection 825). The wireless network may include a wireless antenna, Wi-Fi, WiMax, WAN, WAPBluetooth, satellite, and cellular networks (2G / 3G / 4G / 5G), and / or any other wireless network. To enable wireless communication, the input / output device 1240 may utilize, for example, one or more antennas.

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

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

[0060] Figure 13 shows flowcharts of methods for remote ophthalmic surgery training relating to several exemplary implementations. In various implementations, Method 1300 (or at least a part thereof) may be performed by one or more of the following: robot assembly 110, client device 205, server 225, processor 310, computing device 1200, other related devices, and / or parts thereof.

[0061] Method 1300 can be initiated with the operation block 1310, and the apparatus 1200 can initialize, for example, the robot assembly 110. In some embodiments, initializing the robot assembly 110 may include initializing the robot assembly at the location where the laser for eye surgery is positioned. Initializing the robot assembly 110 may also include installing a glass eye, wooden eye, cadaveric eye, etc. (e.g., eye 506) into the robot assembly 110 (e.g., via the robot eye assembly 304). Initializing the robot assembly 110 may also include tracking the position of the eye 506 using an eye-tracking system and verifying that its position is in a desired location. For example, a physician, moderator, technician, or other medical professional can instruct a person or animal, or a simulated person or animal, to look for a given training movement. A user (e.g., user 202) can command the robot assembly 110 to move one or more eyes 506 to a target position. The eye-tracking system can verify that one or more eyes are in the target position. If the eye-tracking system determines that one or more eyes 506 are not in the target position, the user 202 can make adjustments, or the robot assembly 110 can automatically adjust the eye positions of one or more eyes 506 (e.g., autonomous states using AI or a neural network 875, etc.) until the determined eye positions are within a threshold of the target position. The eye-tracking artificial intelligence or neural network 875 may be trained for use in any in vivo animal or human research. In some embodiments, the eye-tracking artificial intelligence or neural network 875 may be trained to find or look at a specific target, for example, a camera laser pointer or mirror in an eye holder 502 that can detect or track an external point source or a spot on a screen. The eye-tracking feedback system can direct the eyes and control the spot until one or more eyes 506 can track any presented target. The eye-tracking device can track the camera (or mirror) track that the eyes and eyes 506 are looking at and can correct until they match.This system enables precise, dynamic, and real-time adjustment of the eye direction of one or more eyes (506).

[0062] The robot assembly 110 can be used with a relational database, a neural network (e.g., neural network 875), etc., to provide feedback to the eye-tracking system. This allows the eye movements of the eye-tracking device and the robot assembly 110 to be synchronized in real time with bidirectional feedback. Figures 14A and 14B show exemplary robot assemblies (e.g., robot assembly 110) and eye-tracking devices relating to several exemplary implementations.

[0063] Natural or other people's eye movements can be simulated in robot assembly 110 and / or animatronics assembly 600 by using a neural network (e.g., neural network 875 or other AI) controller. Video footage of natural human eye movements can be used as a training set for the AI ​​system. Scoring can be achieved by eye tracking or other external systems and annotations. This results in natural eye movements in high-fidelity simulation by the robot eye system (e.g., robot assembly 110). Using a living person's eye tracking device, the robot eye simulator can mimic natural eye movements either directly or via recorded connections.

[0064] Method 1300 allows the apparatus 1200 to proceed to an operation block 1320 which can connect to, for example, one or more computing devices. In some embodiments, connecting to one or more computing devices may include connecting to a remote training environment (e.g., remote training environment 200). For example, a physician (e.g., user 202) may sign in to a group meeting (e.g., a video conference meeting) in which they can undergo training in ophthalmic surgery. In some embodiments, other devices or users (e.g., laser, camera, computer, moderator, other physician, etc.) may sign in to the group meeting (e.g., remote training environment 200). The group meeting may enable users 202 to communicate with each other and / or control targets from one or more computing devices (e.g., laser, robot assembly 110, server 225, client device 205, etc.) connected to the most remote training environment. One or more computing devices may include client device 205, server 225, computing apparatus 1200, etc. In some embodiments, the remote training environment may include connections to a robot assembly and / or laser for eye surgery.

[0065] Method 1300 allows the apparatus 1200 to proceed to an operation block 1330 in which the robot assembly can be operated, for example, by one or more computing devices. In some embodiments, operating the robot assembly may include performing training procedures, training surgeries, training procedures, procedure planning, post-procedure reviews, etc. For example, a moderator (e.g., a physician's supervisor or instructor) may walk around with a physician user (e.g., user 202) performing a determined training movement. The moderator may give control to the robot assembly 110 and / or a laser for ophthalmic surgery to perform the determined training movement. In some embodiments, the determined training movement may include performing a simulated surgery such as cataract surgery, cataract LASIK, femtosecond surgery, MIGS implant surgery, keratoconus surgery, or laser scleral microporation. Figures 15–20 illustrate exemplary use case surgeries / procedures using the robot assembly (e.g., robot assembly 110) relating to some exemplary implementations described herein. While specific surgical procedures / treatments are described and illustrated herein, the methods and apparatus for live, virtual, or remote ophthalmic surgery training can be applied to other surgeries, treatments, research, etc.

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

[0067] Method 1300 can proceed to the motion block 1340, where the device 1200 can simulate, for example, the eye movements of a person or animal during a determined training movement. Simulating the eye movements of a person or animal may include controlling the eye movements of the robot assembly 110. In some embodiments, ophthalmic surgery or eye procedures may include instructing a person or animal to gaze or focus their eyes on an object in order to position the eyes of the person or animal in a desired position for the surgery or procedure (e.g., an eye looking forward, an eye looking right, an eye looking left, an eye looking up, an eye looking down, etc.). For example, controlling eye movements may include instructing an eye (e.g., eye 506) to look at a target displayed on a screen or elsewhere (e.g., GUI 1000). In some embodiments, controlling eye movements may include initiating random jitter movements of the eye. Controlling eye movements may include controlling the movements via a user interface (e.g., GUI 1000). Controlling eye movements may include operating a controller (e.g., controller 150).

[0068] Method 1300 can proceed to the operation block 1350, where the apparatus 1200 can, for example, manipulate a laser for eye surgery to perform a determined training movement. Manipulating a laser for eye surgery may include using one or more lasers to reshape a part of the eye of the robot assembly (e.g., eye 506). In some embodiments, manipulating a laser may include determining that the eye is in a desired position for the determined training movement.

[0069] In some implementations, Method 1300 may, in addition to or instead involve, for example, the apparatus 1200 operating, for example, a robot assembly to perform eye-tracking verification, treatment angle verification, screen calibration, laboratory development, wavefront measurement, eye measurement, retinal treatment, simulated eye surgery, etc. In some embodiments, eye-tracking verification may include using a laser to determine the focus of the eye 506. In some embodiments, an eye holder (e.g., eye holder 502) may be advantageously able to control the depth of the eye 506 within the holder 502. For example, the eye holder 502 may allow for correction of the position of the eye 506 within the holder 502. In some embodiments, Method 1300 may include performing a post-treatment review or post-movement review to measure and analyze the results of the training exercises.

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

[0071] By performing Method 1300 and / or parts thereof, it is possible to enable realistic and lifelike simulations for ophthalmic surgery and improve the training of physicians. For example, the settings and / or modes of the robot assembly 110 can simulate the dynamic, real-time, realistic eye movements of a human or animal (e.g., directional gaze mode, flutter, jitter mode, human mode, etc.).

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

[0073] These computer programs, also called programs, software, software applications, applications, components, or code, contain machine instructions for a programmable processor and can be implemented in high-level procedural and / or object-oriented programming languages ​​and / or assembly / machine languages. As used herein, the term “machine-readable medium” refers to any computer program product, apparatus, and / or device used to provide machine instructions and / or data to a programmable processor, including machine-readable medium that receives machine instructions as machine-readable signals, such as magnetic disks, optical disks, memory, and programmable logic devices (PLDs). The term “machine-readable signal” refers to any signal used to provide machine instructions and / or data to a programmable processor. Machine-readable medium can store such machine instructions non-temporarily, such as non-temporarily stored solid-state memory or magnetic hard drives or any equivalent storage medium. Alternatively, or in addition to the above, machine-readable medium can store such machine instructions temporarily, such as processor caches associated with one or more physical processor cores or other random-access memory.

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

[0075] The subject matter described herein can be embodied in systems, apparatus, methods, and / or articles, depending on the desired configuration. The implementations described above do not represent all implementations that correspond to the subject matter described herein. Rather, they are merely some examples that correspond to aspects relating to the subject matter described herein. While several modifications have been described in detail above, other modifications or additions are also possible. In particular, further features and / or variations can be provided in addition to those described herein. For example, the aforementioned implementations may cover various combinations and partial combinations of the disclosed features, and / or combinations and partial combinations of some of the further features described above.

[0076] In the above description and claims, phrases such as "at least one of..." or "one or more of..." may appear, followed by a conjunctive list of elements or features. The term "and / or" may also appear in lists of two or more elements or features. Unless implicitly or explicitly contradicted by the context in which it is used, such phrases are intended to mean any of the enumerated elements or features individually, or any of the enumerated elements or features in combination with any of the other enumerated elements or features. For example, the phrases "at least one of A and B," "one or more of A and B," and "A and / or B" are intended to mean "A alone, B alone, or A and B together," respectively. The same interpretation is intended for lists containing three or more items. For example, the phrases "at least one of A, B, and C," "one or more of A, B, and C," and "A, B, and / or C" are intended to mean "A alone, B alone, C alone, A and B, A and C, B and C, or A, B, and C," respectively. The use of the term "based on" in the foregoing and in the claims is intended to mean "at least partially based" so that features or elements not enumerated are also permitted.

[0077] The illustrated methods are for illustrative purposes only. While the methods are shown as having a specific operation flow, two or more operations can be combined into a single operation, a single operation can be performed by two or more separate operations, one or more of the operations shown may not be present in various implementations, and / or additional operations not shown may be part of the method. Furthermore, the logical flows shown in the accompanying drawings and / or described herein do not necessarily require a specific order or sequence shown to achieve the desired result. Other implementations may be within the scope of the following claims.

Claims

1. The processor performs the steps of initializing the robot assembly, The steps include attaching an eye to the eye holder of the robot assembly, The processor connects the robot assembly to one or more computing devices. The processor performs the steps of operating the robot assembly, The processor performs the steps of simulating the eye movements of a person or animal, The processor performs the steps of operating a laser to perform a determined motion with respect to the eye of the robot assembly, The steps to simulate include, To highlight, visualize, diagnose, and treat a specific area of ​​the eye via the user interface of one or more computing devices, and To move the eyes dynamically, in real time, and realistically in response to control in the user interface. Includes, The determined movement includes eye measurements, method.

2. The method according to claim 1, wherein the determined movement further includes simulated cataract surgery, simulated LASIK surgery, simulated retinal treatment, scleral treatment, or vision treatment.

3. The method according to claim 1, wherein the eye holder of the robot assembly initializes the intraocular pressure inside the eye.

4. The method according to claim 3, wherein the eye includes one of a glass eye, a wooden eye, a cadaveric eye, an animal eye, a model material, and an artificial eye.

5. The method according to claim 1, wherein the user interface includes one or more modes for simulating the eye movements or abnormal movements of a real person or animal.

6. The method according to claim 3, wherein the eye holder changes the pressure inside the eye.

7. The method according to claim 1, further comprising the step of tracking the position of the eye.

8. The method according to claim 7, further comprising the steps of verifying that the position coincides with a target position in response to the tracking and fixing to the target via a feedback loop.

9. The method according to claim 7, further comprising a blinking mechanism and an iris shutter that simulate the function of a real eye.

10. The method according to claim 4, wherein the eye holder of the robot assembly monitors the intraocular pressure inside the eye.

11. The method according to claim 10, wherein the eye holder of the robot assembly adjusts the intraocular pressure inside the eye.

12. The method according to claim 11, wherein the eye holder of the robot assembly measures the intraocular pressure inside the eye.

13. The method according to claim 1, wherein the eye holder changes the position of the eye within the eye holder.

14. The method according to claim 13, wherein the eye holder is a suction cup.

15. The method according to claim 14, wherein the eye holder includes a lip configured to hold a rubber dental dam.

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