Method and apparatus for automated transfer of intraocular lenses

Abstract

A method is disclosed for automated transport of an intraocular lens (1) including an optical lens body (10) and two haptics (11) attached to and extending outwardly from the periphery of the optical lens body (10). The method includes the steps of picking up the intraocular lens (1) at a start position, moving the intraocular lens (1) to a destination position, and releasing the intraocular lens (1) at the destination position, where picking up the intraocular lens (1) at the start position includes gripping the intraocular lens (1) only at the haptics (11) of the intraocular lens (1).

Description

Technical Field

[0001] Claims of Priority This application claims the benefit of priority of U.S. Provisional Patent Application No. 63 / 233,420, filed on Aug. 16, 2021, entitled "METHOD AND APPARATUS FOR THE AUTOMATED TRANSFER OF AN INTRAOCULAR LENS", with inventors David Heemyung, Christoph Ludwig, and Gerhard Klokow, the entire disclosure of which is incorporated herein by reference as if fully and completely set forth herein.

[0002] The present invention relates to the field of handling intraocular lenses (IOLs), and more particularly, to methods and apparatuses for the automated transfer of an intraocular lens from a starting position to a target position.

Background Art

[0003] As the name implies, an intraocular lens is implanted into a patient's eye and, very often, the intraocular lens is used to replace the eye's natural lens (e.g., in the treatment of cataracts). An intraocular lens typically includes an optical lens body (which provides the required refractive power) and two haptics attached to the periphery of the optical lens body and extending outwardly from the periphery of the lens body. The purpose of the haptics is to properly position the intraocular lens, including the optical lens body, within the lens capsule of the patient's eye. Therefore, clearly, when implanted into the patient's eye, the optical lens body of the intraocular lens, which provides the required refractive power, must be free of any defects that can adversely affect the patient's vision, and thus the intraocular lens is a delicate medical device that must be handled with the utmost care possible during manufacture and handling. [[ID=二十]]

[0004] During manufacturing and subsequent packaging, intraocular lenses must be transferred between different stations / locations. For example, an intraocular lens must be transferred from one carrier or fixture supporting the intraocular lens during the first manufacturing step to another carrier or fixture supporting the intraocular lens in a subsequent manufacturing step (e.g., from a carrier or fixture used during cleaning the intraocular lens to a carrier or fixture used during examination of the intraocular lens). Currently, many of the handling / transfer processes are performed more or less manually by the operator using specific instruments, such as certain instruments (similar to forceps), which allow for careful grasping of the intraocular lens at the periphery of the optical lens body to avoid scratching or other damage to the optical lens body, as scratching or other damage to the optical lens body can lead to the intraocular lens failing the examination. However, these manual handling / transfer processes are cumbersome for the operator, and even with the operator's utmost care, they are not easily performed manually, so different intraocular lenses are not always placed in the same location on the carrier or fixture. Therefore, from the standpoint of reproducibility and reliability, as well as efficiency, manual processes are disadvantageous.

[0005] Another issue that arises with intraocular lenses made from flexible materials is that the haptic may be slightly bent or curved during the manufacturing process. However, during inspection, the optical lens body is not only inspected for its integrity and conformity to standards, but the overall dimensions of the intraocular lens, including the haptic, are also measured to determine whether the overall dimensions of the intraocular lens meet the specified standards. If the haptic is bent or curved during manufacturing so that it does not have a regular orientation, this may lead to the intraocular lens failing inspection (because, although the haptic may conform to standards if it is properly oriented, the overall dimensions of the intraocular lens do not meet the standards). [Overview of the Initiative] [Problems that the invention aims to solve]

[0006] Therefore, the object of the present invention is to propose a method and apparatus for overcoming the aforementioned drawbacks. [Means for solving the problem]

[0007] The present invention overcomes the aforementioned drawbacks by proposing apparatuses and methods as defined by the features of each independent claim. Advantageous embodiments of the methods and apparatuses are defined in each dependent claim.

[0008] In particular, a method for the automatic transfer of an intraocular lens, which includes an optical lens body and two haptics attached to the periphery of the optical lens body and extending outward from the periphery of the optical lens body, The steps include: picking up the intraocular lens at the starting position, Steps include moving the intraocular lens to the target position, Steps include: releasing the intraocular lens at the target position and Includes, Picking up the intraocular lens at the starting position is This includes grasping the intraocular lens only in the haptic position of the intraocular lens.

[0009] According to one aspect of the method of the present invention, grasping an intraocular lens only at its haptic is performed using a gripping device that includes a suction port for attaching the intraocular lens only at its haptic by positioning the suction port of the gripping device adjacent to the haptic of the intraocular lens and applying a vacuum to the suction port. Releasing the intraocular lens from the gripping device at the desired position is performed by applying excessive pressure to the suction port to remove the haptic of the intraocular lens from the suction port.

[0010] According to a further embodiment of the method according to the present invention, the suction port of the gripping device includes two suction ports located at the distal end of the gripping device and projecting distally away from the gripping device. Each of the two suction ports includes a suction opening at its distal end, surrounded by a lens mounting surface. According to this embodiment, the method is Position the distal end of one of the two suction ports adjacent to one of the two haptics of the intraocular lens such that the suction opening of one of the two suction ports is covered by a portion of one of the two haptics positioned adjacent to it. Position the other suction port adjacent to the other of the two haptics of the intraocular lens such that the suction opening of the other suction port is covered by a portion of the other of the two haptics, By applying a vacuum to the suction openings of the two suction ports, and attaching one of the two haptics to the lens mounting surface of one suction port and the other of the two haptics to the lens mounting surface of the other suction port, It also includes.

[0011] In one aspect of the method according to the present invention, the gripping device is a gripping device having two suction ports fixedly positioned at the distal end of the gripping device.

[0012] In another aspect of the method according to the present invention, the gripping device is a gripping device having two suction ports rotatably positioned at the distal end of the gripping device. Each of the two suction ports is rotatably positioned about a predetermined axis of rotation perpendicular to the plane defined by the lens mounting surfaces of the two suction ports.

[0013] According to a further embodiment of the method according to the present invention, the method is Before applying vacuum to the suction openings of the two suction ports, determine the actual rotational orientation of each of the two haptics of the intraocular lens, Rotate each of the two suction ports around its respective predetermined axis of rotation until the rotation direction of one suction port matches the determined actual rotation direction of one of the two haptics, and the rotation direction of the other suction port matches the determined actual rotation direction of the other of the two haptics, and then, By applying a vacuum to the suction openings of the two suction ports, and attaching one of the two haptics to the lens mounting surface of one suction port and the other of the two haptics to the lens mounting surface of the other suction port, It also includes.

[0014] Furthermore, according to a further embodiment of the method according to the present invention, the method is If the actual rotational direction of one of the two haptics of an intraocular lens, or the other of the two haptics, deviates from their respective predetermined rotational directions, Rotating one suction port together with one of the two haptics attached to the lens mounting surface of one suction port, and / or the other suction port together with the other of the two haptics attached to the lens mounting surface of the other suction port, until each of the two haptics has a predetermined rotational direction, At the target position, overpressure is applied to the suction openings of the two suction ports while each of the two haptics has a predetermined rotational direction. It also includes.

[0015] A device for the automatic transfer of an intraocular lens, comprising an optical lens body having a periphery and two haptics attached to the periphery of the optical lens body and extending outward from the periphery of the optical lens body, includes a gripping device, the gripping device being, A pressure supply connector for supplying vacuum or overpressure, Two suction ports are located at the distal end of the gripping device and protrude distally away from the gripping device, each of the two suction ports having a suction opening at its distal end surrounded by a lens mounting surface, Two separate fluid passages, each of which fluidically connects the respective suction ports of two suction ports to a pressure supply connector for supplying vacuum or overpressure, forming two separate fluid connections between the pressure supply connector and the suction openings of the suction ports. Includes.

[0016] The two suction ports are spaced apart from each other by a distance in the range of 5 mm to 17 mm (millimeters) measured in a plane defined by the lens mounting surface for gripping the intraocular lens only in the haptic by attaching the haptic of the intraocular lens to the lens mounting surface of the suction ports, and for releasing the intraocular lens by removing the haptic of the intraocular lens from the lens mounting surface.

[0017] According to one aspect of the device according to the present invention, the two suction ports are fixedly arranged at the distal end of the gripper.

[0018] According to another aspect of the device according to the present invention, the two suction ports are rotatably arranged at the distal end of the gripper. Each of the two suction ports is rotatably arranged about a respective predetermined axis of rotation perpendicular to the plane defined by the lens mounting surface.

[0019] According to a further aspect of the device according to the present invention, the gripper further comprises two independent rotary motors, a first rotary motor and a second rotary motor each having a rotary drive shaft. The rotary drive shaft of the first rotary motor is connected by a torque-resistant connector to a first gripper finger having one of the two suction ports arranged at the distal end of the first gripper finger, and the rotary drive shaft of the second rotary motor is connected by a further torque-resistant connector to a second gripper finger having the other suction port of the two suction ports arranged at the distal end of the second gripper finger.

[0020] According to a still further aspect of the device according to the invention, each of the torque-resistant connector and the further torque-resistant connector includes a magnetic clutch including a permanent magnet and two pins made of a magnetizable material. The permanent magnet is mounted at the distal end of the rotary drive shaft to withstand torque and faces towards the proximal end of each of the first gripping tool fingers or the second gripping tool fingers. The two pins are arranged at the proximal end of each of the first gripping tool fingers or the second gripping tool fingers and face towards the permanent magnet. The distal ends of the two pins are fixedly connected to each of the first gripping tool fingers or the second gripping tool fingers, and the proximal ends of the two pins are magnetically coupled to the permanent magnet.

[0021] According to a still further aspect of the device according to the invention, the first gripping tool finger includes an abutment flange arranged immediately proximal to one suction port, and the second gripping tool finger includes a further abutment flange arranged immediately proximal to the other suction port. The gripping tool includes, at its distal end, a first abutment projection and a second abutment projection projecting distally from the distal end of the gripping tool on both sides of the gripping tool. The first abutment projection forms a stopper for the abutment flange for defining a predetermined rotational direction of one suction port when the abutment flange of the first gripping tool finger abuts against the first abutment projection, and the second abutment projection forms a stopper for the further abutment flange for defining a predetermined rotational direction of the other suction port when the further abutment flange of the second gripping tool finger abuts against the second abutment projection.

[0022] According to a further embodiment of the apparatus according to the present invention, the apparatus further includes an illumination source for illuminating an intraocular lens supported by a lens carrier, and a camera for capturing an image of the illuminated intraocular lens supported by the lens carrier in order to determine the location of the intraocular lens supported by the lens carrier and the rotational orientation of the haptics of the intraocular lens. The apparatus further includes a control unit coupled to the camera and the gripper for moving the gripper equipped with two suction ports to a location where the two suction ports are positioned adjacent to the haptics of the intraocular lens, such that the rotational orientation of the two suction ports matches the determined actual rotational orientation of the two haptics of the intraocular lens.

[0023] Furthermore, according to a further embodiment of the apparatus according to the present invention, the apparatus further includes a support plate having a plurality of mounting positions for mounting different types of lens carriers on the support plate. The apparatus further includes at least two different types of lens carriers mounted on the mounting positions. The support plate, mounting positions, and at least two different types of lens carriers are configured such that the intraocular lenses placed on the lens carriers, regardless of the type of lens carrier, are positioned in the same plane parallel to the plane defined by the lens mounting surface of the suction port.

[0024] The method according to the present invention is advantageous in that it is an automated method that can be performed with high reproducibility and reliability. In particular, the IOL can be picked up by grasping it with only two haptics and repeatedly placing the IOL at the target position (e.g., on a carrier) in the same manner and at the same location. Therefore, the IOL is not grasped at all on the optical lens body (not even its periphery) so that scratching or damage to the optical lens body of the IOL can be completely avoided.

[0025] When the IOL is grasped using a gripper that includes a suction port, the suction port may be positioned adjacent to the haptic of the IOL, and a vacuum may be applied to the suction port to attach the IOL to the suction port (more precisely, to the lens mounting surface of the suction port) only at the haptic. Releasing the IOL from the gripper at the desired position may be done by applying overpressure to the suction port to remove the haptic of the IOL from the suction port (more precisely, from the lens mounting surface of the suction port). This allows for very careful handling of the IOL without contact of the gripper with the optical lens body.

[0026] For example, a gripper with two suction ports may be used, each of which includes a suction opening at its distal end surrounded by a lens mounting surface. The distal end of one suction port is positioned adjacent to one of the two haptics, and the distal end of the other suction port is positioned adjacent to the other of the two haptics. The suction ports are positioned such that the suction opening of each suction port is covered by a portion of the respective haptic. In this regard, the term “covered” does not mean that the IOL is already mounted on the lens mounting surface surrounding the suction opening, nor that the suction opening is completely covered by a portion of the haptic. Rather, the term “covered” is intended to describe a certain overlap of at least 50% between a portion of the respective haptic and a portion of the respective suction opening.

[0027] Next, a vacuum is applied to the suction opening to ensure that the haptics adhere to the lens mounting surface surrounding the lens mounting opening. This may result in a scenario where, after the gripping operation, the suction opening of the suction port is not completely covered by a portion of each haptic, but despite slight leakage, each haptic remains firmly attached to its respective lens mounting surface. Ideally, however, the suction opening is completely covered by a portion of each haptic, resulting in no leakage at all and a strong attachment of the haptics to the lens mounting surface when the IOL is attached to the gripper.

[0028] Generally, the haptic is attached to the optical lens body in a clearly defined position and a clearly defined (desired) orientation. Therefore, it is possible to use a gripper in which the suction port is fixedly positioned at the distal end of the gripper (in a location where the suction port has a distance and orientation that coincides with the clearly defined position and orientation of the haptic). Thus, it is possible to reliably pick up the IOL with a gripper that is relatively simple in terms of structure.

[0029] Alternatively, a gripper may be used in which two suction ports are rotatably positioned at the distal end of the gripper. Each suction port is rotatable about its respective predetermined axis of rotation perpendicular to the plane defined by the lens mounting surface of the suction port. Although such a gripper is more complex from a structural standpoint, the gripper may take into account deviations of the actual position and orientation of the haptic from the clearly defined (desired) position and orientation.

[0030] When using such a gripping device, the actual position and orientation of each of the two haptics of the IOL are first determined, and then each of the suction ports can be rotated around a predetermined axis of rotation so that there is maximum overlap between the suction opening and each part of the haptic. Only after this is a vacuum applied to the suction opening so that the haptics of the IOL are mounted on the lens mounting surface of the suction port with maximum overlap, ideally with the haptics completely covering the suction opening.

[0031] The apparatus according to the present invention is advantageous because it is possible to grip the IOL by attaching it to the gripper only haptically by applying a vacuum to the suction opening of the suction port. To achieve this, a vacuum is supplied to a pressure supply connector, and from the pressure supply connector, a vacuum is further supplied to the suction openings of two suction ports at the distal end of the gripper using two separate fluid passages. The haptic (more precisely, part of the haptic) of the IOL is then attached to the lens mounting surface surrounding the suction opening of the suction port. When the IOL is to be removed from the gripper, an overpressure is supplied to the pressure supply connector, and from the pressure supply connector, an overpressure is further supplied to the suction opening of the suction port, thus removing the IOL from the gripper (the IOL is carefully blown away). The suction ports are spaced apart from each other by a distance ranging from 5 mm to 17 mm, typically in the range of 9 mm to 10 mm.

[0032] The two suction ports can be fixed to the distal end of the gripper, i.e., positioned at a certain distance from each other. As already mentioned, generally, the haptic is attached to the optical lens body in a clearly defined position and a clearly defined (desired) orientation. The fixedly positioned suction ports are then positioned at a certain distance corresponding to the distance between the portions of the haptic IOL to be attracted to the lens mounting surfaces of the suction ports. Thus, it is possible to reliably pick up the IOL with a gripper that is relatively simple in terms of structure.

[0033] Alternatively, the two suction ports may be rotatably positioned at the distal end of the gripper, such that each suction port is rotatably positioned around a predetermined axis of rotation perpendicular to the plane defined by the lens mounting surface. Although such a gripper is more complex from a structural standpoint, it can account for deviations from the actual position and orientation of the haptics from the clearly defined (desired) position and orientation. The actual position and orientation of each of the two haptics of the IOL can be determined first, and then each of the suction ports can be rotated around the predetermined axis of rotation to the actual position and orientation of the haptics so that there is maximum overlap between the suction opening and the respective portion of the haptics that is adsorbed to the lens mounting surface. Only after this vacuum is applied to the suction opening so that the haptics of the IOL attach to the lens mounting surface of the suction port with maximum overlap, ideally with the haptics completely covering the suction opening.

[0034] To determine the actual position and orientation of the two haptics of the IOL, the apparatus may include an illumination source (e.g., configured for dark-field illumination) for illuminating the IOL supported by a lens carrier. The apparatus may further include a camera for capturing an image of the illuminated IOL. From this image of the IOL, the actual location and orientation of the two haptics of the IOL supported by the lens carrier can be determined (e.g., through image analysis). The apparatus may further include a control unit coupled to the camera and the gripper. Depending on the location and orientation determined from the image of the IOL captured by the camera, the control unit moves the gripper, which has two suction ports, to a location where the two suction ports are positioned adjacent to the haptics of the IOL. If the gripper includes the aforementioned rotatably positioned suction ports, the suction ports may be rotated to the actual position and orientation of the haptics such that there is maximum overlap between the suction openings and the corresponding parts of the haptics, ideally with the haptics completely covering the suction openings. If the gripping device includes a fixedly positioned suction port, move the gripping device to a position where there is maximum overlap between the suction port and the corresponding portion of the haptic. As already mentioned, this may result in a scenario where the suction opening of the suction port is not completely covered by a portion of each haptic after the gripping operation. However, even if a small amount of leakage occurs, each haptic remains firmly attached to its respective lens mounting surface.

[0035] To further enhance reproducibility and reliability, the apparatus may further include a support plate with multiple mounting positions on which different types of lens carriers (e.g., lens carriers used for cleaning IOLs and lens carriers used for inspecting IOLs) can be mounted. Two (or more) different types of lens carriers can be mounted on the mounting positions of the support plate, for example, to transfer an IOL from one type of lens carrier (e.g., a lens carrier for cleaning IOLs) to a different type of lens carrier (e.g., a lens carrier for inspecting IOLs). The support plate, mounting positions, and different types of lens carriers are configured such that an IOL placed on the lens carrier is always positioned in the same plane parallel to the plane defined by the lens mounting surface of the suction port, regardless of the type of lens carrier. This makes it possible to fix and mount the gripper to a robot that moves the gripper in the z-direction perpendicular to the plane (i.e., towards and away from the mounting plate) and in a plane parallel to the plane. Furthermore, at least in the z-direction, the robot may be taught to move the gripper beyond specific locations in the z-direction to avoid collisions with either the IOL or the lens carrier positioned on the support plate. The robot may also be taught the optimal locations in the z-direction for picking up the IOL. These locations may only be taught to the robot once, even if the gripper needs to be replaced, as long as the new gripper being fitted has the same dimensions as the gripper being replaced.

[0036] To rotate two rotatably positioned suction ports, the gripper may include two independent rotary motors, a first rotary motor and a second rotary motor. Each of these first and second motors has a rotary drive shaft. The rotary drive shaft of the first motor is connected to the first gripper finger by a torque-resistant connector. The first gripper finger has a first suction port located at its distal end. Similarly, the rotary drive shaft of the second motor is connected to the second gripper finger by a torque-resistant connector. The second gripper finger has a second suction port located at its distal end. This allows the first and second gripper fingers to rotate independently, thereby rotating each suction port to a position where the suction opening of each suction port has maximum overlap with the corresponding portion of the IOL's haptic. The torque-resistant connection of the drive shafts of the first and second rotary motors allows for very precise adjustment of the rotational position of each suction port located at the distal end of the first or second gripping finger.

[0037] While many torque-resistant connections (including shape-locking connections) are generally considered, one advantageous example of such a torque-resistant connection is a magnetic clutch comprising a permanent magnet and two pins made of a magnetizable material. The permanent magnet may be mounted at the distal end of the rotary drive shaft of each rotary motor to withstand torque and facing the proximal end of each of the first or second gripping fingers. The two pins made of the magnetizable material are also positioned at the proximal end of each of the first or second gripping fingers and facing the permanent magnet. The distal ends of the two pins are fixedly connected to the first or second gripping finger of each of the first or second gripping fingers (for example, the distal ends of the two pins are press-fitted into corresponding holes), while the proximal ends of the two pins are magnetically coupled to a permanent magnet (for example, the proximal end faces of the two pins may contact the distal end face of the permanent magnet). Such a magnetic clutch is simple in terms of structure and at the same time forms a reliable torque-resistant connection. When the rotary drive shaft of each motor rotates, the two pins also rotate, and because the two pins are fixedly connected to the first or second gripping finger of each of the first or second gripping fingers, they rotate each first or second gripping finger by exactly the same angle as the rotary drive shaft rotates. This allows for very precise adjustment of the rotational position of each suction port located at the distal end of the first or second gripping finger.

[0038] The first gripping finger may additionally include a contact flange positioned immediately proximal to one of the two suction ports, and the second gripping finger may include a further contact flange positioned immediately proximal to the other suction port. The gripping device may include a first contact projection and a second contact projection at its distal end, projecting distally from the distal end of the gripping device on both sides. The first contact projection forms a stopper for the contact flange, for determining a predetermined rotational direction of one of the two suction ports when the contact flange of the first gripping finger contacts the first contact projection. Similarly, the second contact projection forms a stopper for a further contact flange, for determining a predetermined rotational direction of the other suction port when the further contact flange of the second gripping finger contacts the second contact projection.

[0039] This represents a constructive means for individually determining predetermined rotational orientations for the two suction ports. For example, each of the gripping fingers can be rotated to a position where its contact flange contacts its respective contact projection. Then, starting from this predetermined orientation, each suction port can be rotated to a desired rotational orientation that maximizes the overlap between the suction opening of each suction port and the gripped portion of each haptic of the IOL. For example, these clearly defined predetermined orientations can be stored in the control unit so that, once an image of the IOL is captured and the actual rotational orientation of each haptic of the IOL is determined, each of the first and second gripping fingers can be rotated (starting from this clearly defined predetermined orientation) to the actual rotational orientation of their respective haptics. This allows for very precise adjustment of the desired orientation of the two suction ports.

[0040] Further advantageous embodiments of the method and apparatus according to the present invention will become apparent from the following description of embodiments of the present invention with reference to schematic diagrams. [Brief explanation of the drawing]

[0041] [Figure 1]This diagram illustrates the transfer process from the lens carrier used during the manufacturing of intraocular lenses (IOLs) to the lens carrier used during IOL examination. [Figure 2] A perspective view of one embodiment of a device for the automatic transfer of intraocular lenses according to the present invention is shown. [Figure 3] A schematic diagram illustrating the transfer of IOLs from each starting position to each target position is shown. [Figure 4] Figure 2 shows perspective views of some components of an embodiment of the apparatus. [Figure 5] This shows an exploded perspective view of a first embodiment of the gripping device of the apparatus according to the present invention. [Figure 6] Figure 5 shows a longitudinal cross-sectional view through the assembled gripping device. [Figure 7] Figure 6 shows a magnified view of detail VII. [Figure 8] Figure 5 shows a top perspective view of the end piece of the gripping device. [Figure 9] Figure 5 shows a bottom perspective view of the end piece of the gripping device. [Figure 10] Figure 5 shows a bottom view of the end piece of the gripping device. [Figure 11] Figure 5 shows a cross-sectional view of the end piece of the gripping device. [Figure 12] Figure 8 shows a partial cross-sectional view of the end piece. [Figure 13] Figure 11 shows detail XIII. [Figure 14] This shows an IOL being gripped haptically by the first embodiment of the gripping device. [Figure 15] This shows a partial top perspective view of the inspection carrier during the placement of an IOL according to the first embodiment of the gripping device. [Figure 16] A perspective view of a second embodiment of the gripping device of the apparatus according to the present invention is shown. [Figure 17] Figure 16 shows a side view of an embodiment of the gripping device. [Figure 18] Figure 17 shows a longitudinal cross-sectional view of the gripping device along line XVIII-XVIII. [Figure 19]Figure 18 shows a longitudinal cross-sectional view of the gripping device along line XIX-XIX. [Figure 20] Figure 16 shows a perspective view of the gripping fingers of the gripping device. [Figure 21] Figure 19 shows a side view of the gripping finger. [Figure 22] Figure 21 shows a longitudinal cross-sectional view of the gripping finger along line XXII-XXII. [Figure 23] Figure 22 shows details XXIII. [Figure 24] Figure 20 shows a top view of the gripping finger. [Figure 25] Figure 20 shows a bottom view of the gripping finger. [Figure 26] Figure 25 shows a magnified view of detail XXVI. [Figure 27] Figure 16 shows a bottom view of the gripping device with an IOL (Integrated Optical Loom) having a regular haptic orientation. [Figure 28] Figure 16 shows a bottom view of the gripping device to which an IOL with an irregularly oriented haptic is attached. [Modes for carrying out the invention]

[0042] Where used herein, including in the attached claims, the singular forms “a,” “an,” and “the” include the plural form unless the context explicitly states otherwise. Where the term “about” is used in reference to a particular number or range of values, unless the context explicitly states otherwise, the term should be understood to include and explicitly disclose the particular number referred to in relation to the term “about.” For example, when the range “about” number a to “about” number b is disclosed, this should be understood to include and explicitly disclose the range from number a to number b. Also, whenever a feature is combined with the term “or,” the term “or” should be understood to include “and” unless it is evident from this specification that the term “or” must be understood to be exclusive.

[0043] Figure 1 illustrates the process of transferring an intraocular lens 1 (hereinafter referred to as "IOL") from a first type of lens carrier 2, which may be used during the manufacture of IOL 1, to a second type of lens carrier 3 (which may or may not be different from the first type), which may be used during the examination of IOL 1. As can be seen in Figure 1, IOL 1 is conventional and as will be well understood by those skilled in the art, and includes an optical lens body 10 and two haptics 11 extending outward from the periphery of the optical lens body 10. The optical lens body 10 is a particularly delicate component of IOL 1, as it is the component of IOL 1 that produces an image on the retina of the eye after IOL 1 has been implanted in the lens capsule of the patient's eye, while the two haptics 11 help in the proper positioning of the entire IOL 1, particularly the optical lens body 10 within the lens capsule.

[0044] As already mentioned above, the optical lens body 10 of IOL1 is inspected not only for its integrity and conformity to standards, but also for the overall dimensions of the intraocular lens, including the haptic. For example, the diameter of the optical lens body 10 has a predetermined value in the range of 4.9 mm to 7.1 mm, and the overall diameter of IOL1 (distance between the tips of the two haptic 11) is typically in the range of 10.5 mm to 14.5 mm, but can even be larger. Just as an example, the diameter of the optical lens body 10 may be 6.0 mm or 6.3 mm, and the overall diameter of IOL1 (including the haptic) may be 13.3 mm.

[0045] IOLs are typically made from highly flexible materials (e.g., silicone hydrogel) so that their dimensions can be temporarily reduced to the smallest possible size during surgical procedures, requiring only a small incision in the eye to insert the IOL1 into the lens capsule through an incision (scleral tunnel).

[0046] Due to the flexibility of the material from which the IOL1 is made, the haptic 11 may be slightly bent or curved during the manufacturing process. To illustrate this, two such lens carriers 2 of the first type are shown in Figure 1. The lens carrier 2 of the first type includes several small pins 21 (or studs) for holding the IOL1 in place on the lens carrier 2.

[0047] In Figure 1, the haptic 11 of IOL1 on the lens carrier 2 shown on the left is positioned in a regular orientation relative to the optical lens body 10, while in Figure 1, one of the two haptic 11 of IOL1 on the lens carrier 2 shown on the right is bent or curved away from the optical lens body 10, while the other haptic 11 is bent or curved toward the optical lens body 10. Typically, this bending or curving of the haptic 11 means that each haptic 11 is slightly pivoted around the portion to which it is attached to the lens body 10. Although the optical lens body 10 of IOL1 on the lens carrier 2 shown on the right in Figure 1 is displaced and the haptic 11 is bent from a regular orientation relative to the optical lens body 10, the dimensions of IOL1 remain well within specifications even if the haptic 11 is positioned in a regular orientation relative to the optical lens body 10.

[0048] Therefore, a simple transfer of IOL1 from a first type of lens carrier 2, shown on the left side of Figure 1, to a second type of lens carrier 3 used for IOL1 examination (assuming IOL1 is completely free of defects) may result in a "pass" (i.e., a positive outcome) during examination. However, a simple transfer of IOL1 from lens carrier 2 to lens carrier 3, shown on the right side of Figure 1, may result in a "fail" (i.e., a negative outcome) during examination because the overall diameter of the intraocular lens is outside the specifications. The latter examination result is undesirable (since IOL1 has the correct dimensions if the haptic is properly oriented) and can be avoided.

[0049] The second type of lens carrier 3 includes several small pins 31 (or studs) for holding the IOL 1 in place on the lens carrier 3. The lens carrier 3 further includes an inspection opening 30, and the IOL 1 is positioned on the lens carrier 3 such that the lens body 10 of the IOL 1 is positioned above the inspection opening 30, allowing inspection of the lens body 10 of the IOL 1 through the inspection opening 30. The process of transferring the IOL 1 from the first type of lens carrier 2 shown on the left side of Figure 1, or from the first type of lens carrier 2 shown on the right side of Figure 1, to the second type of lens carrier 3, is illustrated by the respective arrows 4.

[0050] Figure 2 shows a perspective view of one embodiment of the apparatus 5 for the automatic transfer of IOL 1. This embodiment of the apparatus 5 includes a support plate 50 which includes a plurality of individual mounting positions 500 for mounting different types of lens carriers onto the support plate 50. These mounting positions 500 are arranged in a row-and-column matrix arrangement, as will be described in more detail with reference to Figure 3. In Figure 2, one lens carrier 3 of a second type is shown mounted on the support plate 5 at one of the mounting positions, while a lens carrier 2 of a first type (not shown in Figure 2, see Figure 1) may be mounted at the mounting position 500 indicated by the tip of the arrow. In the illustrated embodiment, the individual mounting positions and different types of lens carriers are configured such that, regardless of the type of lens carrier, the IOL 1 placed on such a lens carrier is always positioned in the same plane (parallel to the plane of the support plate 50).

[0051] Apparatus 5 further includes an illumination source 51, a camera 52 (not visible in Figure 2, see Figure 4), and a control valve 53 for controlling the supply of vacuum or overpressure. Apparatus 5 further includes a gripper 6 for gripping IOL1 only at two haptics 11 of IOL1, as will be described in more detail below, and for transferring IOL1 from one type of lens carrier located on the support plate 50 to another type of lens carrier located on the support plate 50. As an example, IOL1 may be transported from a first type of lens carrier 2 (used during the manufacture of IOL1) shown in Figure 1 to a second type of lens carrier 3 (used during the inspection of IOL1).

[0052] Apparatus 5 may further include an additional camera 59 (Schematically shown by dashed lines in Figure 2) for verifying that the IOL 1 is properly grasped by the gripping device 6 and how the IOL 1 and haptic 11 are actually attached to the gripping device 6 before the IOL 1 is placed on the second type of lens carrier 3. This camera has a field of view from below; that is, the field of view is from below toward the distal end of the gripping device 6 to which the IOL 1 is attached. Thus, the additional camera 59 may help to verify that the haptic 11 is in the correct rotational orientation so that the IOL 1 can be properly and securely placed on the lens carrier 3.

[0053] Figure 3 shows a schematic diagram illustrating the transfer of IOL1 from each starting position to each target position, and this schematic diagram in this example corresponds to the individual mounting positions 500 on the support plate 50 shown in Figure 2. The individual mounting positions 500 are arranged along rows indicated by rA, rB, rC, rD, and rE, and columns indicated by c1, c2, c3, and c4. Thus, in the bottom row of the schematic diagram, the individual mounting positions are indicated by A1 (row A, column 1), A2, A3, and A4, while in the top row of the schematic diagram, the individual mounting positions are indicated by E1, E2, E3, and E4, and the center of each mounting position 500 is indicated by a crosshair.

[0054] For example, in row rA, the transfer of IOL1 (see Figure 1) from a first type of lens carrier 2 (see Figure 1) located at mounting position A3 to a second type of lens carrier 3 (see Figure 1) located at mounting position A4 is indicated by a solid arrow 4. After successful inspection, the IOL may be transferred from the second type of lens carrier 3 at mounting position A4 to a third type of lens carrier (storage carrier, not shown) located at mounting position A2, which is indicated by a dashed arrow 40.

[0055] Moving back to the apparatus 5 shown in Figure 2, the gripping device 6 and other components (illumination source 51, camera 52, control valve 53) are mounted on slides 54 that can move along a fixedly positioned arm 55 of the apparatus 5 in order to move along each row. For movement in the direction of the rows, the support plate 50 is mounted on an additional slide 56 that is movable along a rail 57. The gripping device 6 is independently (i.e., without other components) moved toward or away from the support plate 50 in a direction perpendicular to the plane defined by the support plate 50 on which the IOL 1 is positioned on each of the first type of lens carriers 2 or on the second type of lens carrier 3 (or any additional lens carrier).

[0056] Figure 4 shows some components of the embodiment of the apparatus of Figure 2 mounted on slide 54, in particular the illumination source 51, camera 52, control valve 53, and gripping device 6. The illumination source 51 is an annular illumination source for emitting light downward toward the support plate 5 and has a central through-aperture 510 extending longitudinally along the axis 511, which allows the camera 52 to capture an image of the IOL 1 (not shown in Figure 4) being inspected through the through-aperture 510. Thus, the IOL 1 being inspected can be illuminated in a dark-field illumination configuration.

[0057] As mentioned above, the gripping device 6 is movable toward and away from the support plate 50 (in the z direction perpendicular to the x and column x and x directions), and this direction is indicated by the double arrow in Figure 4. Therefore, the gripping device 6 is mounted on the mounting shaft 58 in a manner that will be described in more detail below. The mounting shaft 58 is positioned at a certain predetermined lateral displacement (position in the x and y planes) relative to the axis 511. Therefore, once the position (in the x and y planes) of the IOL 1 to be picked up is determined using the camera 52, the known lateral displacement of the mounting shaft 58 relative to the axis 511 allows the device 5 to precisely know the position to which the gripping device 6 (mounted on the mounting shaft 58) must be moved in order to pick up the IOL 1. Since the gripping device 6 mounted on the mounting shaft 58 has a predetermined total length, once it is mounted on the mounting shaft 58, it is only necessary to determine the lowest position (position in the z direction) to which the distal end of the gripping device 6 can be moved once. At this lowest position, the distal end of the gripping device 6 (the suction port for gripping the IOL 1, as described below) is positioned slightly above the IOL 1 placed on each lens carrier. As already mentioned above, the IOL 1 is always positioned in the same plane regardless of the type of lens carrier used. At this lowest position, the gripping device 6 can pick up the IOL 1 from each lens carrier, as will be described in more detail below. If the gripping device 6 needs to be replaced, it is possible to easily remove the gripping device 6 from the mounting shaft 58 and attach a new gripping device 6 to the mounting shaft. Since the new gripping device 6 has the same dimensions as the old gripping device 6, it is not necessary to teach the device the lowest position of the gripping device 6 again; rather, the already determined lowest position can be maintained, and as a result, the IOL 1 is not likely to be damaged when picked up. In Figures 2 and 4, the gripping device is assigned the reference number 6, but in the following description of embodiments of the gripping device, the gripping device is assigned a reference number other than 6 in order to better distinguish the embodiments of the gripping device.

[0058] A first embodiment of the gripping device 7 of the apparatus 5 according to the present invention will be described below with reference to Figures 5 to 15. The first embodiment of the gripping device 7 shown in the exploded view in Figure 5 includes a mounting stud 70 having a through hole 700 that penetrates the mounting stud 70 and extends transversely, so that the entire gripping device 7 can be mounted on the mounting shaft 58 of the apparatus 5 using a mounting screw 581 that penetrates a through hole 580 provided in the mounting shaft 58 of the apparatus 5 and a through hole 700 in the mounting stud 70 of the gripping device 7 (see Figure 6). The gripping device 7 further includes a gripping device body 71 equipped with two pressure supply connectors 72, for example, small hose stems, which are mounted on the gripping device body 71. Vacuum or overpressure can alternatively be supplied to each of the supply connectors 72. The gripping device 7 further includes a gripping device end piece 73 equipped with two suction ports 730, which is mounted on the distal end of the gripping device body 71. To achieve proper positioning of the end piece 73 relative to the gripping body 71 during mounting, two positioning pins 710 are located at the distal end of the gripping body 71 and protrude distally away from the gripping body. The gripping end piece 73 is mounted to the gripping body 71 using a small tension bolt 74 having a conical notch 740 located at the proximal end of the tension bolt 74 for engagement of a set screw 75 having a conical tip. The set screw 75 is screwed into a threaded through hole 711 of the gripping body 71 so as to engage within the conical notch 740 of the tension bolt 74 in order to properly position the tension bolt 74, and the tension bolt 74 pulls the gripping end piece 73 against the gripping body 71. Two separate supply channels (i.e., supply channels that are not fluid-connected to each other) are provided inside the gripping body 71, one such supply channel 712 is shown by a dashed line in Figure 5. Figure 6 shows the assembled gripper 7 mounted on the mounting shaft 58, and Figure 7 shows in detail how the set screw 75 engages in the conical notch 740 of the tension bolt 74, pulling the tension bolt 74 upward to the desired position, thereby pulling the gripper end piece 73 against the gripper body 71.

[0059] Figures 8 to 13 show the gripping end piece 73 in more detail. The gripping end piece 73 includes two (hollow) suction ports 730, each having a suction opening 731 having the shape of a curved slot and surrounded by a lens mounting surface 732. From the top perspective view shown in Figure 8, it can be seen that the gripping end piece 73 includes two bottomed holes 737 (see also Figure 12) for accommodating two positioning pins 710 that project distally away from the gripping body 71 in order to properly position the gripping end piece 73 relative to the gripping body 71. The gripping end piece 73 further includes a central stepped through hole 733 (see also Figure 11) for accommodating tension bolts 74 and two recesses 734. From the bottom of each recess 734, a supply hole 735 extends downward to each suction port 730 and opens into the suction opening 731 of each suction port 730. As can already be seen in Figure 10, and more clearly in Figures 11 and 13, the supply hole 735 has a circular cross-section and terminates at a certain axial distance from the suction opening 731. Also, as shown in Figure 11, the O-rings 736 are positioned within each of the recesses 734, and each O-ring 736 has an axial height such that it protrudes upward beyond the upper surface of the gripping end piece 73.

[0060] When the gripping end piece 73 is attached to the gripping body 71, two positioning pins 710 that protrude distally away from the gripping body 71 enter the bottomed hole 737 of the gripping end piece 73, and as the set screw 75 begins to engage with the conical notch 740 of the tension bolt 74, the tension bolt 74 is pulled upward, thereby pulling the gripping end piece 73 against the gripping body 71. Through this pulling motion, the two O-rings 736 are compressed so as to establish two separate pressure-resistant fluid passages, each pressure-resistant fluid passage fluidly connecting one of the pressure supply connectors 72 to the suction opening 731 of each suction port 730 to supply vacuum to the respective suction port 730 (to pick up IOL1) or to supply overpressure to the respective suction port 730 (to release IOL1). Each of the pressure-resistant fluid passages is further formed by a supply passage 712 extending through the gripping body 71, a recess 734, and a supply hole 735 extending downward from the bottom of the recess 734 to the suction opening 731 of the suction port 730.

[0061] As can be seen in Figures 8 to 13, the two suction ports 730 are fixedly positioned at the distal end of the gripper 7, or more precisely, at the distal end of the gripper end piece 73 of the gripper 7. The term “fixedly positioned” means that the distance d between the two suction ports 730 (see Figure 10) and their rotational orientation relative to each other cannot be changed. The distance d between the two suction ports has a value in the range of 5 mm to 17 mm, and in any case this distance d is greater than the diameter of the optical body 10 of the IOL 1 to be gripped (so that the IOL 1 can only be gripped at the haptic 11). More preferably, the value of this distance d is in the range of 8 mm to 12 mm, and as an example, the value of the distance d may be 9.8 mm. The distance d is measured in a plane defined by the mounting surface 732 of the suction ports 730, which is shown by a dashed line in Figure 11 and extends perpendicular to the plane of the drawing.

[0062] As shown on the left side of Figure 1, in order to grip an IOL1 in which haptics 11 are regularly arranged on a first type of lens carrier 2, the gripper 7 is moved toward the IOL1 until the lens mounting surface 732 of the suction port 730 is positioned adjacent to the haptics 11 of the IOL1, i.e., at a short distance (e.g., in the range of 0.05 to 0.5 mm, preferably about 0.15 mm) above the haptics 11. Next, vacuum is supplied to the suction opening 731 of the suction port 730 through the pressure supply connector 72 and through the pressure-resistant fluid passage, and thus the IOL1 is gripped from the lens carrier 2 by causing the haptics 11 of the IOL1 to adhere to the lens mounting surface 732 of the suction port 730 (the IOL1 is picked up). This state in which the haptics 11 of the IOL1 are attached to the lens mounting surface 732 is shown in Figure 14 (only the gripper end piece 73 of the gripper 7 is shown there). When IOL1 is grasped, the actual vacuum applied increases compared to when IOL1 is not grasped, so it is possible to detect that IOL1 has been grasped.

[0063] Next, the gripper 7, to which the IOL1 is attached, is moved to a target position, for example, above the second type of lens carrier 3 shown in Figure 1. Both the starting position and the target position are precisely determined using the camera 52 (see Figure 4) so ​​that the device 54 knows exactly where the IOL1 will be picked up (in particular, precisely the position of the haptic 11 of the IOL1) and exactly where the IOL1 will be removed from the gripper 7 (i.e., the position of the lens carrier 3, the pin 31, and the inspection opening 30). This is schematically illustrated in Figure 15, which shows the two suction ports 730 of the gripper 7, the position of the carrier 3 on which the haptic 11 of the IOL1 is placed, and the pin 31 for holding the IOL1 in place. To remove the IOL1 from the gripper, overpressure is supplied to the suction opening 731 of the suction port 730 through the pressure supply connector 72 and through the pressure-resistant fluid passage. The alternating supply of vacuum (during gripping and transporting of IOL1) or overpressure (during removal of IOL1) is controlled by control valve 53 (see Figure 4).

[0064] A second embodiment of the gripping device 8 of the apparatus 5 according to the present invention will be described below with reference to Figures 16 to 28. One major difference between this second embodiment of the gripping device 8 and the first embodiment of the gripping device 7 (see Figures 5 to 15) is that, as will be described in more detail below, in this second embodiment of the gripping device 8, the (hollow) suction ports 860 and 870 are rotatably arranged about a predetermined axis of rotation. As can be seen in the perspective view of the gripping device 8 shown in Figure 16 and the side view of the gripping device 8 shown in Figure 17, the gripping device 8 includes a mounting stud 80 having a through hole 800 that penetrates the mounting stud 80 and extends transversely, and as a result the entire gripping device 8 can be mounted on the mounting shaft 58 of the apparatus 5 (see Figure 6) using a mounting screw 581 that penetrates the through hole 580 provided in the mounting shaft of the apparatus 5 and the through hole 800 of the mounting stud 80 of the gripping device 8. The gripping device 8 further includes a gripping device body 81 having an upper body portion 810 and a lower body portion 811, the upper body portion 810 and the lower body portion 811 being attached to each other using screws 812 (see Figure 18). The gripping device 8 further includes two pressure supply connectors 82, each for alternately supplying vacuum or overpressure to a suction port (similar to the first embodiment of the gripping device).

[0065] Furthermore, the gripping device 8 includes two independent rotary motors, a first rotary motor 84 and a second rotary motor 85. As best seen in Figure 18, the first rotary motor 84 includes a rotary drive shaft 840, and the second rotary motor 85 includes a rotary drive shaft 850. The rotary drive shaft 840 of the first rotary motor 84 is connected to the first gripping device finger 86 via a torque-resistant connector, and the rotary drive shaft 850 of the second rotary motor 85 is connected to the second gripping device finger 87 via an additional torque-resistant connector.

[0066] A torque-resistant connector connecting the rotary drive shaft 840 of the first rotary motor 84 to the first gripping finger 86 includes a magnetic clutch. This magnetic clutch includes a permanent magnet 841 mounted (e.g., adhesively) to the distal end of the rotary drive shaft 840 to withstand torque, in addition to two pins 842, 843 (see Figure 19) made of a magnetic material, such as magnetic stainless steel. The permanent magnet 841 is located within a drive bush 844 mounted in a sleeve 845 to withstand torque, and the sleeve 845 is mounted on the drive shaft 840 of the first rotary motor 84 to withstand torque. The two pins 842, 843 extend through their respective openings in the distal end face of the drive bush 844 and are press-fitted into their respective bottomed holes 862, 863 in the proximal end face of the first gripping finger 86 (see also Figure 22). To ensure proper fitting, the two pins 842, 843 may have different diameters. For example, the gripping fingers 86 may be made from a hard, durable plastic material. Thus, the torque-resistant connector ensures that the first gripping fingers 86 also rotate when the first rotary motor 84 drives the rotary drive shaft 840.

[0067] Similarly, an additional torque-resistant connector connecting the second rotary drive shaft 850 of the second rotary motor 85 to the second gripping finger 87 includes a magnetic clutch. This magnetic clutch also includes, here again, two pins 852, 853 (only pin 852 is visible in Figure 18) made of a magnetic material, such as magnetic stainless steel, as well as a permanent magnet 851 mounted (e.g., adhesively) to the distal end of the second rotary drive shaft 850 of the second rotary motor 85 to withstand torque. The permanent magnet 851 is located in a drive bush 854 mounted in a sleeve 855 to withstand torque, and the sleeve 855 is mounted on the drive shaft 850 of the second rotary motor 85 to withstand torque. Two pins 852 and 853 extend through their respective openings in the distal end face of the drive bush 854 and are press-fitted into their respective blind holes in the proximal end face of the second gripping finger 87 (similar to the blind holes 862 and 863 of the first gripping finger 86 shown in Figure 22). Here again, the two pins 852 and 853 may have different diameters to ensure proper fitting. The second gripping finger 87 may also be made from a hard, durable plastic material. Thus, an additional torque-resistant connector ensures that the second gripping finger 87 also rotates when the second rotary motor 85 drives the rotary drive shaft 850.

[0068] Since the first gripping finger 86 and the second gripping finger 87 have similar structures, only the first gripping finger 86 will be described in more detail below using Figures 20 to 26. The first gripping finger 86 includes a suction port 860 located at the distal end of the first gripping finger 86 (with the suction port 860 positioned eccentrically with respect to the rotation axis of the gripping finger 86). The suction port 860 includes a suction opening 861 surrounded by a lens mounting surface 864 (these elements have a structure similar to that of the first embodiment of the gripping device). The gripping finger 86 further includes bottomed holes 862 and 863 (see Figure 19) for accommodating the pins 842 and 843 of the magnetic clutch, as already described above. The gripping finger 86 further includes three grooves, namely an upper groove 865, a middle groove 866, and a lower groove 867. The upper groove 865 and the lower groove 867 are each dedicated to receiving the O-ring 88 (see Figures 18 and 19), while the intermediate groove 866 is left empty. Thus, a pressure-resistant arrangement of the first gripping fingers 86 within the lower body portion 811 of the gripping body 81 is achieved, and at the same time, the first gripping fingers 86 are rotatable within the lower body portion 811 of the gripping body 81.

[0069] The rotation of the first gripping finger 86 may occur around a predetermined first axis of rotation (corresponding to line XIX-XIX in Figure 18) that coincides with the longitudinal central axis of the rotating shaft 840 of the first rotary motor 84. The same applies to the second gripping finger 87, which is rotatable about the longitudinal central axis of the rotating shaft 850 of the second rotary motor 85. Both axes of rotation are perpendicular to a plane defined by the lens mounting surfaces 864 and 874 of the suction ports 860 and 861, which is shown by a dashed line in Figure 17 and extends perpendicular to the plane of the drawing.

[0070] The fluid channel 868 extends radially downward from the bottom (innermost radial surface) of the intermediate groove 866 into the gripping finger 86 and down to the suction opening 861 of the suction port 860. Due to the pressure-resistant arrangement of the first gripping finger 86 within the lower body portion 811 of the gripping body 81, the vacuum or overpressure supplied through the pressure supply connector 82 is supplied through the fluid channel that fluidically connects the pressure supply connector 82 and the suction opening 861 of the suction port 860. This fluid channel is formed by penetrating the intermediate groove 866 and the fluid channel 868 that extends downward to the suction opening 861 of the suction port 860.

[0071] The first gripping finger 86 further includes a contact flange 869 positioned immediately proximal to the suction port 860. As is best seen in Figure 16, the gripping device 8 includes a first contact projection 813 and a second contact projection 814 at its distal end (or more precisely, at the distal end of the lower body portion 811 of the gripping device body 81) (one for the contact flange 869 of the first gripping finger 86, and the other contact projection for the contact flange 879 of the second gripping finger 87). The first contact projection 813 and the second contact projection 814 project distally from the distal end of the lower body portion 810, and therefore from the distal end of the gripping device body 81. These first contact projections 813 form a stopper for the contact flange 869 of the first gripping finger 86, and the second contact projection 814 forms a stopper for the contact flange 879 of the second gripping finger 87. Therefore, the first contact projection 813 determines a predetermined rotational direction of the suction port 860 of the first gripping finger 86 when the contact flange 869 contacts the first contact projection 813, and the second contact projection 814 determines a predetermined rotational direction of the suction port 870 of the second gripping finger 87 when the contact flange 879 contacts the second contact projection 814. Therefore, the first contact projection 813 and the second contact projection 814 can serve as reference rotational positions for the first gripping finger 86 and the second gripping finger 87, allowing them to rotate during a reference operation. From these reference rotational positions, the first gripping finger 86 and the second gripping finger 87 can be rotated to a desired rotational position.

[0072] Naturally, the gripping device 8 is particularly well-suited to reliably picking up IOL1s that are positioned in a regular orientation (i.e., the haptic 11 is positioned as shown for the IOL1 positioned on the lens carrier 2 on the left side of Figure 1). However, the gripping device 8 is also particularly well-suited to reliably picking up IOL1s that are positioned in an irregular orientation (i.e., the haptic 11 is bent or curved as shown for the IOL1 positioned on the lens carrier 2 on the right side of Figure 1). This will be explained below with reference to Figures 27 and 28.

[0073] Figure 27 shows IOL1 with the haptic 11 of IOL1 attached to the lens mounting surfaces of the suction port 860 of the first gripping finger 86 and the suction port 870 of the second gripping finger 87. In this case, the haptic 11 of IOL1 is arranged in a regular orientation, as shown for IOL1 on the lens carrier 2 on the left side of Figure 1. When the camera 52 captures an image of IOL1, image analysis is performed, and the rotational orientation of the haptic 11 of IOL1 is determined from this image analysis. If the haptic 11 is arranged in a regular orientation, a control unit (not shown) coupled to the camera 52 and the gripping 8 moves the gripping 8 to the position (in the xy plane) where IOL1 is located. The first gripping finger 86 is rotated to the rotational orientation shown in Figure 27, which has a given orientation that matches the orientation of the associated haptic 11 of IOL1 at the suction port 860 of the first gripping finger 86. To achieve this, the control unit drives a first rotary motor 84, thereby rotating the first gripping finger 86 (using a magnetic clutch as described in detail above) until the suction port 860 has a given orientation that matches the orientation of the associated haptic 11. Similarly, the control unit drives a second rotary motor 85, thereby rotating the second gripping finger 87 (again using a magnetic clutch as described in detail above) until the suction port 870 has a given orientation that matches the orientation of the associated haptic 11. In this orientation, the distance e between the two suction ports 860 and 870 can be about 9.8 mm, and in either case this distance is greater than the diameter of the optical body 10 of the IOL 1 being gripped, so that the IOL 1 can be gripped only at the haptic 11. Generally, this distance e is in the range of 5 mm to 17 mm, and more preferably, the distance e is in the range of 8 mm to 12 mm. Therefore, when the camera 52 (see Figure 4) captures an image of the IOL1 placed on the carrier, the center of the optical body 10 of the IOL1 can be determined using image processing software, and then the rotation direction of the haptic 11 is also determined. After that, the first gripping finger 86 and the second gripping finger 87 are rotated to the rotation direction of the haptic 11.

[0074] As can be seen, in this embodiment, the distance e is not fixed and can vary depending on the rotational orientation of the suction ports 860 and 870. Next, the gripper 8 is lowered until the suction ports 860 and 870 are positioned at a short distance (e.g., 0.05 mm to 0.5 mm, preferably 0.15 mm) above the respective haptic 11s. Then, a vacuum is supplied to the pressure supply connector 82 using the control valve 53, as a result, the haptic 11 of the IOL1 is attracted to the lens mounting surface of the suction port 860 and the lens mounting surface of the suction port 870, respectively, and thus the IOL1 is picked up. When the IOL1 is gripped, the vacuum that is actually applied is higher compared to when the IOL1 is not gripped, so it can be detected that the IOL1 has been gripped. Next, the gripper 8 with the IOL1 attached (the IOL1 is gripped only at the haptic 11) is raised again and then moved to the position (in the xy plane) of the lens carrier 3 (Figure 1). Next, the gripping device 8 is lowered again until the suction ports 860 and 870 are positioned a short distance above the carrier 3. Then, the IOL1 is released from the gripping device 8 by supplying overpressure to the pressure supply connector 82, and this supply is again controlled by the control valve 53.

[0075] This can also be done for IOL1s where the haptic 11 is positioned in an irregular orientation, as shown for the IOL1 positioned on the lens carrier 2 on the right side of Figure 1. This is evident from Figure 28. Since the orientation of the haptic 11 of the IOL1 positioned on the lens carrier 2 on the right side of Figure 1 differs from the regular orientation of the haptic 11 of the IOL1 positioned on the lens carrier 2 on the left side of Figure 1, the first gripping finger 86 and the second gripping finger 87 of the gripping device 8 must be rotated to a different rotational direction (i.e., an irregular rotational direction) so that the suction port 860 of the first gripping finger 86 and the suction port 870 of the second gripping finger 87 have the required orientation to match the corresponding haptic 11 orientation of the IOL1 positioned on the lens carrier 2 shown on the right side of Figure 1. This rotation is again performed through image analysis, which is carried out to determine the irregular rotational direction of the haptic 11 of the IOL1, using a camera 52 that captures an image of the IOL1 with the haptic 11 positioned in an irregular orientation. As can be seen, in this orientation, the distance e between the two suction ports 860 and 870 may be approximately 9.8 mm. Once the suction port 860 of the first gripping finger 86 and the suction port 870 of the second gripping finger 87 have been rotated to the desired orientation, the gripping tool 8 is lowered, and a vacuum is supplied to the pressure supply connector 82, as a result the haptic 11 of the IOL is attracted to the lens mounting surface of each suction port, and thus the IOL1 is picked up. The gripping tool 8 with the IOL1 attached (the IOL1 is now grasped only by the haptic 11, which still has an irregular orientation) is then moved to the lens carrier 3 (Figure 1). During the movement of the IOL1 onto the lens carrier 3, after raising the gripping tool 8, or when the gripping tool 8 reaches a position above the lens carrier 3, but in either case before releasing the IOL1 from the gripping tool 8, the first gripping tool fingers 86 and the second gripping tool fingers 87 are rotated again so that the haptic 11 of the IOL1 has a regular orientation. Then the gripping tool 8 is lowered, and the IOL1 is released from the gripping tool 8 and placed on the lens carrier 3 through the supply of overpressure to the supply connector 82, and this supply is again controlled by the control valve 53.

[0076] Embodiments of the present invention have been described with reference to the drawings. However, the present invention is not limited to these embodiments, and rather many changes and modifications are possible without departing from the teachings that form the basis of the invention. Therefore, the scope of protection is not limited to the embodiments described, but rather defined by the appended claims.

Claims

1. A method for the automatic transfer of an intraocular lens (1), comprising an optical lens body (10) and two haptics (11) attached to the periphery of the optical lens body (10) and extending outward from the periphery of the optical lens body (10), wherein the method is The steps include picking up the intraocular lens (1) at the starting position, The steps include moving the intraocular lens (1) to the target position, The step includes releasing the intraocular lens (1) at the target position, Picking up the intraocular lens (1) at the aforementioned starting position is The intraocular lens (1) is grasped only by the haptic (11) of the intraocular lens (1). Methods that include...

2. The method according to claim 1, wherein grasping the intraocular lens (1) only at the haptic (11) is performed using the gripper (7;8), which includes the suction port (730;860,870) for attaching the intraocular lens (1) to the gripper only at the haptic (11) of the intraocular lens (1) by positioning the suction port (730;860,870) of the gripper adjacent to the haptic (11) of the intraocular lens (1) and applying a vacuum to the suction port (730;860,870), and releasing the intraocular lens (1) from the gripper at the desired position is performed by applying overpressure to the suction port (730;860,870) to remove the haptic (11) of the intraocular lens (1) from the suction port (730;860,870).

3. The suction ports (730; 860, 870) of the gripping device (7; 8) are two suction ports (730; 860, 870) located at the distal end of the gripping device and projecting distally away from the gripping device, each of the two suction ports (730; 860, 870) includes a suction opening (731; 861, 871) at its distal end, surrounded by a lens mounting surface (732; 864), and the method is as follows: Position the distal end of one of the two suction ports (730; 860) adjacent to one of the two haptics (11) of the intraocular lens (1) such that the suction opening (731; 861) of one of the two suction ports (730; 860) is covered by a portion of one of the two haptics (11) positioned adjacent to it, Position the other suction port (730; 870) adjacent to the other of the two haptics (11) of the intraocular lens (1) such that the suction opening (730; 871) of the other suction port (730; 870) of the two suction ports is covered by a portion of the other haptic (11) of the two haptics (11), By applying the vacuum to the suction openings (731; 861, 871) of the two suction ports, one of the two haptics (11) is attached to the lens mounting surface (732, 864) of the one suction port (730; 860), and the other of the two haptics (11) is attached to the lens mounting surface (732; 874) of the other suction port (730; 870), The method according to claim 2, further comprising:

4. The method according to claim 3, wherein the gripping device (7) is a gripping device having the two suction ports (730) fixedly positioned at the distal end of the gripping device (7).

5. The method according to claim 3, wherein the gripping device (8) has two suction ports (860, 870) rotatably disposed at the distal end of the gripping device, and each of the two suction ports (860) is rotatably disposed about a predetermined axis of rotation perpendicular to a plane defined by the lens mounting surfaces (864, 874) of the two suction ports (860, 870).

6. The aforementioned method, Before applying the vacuum to the suction openings (861, 871) of the two suction ports (860, 870), the actual rotational direction of each of the two haptics (11) of the intraocular lens (1) is determined. Rotating each of the two suction ports (860, 870) around their respective predetermined axis of rotation until the rotational direction of one of the suction ports (860) matches the determined actual rotational direction of one of the two haptics (11), and the rotational direction of the other suction port (870) matches the determined actual rotational direction of the other haptic (11), and then, By applying the vacuum to the suction openings (861, 871) of the two suction ports, one of the two haptics (11) is attached to the lens mounting surface (864) of the one suction port (860), and the other of the two haptics (11) is attached to the lens mounting surface (874) of the other suction port (870), The method according to claim 5, further comprising:

7. The aforementioned method, If the actual rotational direction of one of the two haptic (11) of the intraocular lens (1) or the other haptic (11) of the two haptic (11) deviates from their respective predetermined rotational directions, Rotating the one suction port (860) together with the one of the two haptics (11) attached to the lens mounting surface (864) of the one suction port (860), and / or rotating the other suction port (870) together with the other of the two haptics (11) attached to the lens mounting surface (874) of the other suction port (870), until each of the two haptics (11) has the predetermined rotational direction, At the target position, the overpressure is applied to the suction openings (861, 871) of the two suction ports (860, 870) while each of the two haptics (11) has the predetermined rotational direction, The method according to claim 6, further comprising:

8. A device (5) for the automatic transfer of an intraocular lens (1), comprising an optical lens body (10) having a periphery and two haptics (11) attached to the periphery of the optical lens body (10) and extending outward from the periphery of the optical lens body (10), wherein the device comprises a gripping device (7; 8), Pressure supply connectors (72; 82) for supplying vacuum or overpressure, Two suction ports (730; 860, 870) are located at the distal end of the gripping device and protrude distally away from the gripping device, each of the two suction ports (730; 860, 870) having a suction opening (731; 861, 871) at its distal end surrounded by a lens mounting surface (732; 864, 874), Two separate fluid passages (712, 734, 735; 866, 868), each of the two separate fluid passages, which fluidly connects the respective suction ports of the two suction ports to the pressure supply connectors (72; 82) for supplying vacuum or overpressure, thereby forming two separate fluid connections between the pressure supply connectors (72; 82) and the suction openings (731; 861, 871) of the suction ports (730; 860, 870), The gripping device (7; 8) includes, A device in which the two suction ports are spaced apart from each other by a distance (d;e) in the range of 5 mm to 17 mm as measured in a plane defined by the lens mounting surfaces (732;864,874), for grasping the intraocular lens (1) only at the haptic (11) by attaching the haptic (11) of the intraocular lens to the lens mounting surfaces (732;864,874) of the suction port (730;860,870), and for releasing the intraocular lens (1) by removing the haptic (11) of the intraocular lens (1) from the lens mounting surfaces (732;864,874).

9. The apparatus according to claim 8, wherein the two suction ports (730) are fixedly positioned at the distal end of the gripping device (7).

10. The apparatus according to claim 8, wherein the two suction ports (860, 870) are rotatably positioned at the distal end of the gripping device (8), and each of the two suction ports (860, 870) is rotatably positioned about a predetermined axis of rotation perpendicular to the plane defined by the lens mounting surfaces (864, 874).

11. The gripping device further comprises two independent rotary motors, a first rotary motor (84) and a second rotary motor (5), each having a rotary drive shaft (840, 850), wherein the rotary drive shaft (840) of the first rotary motor (84) is connected by a torque-resistant connector to a first gripping finger (86) having one of two suction ports (860) located at the distal end of the first gripping finger (86), and the rotary drive shaft (850) of the second rotary motor (5) is connected by a further torque-resistant connector to a second gripping finger (87) having the other of two suction ports (870) located at the distal end of the second gripping finger (87).

12. Each of the torque-resistant connector and the further torque-resistant connector includes a magnetic clutch comprising a permanent magnet (841, 851) and two pins (842, 843, 852, 853) made of a magnetic material, wherein the permanent magnet (841, 851) is mounted on the distal end of the rotary drive shaft (840, 850) to withstand torque and faces toward the proximal end of each of the first gripping fingers or second gripping fingers (86, 87), and the two pins (842, 843, 852, 853) face toward the first gripping finger or second The apparatus according to claim 11, wherein the two pins (842, 843, 852, 853) are positioned at the proximal ends of the respective first gripping fingers or second gripping fingers (86, 87) of the two gripping fingers (86, 87) and face toward the (841, 851) of the permanent magnet, and the distal ends of the two pins (842, 843, 852, 853) are fixedly connected to the respective first gripping fingers or second gripping fingers (86, 87) of the first gripping fingers or second gripping fingers (86, 87), and the proximal ends of the two pins (842, 843, 852, 853) are magnetically coupled to the permanent magnet (841, 851).

13. The first gripping finger (86) includes a contact flange (869) positioned immediately adjacent to one suction port (860), the second gripping finger (87) includes a further contact flange (879) positioned immediately adjacent to the other suction port (870), the gripping device (8) includes a first contact projection and a second contact projection (813, 814) at its distal end, projecting distally from the distal end of the gripping device on both sides of the gripping device, the first contact projection (813) being the contact of the first gripping finger (86) The apparatus according to claim 11 or 12, wherein the contact flange (869) forms a stopper for the contact flange (869) to determine a predetermined rotational direction of the one suction port (860) when the contact flange (869) contacts the first contact projection (813), and the second contact projection (814) forms a stopper for the further contact flange (879) of the second gripping finger (87) to determine a predetermined rotational direction of the other suction port (870) when the further contact flange (879) of the second contact projection (814).

14. The system further includes an illumination source (51) for illuminating an intraocular lens (1) supported by a lens carrier (2), and a camera (52) for capturing an image of the illuminated intraocular lens (1) supported by the lens carrier (2) in order to determine the location of the intraocular lens supported by the lens carrier (2) and the rotational orientation of the haptic (11) of the intraocular lens (1), wherein the rotational orientation of the two suction ports (730; 860, 870) is such that the intraocular lens The apparatus according to any one of claims 8 to 12, further comprising a control unit coupled to the camera (52) and the gripping device (7, 8) for moving the gripping device (7, 8) having the two suction ports (730; 860, 870) to a location where the two suction ports (730; 860, 870) are positioned adjacent to the haptics (11) of the intraocular lens (1) so as to match the determined actual rotational orientation of the two haptics (11) of the lens (1).

15. The apparatus according to claim 14, further comprising a support plate (50) including a plurality of mounting positions (500) for mounting different types of lens carriers (2, 3) on the support plate (50), further comprising at least two different types of lens carriers (2, 3) mounted on the mounting positions (500), wherein the support plate (50), the mounting positions (500), and the at least two different types of lens carriers (2, 3) are configured such that an intraocular lens placed on the lens carriers (2, 3) is positioned in the same plane parallel to the plane defined by the lens mounting surfaces (732; 864, 874) of the suction port (730; 860, 870), regardless of the type of lens carrier.

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