Kinematic structures and sterile drapes for robotic microsurgical procedures
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- フォーサイト ロボティクス リミテッド
- Filing Date
- 2022-05-31
- Publication Date
- 2026-07-31
Smart Images
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Abstract
Description
Technical Field
[0001] Cross - reference to related applications This application claims the benefit of priority of U.S. Provisional Patent Application No. 63 / 195,429, filed Jun. 1, 2021, by Gil et al. entitled "Kinematic structures for robotic microsurgical procedures", and U.S. Provisional Patent Application No. 63 / 229,593, filed Aug. 5, 2021, by Gil et al. entitled "Sterile drapes for robotic microsurgical procedures".
[0002] Both of the above - mentioned U.S. provisional applications are hereby incorporated by reference into this specification.
[0003] Some embodiments of the present invention generally relate to medical devices and methods. Specifically, some embodiments of the present invention relate to devices and methods for performing microsurgical procedures by a robot.
Background Art
[0004] Cataract surgery consists of removing the natural lens of an eye that has developed clouding (known as a cataract) and replacing it with an intraocular lens. Such surgery typically involves a plurality of standard steps that are performed sequentially.
[0005] In the first step, the area around the patient's eyes is disinfected (usually with an iodine solution), and the face is covered with a sterile drape, leaving only the eyes exposed. Once disinfection and draping are complete, the eyes are anesthetized using a local anesthetic, usually administered in the form of eye drops. The eyeball is then exposed using a retractor that keeps the upper and lower eyelids open. One or more incisions (usually two or three) are made in the cornea of the eye. The incisions are usually made using a specialized blade called a keratome blade. At this stage, lidocaine is usually injected into the anterior chamber of the eye to further anesthetize the eye. Following this step, a viscoelastic substance is injected through a corneal incision. The viscoelastic substance is injected to stabilize the anterior chamber, to help maintain intraocular pressure for the remainder of the procedure, and to further expand the lens capsule.
[0006] In the subsequent step known as capsulotomy, a portion of the pre-lens capsule is removed. Various enhanced techniques have been developed to perform capsulotomy, including laser-assisted capsulotomy, zepto-assisted capsulotomy (using precision nanopulse technology), and marker-assisted capsulotomy (where a specific marker is used to mark the cornea to indicate the desired size for capsule release).
[0007] Subsequently, in a step known as hydrodissection, it is common to inject fluid waves through a corneal incision to separate the outer layer of the cataract. In a subsequent step known as hydrodelination, the softer epinucleus on the outside of the lens is separated from the harder endonucleus on the inside by the injection of fluid waves. In the next step, ultrasonic emulsification of the lens is performed in a process known as phacoemulsification. The lens nuclei are first fragmented using a chopper, and then the outer fragments of the lens are broken up and removed, usually using an ultrasonic phacoemulsification probe. Furthermore, a separate tool is usually used to perform aspiration during phacoemulsification. Once phacoemulsification is complete, any remaining lens cortex (i.e., outer layer of the lens) material is aspirated from the lens capsule. During phacoemulsification and aspiration, the aspirated fluid is usually replenished by perfusion with an equilibrium salt solution to maintain fluid pressure in the anterior chamber. In some cases, the lens capsule is polished if deemed necessary. An intraocular lens (IOL) is then inserted into the lens capsule. IOLs are typically foldable and, after being inserted in a folded state, are unfolded within the lens capsule. At this stage, the viscoelastic material is usually removed using a suction device previously used to remove fluid from the lens capsule. If necessary, the incision is closed by increasing the pressure inside the eyeball and forcibly closing the incision by pressing the internal tissue of the incision against the external tissue. [Overview of the project]
[0008] According to some applications of the present invention, a robotic system is configured for use in microsurgical procedures such as intraocular surgery. Typically, when used in intraocular surgery, the robotic system includes first and second robotic units. In some applications, each robotic unit comprises an end effector configured to securely hold one of several different tools on it. In some applications, the end effector is coupled to a tool mount configured to hold the tool (directly or indirectly). Typically, the end effector is configured to insert the tool into the patient's eye such that the tool enters the patient's eye through an incision and the tip of the tool is positioned inside the patient's eye.
[0009] In some applications, two articulated arms (i.e., arms containing multiple links connected to each other via joints) are positioned on one side of the end effector and configured to movably support the end effector. Typically, multiple arm motors are associated with the two articulated arms. In some applications, the robot unit is configured to rotate the tool around its own axis to compensate for rolling of the end effector relative to the base of the robot unit. Typically, it is desirable to prevent the tool (especially a non-rotationally symmetric tool) from rolling toward the patient's eye. In some applications, rather than preventing the end effector from rotating relative to the base of the robot unit, the end effector is allowed to roll relative to the base, but such rolling of the end effector is compensated by rolling the tool around its own axis relative to the end effector. In some applications, the robot unit is configured to rotate the tool around its own axis for another or additional reason, for example, to perform a surgical procedure.
[0010] Typically, a robotic unit is actively driven to move the end effector along the x, y, and z axes, as well as through pitch and yaw angular motion, but rolling of the end effector is an undesirable byproduct of such motion. In some applications, a computer processor calculates the amount of roll relative to the end effector that the tool should experience. For example, the computer processor might calculate that, due to the movement of a multi-joint arm (e.g., translational motion along the x, y, and / or z axes, and / or pitch and / or yaw angular motion), the end effector will experience a roll of +20 degrees relative to the base. In response, the computer processor might rotate the tool by -20 degrees around its own axis relative to the end effector.
[0011] In some applications, instead of rolling the tool relative to the end effector, or in addition to rolling the tool relative to the end effector, the end effector itself is rolled. Typically, in such cases, the end effector rolls around an axis that is not coaxial with the longitudinal axis of the tool. Thus, the end effector undergoes rolling around an axis eccentric to its longitudinal axis. In some applications, the robot unit includes an end effector motor configured to roll the end effector around an eccentric axis. Typically, the robot unit includes at least five arm motors. In some applications, a computer processor operates the arms to compensate for the axis that is the center of the end effector's roll and is not coaxial with the tool axis. In this way, the end effector rotates around an eccentric axis, but the tool itself rolls around its own axis.
[0012] In some such applications, each of the articulated arms is provided with a rotatable arched link near the end effector. The rotatable arched link is configured to rotate in response to rolling around the axis of the end effector. Typically, as the end effector rotates, it pushes the arched link, causing it to rotate, and the end effector is received by the concave surface of the arched link. Such acceptance of the end effector's rolling is typically desirable, particularly in the case of robotic units where the rolling of the end effector is configured to be eccentric with respect to its own axis. For example, if there is a linear link positioned perpendicular to the axis of the end effector instead of a rotatable arched link, the end effector can only rotate within a relatively narrow angular range before being blocked by the link. In contrast, using the configurations described herein, the end effector can roll typically more than 180 degrees around an eccentric axis, for example, more than 250 degrees or more than 300 degrees.
[0013] In some applications, a sterile drape is provided between (a) a robotic arm and end effector located in the non-sterile zone on the first side of the sterile drape, and (b) a tool mount and tool located in the sterile zone on the second side of the sterile drape. Typically, the sterile drape is disposed around a drape plate and sealed to the drape plate. In some applications, the drape plate is connectable to the end effector and connectable to (or connectable to) the tool mount. The drape plate typically functions as an interface between (a) a robotic arm and end effector located in the non-sterile zone on the first side of the sterile drape, and (b) a tool mount and tool located in the sterile zone on the second side of the sterile drape.
[0014] In some applications, the tool motor is located within the non-sterile zone of the end effector. The tool motor typically directly operates (e.g., rotates) a motion transmission unit (such as a pin or shaft). The motion transmission unit is configured to transmit the motor's motion to a first gear (e.g., a spur gear (i.e., a gear) or a worm gear), which in turn rotates a second gear (typically a spur gear (i.e., a gear)) thereby rotating the tool relative to the end effector. (Depending on the application, the second gear may be incorporated into the tool itself, incorporated into the tool sleeve, or coupled to the tool sleeve.) Typically, the motion transmission unit is mechanically coupled to the first gear such that the interface between the motion transmission unit and the first gear is sealed (e.g., via an O-ring). Thus, the rotational motion of the tool relative to the end effector is generated by the motor located within the non-sterile zone. The rotational motion generated by the motor is transmitted to the tool via an interface that maintains a seal between the non-sterile zone and the sterile zone.
[0015] In some applications, a linear tool motor is located within a non-sterile zone. The linear tool motor typically moves a tool actuation arm linearly. The tool actuation arm is typically located within a non-sterile zone and is configured to linearly push a portion of the tool (such as a syringe plunger) by pushing it out of a sterile drape. In some applications, a portion of the sterile drape located at the interface between the tool actuation arm and the portion of the tool being pushed is configured to have greater rigidity and / or durability than other portions of the drape. For example, a sticker may be affixed to the portion to increase its rigidity and / or durability relative to other portions of the sterile drape. Alternatively, the drape may be treated (e.g., by heat treatment or chemical treatment) at the portion to increase its rigidity and / or durability relative to other portions of the sterile drape. Thus, the linear motion of the portion of the tool is generated by a linear tool motor located within a non-sterile zone. The linear motion generated by the motor is transmitted to the portion of the tool via the drape to maintain a seal between the non-sterile and sterile zones.
[0016] Therefore, according to some applications of the present invention, an apparatus for performing a procedure on a part of a patient's body using a tool, Bass and, End effectors and, A tool mount configured to hold a tool, Multiple articulated arms used to connect an end effector to a base, each articulated arm having a rotatable arched link near the end effector, configured to accommodate the rolling of the end effector around an axis not coaxial with the longitudinal axis of the tool; A device is provided that includes a robot unit equipped with [a certain feature].
[0017] In some applications, the device further includes one or more arm motors configured to move a multi-joint arm, As a result of the movement of the multi-joint arm, the rolling of the end effector relative to the base around an axis that is not coaxial with the longitudinal axis of the tool is calculated. By driving one or more arm motors to move the articulated arm in a way that compensates for the rolling of the end effector around an axis that is not coaxial with the longitudinal axis of the end effector and the tool, the tool rolls around its own longitudinal axis. A computer processor configured as follows, It is further equipped with [this feature].
[0018] In some applications, each of the rotatable arched links defines a concave surface, and the rotatable arched links are configured to accommodate the rolling of the end effector by rotating so that the end effector is received by the concave surface of the rotatable arched link.
[0019] In some applications, the device further includes an end-effector motor configured to roll the end-effector directly against the base, and a rotatable arched link is configured to rotate passively in response to the end-effector being actively rolled by the end-effector motor.
[0020] In some applications, the apparatus further comprises a sterile drape and a drape plate, the drape plate being configured such that a multi-joint arm and an end effector are positioned in the non-sterile zone on the first side of the sterile drape, and a tool mount is coupled to the end effector so as to be positioned in the sterile zone on the second side of the sterile drape.
[0021] In some applications, the drape plate is configured such that all motion drives of a robotic unit configured to operate the end effector are coupled to the end effector, with the latter positioned in the non-sterile zone on the first side of the sterile drape.
[0022] In some application examples, the rotatable arch-shaped link is configured to rotate so as to correspond to the end effector rolling at an angle exceeding 180 degrees.
[0023] In some application examples, the rotatable arch-shaped link is configured to rotate so as to correspond to the end effector rolling at an angle exceeding 300 degrees.
[0024] In some application examples, each of the plurality of articulated arms further includes a first straight link adjacent to the first end of the rotatable arch-shaped link and a second straight link adjacent to the second end of the rotatable arch-shaped link, which are used to couple the end effector to the rotatable arch-shaped link, and the second straight link is disposed at an angle with respect to the first straight link.
[0025] In some application examples, the device further includes a motor configured to roll the rotatable arch-shaped link with respect to the first straight link inside at least one of the arms, and the angle formed by the first straight link and the second straight link is configured such that the rolling of the rotatable arch-shaped link with respect to the straight link results in the rolling of the end effector.
[0026] According to some application examples of the present invention, there is provided a device for treating a part of a patient's body using a robot unit including an end effector and a base, a tool mount configured to hold a tool, a tool motor configured to roll the tool with respect to the end effector, and one or more robot arms configured to move the end effector with respect to the base, a drape plate configured to be disposed between the tool mount and the end effector, A sterile drape is disposed around a drape plate and sealed to the drape plate, and is configured such that an interface is formed between a non-sterile zone on a first side of the sterile drape and a sterile zone on a second side of the sterile drape, so that a tool mount is disposed within the sterile zone and one or more robot arms and tool motors are disposed within the non-sterile zone. A gear mechanism configured to be positioned within a sterilization zone and configured to roll the tool toward the end effector, A motion transmission unit configured to transmit motion from a tool motor to at least one gear mechanism while maintaining a seal between a sterilization zone and a non-sterilization zone, A device comprising the above is further provided.
[0027] In some application examples, the device further: By moving one or more arms, the end effector is activated relative to the bass. The resulting rolling of the end effector relative to the base is calculated, To compensate for the resulting rolling of the end effector relative to its base, the tool motor is driven to roll the tool relative to the end effector. It comprises at least one computer processor configured as follows.
[0028] In some applications, the motion transmission unit comprises a shaft, and the tool motor is configured to rotate the shaft, and at least one gear mechanism includes a first gear driven to rotate by the shaft and a second gear driven to rotate by the first gear.
[0029] In some applications, the interface between the shaft and the first gear is sealed to maintain a seal between the sterile zone and the non-sterile zone.
[0030] In some applications, the first gear is located within the drape plate.
[0031] In some applications, the second gear is integrated into the tool.
[0032] In some applications, the device further includes a tool sleeve configured to be positioned around the tool, with a second gear incorporated into the tool sleeve.
[0033] In some applications, the motion transmission unit comprises a shaft, and the tool motor is configured to rotate the shaft, and at least one gear mechanism includes a worm gear driven to move linearly by the shaft and a gear driven to rotate by the linear motion of the first gear.
[0034] In some applications, the interface between the shaft and the worm gear is sealed to maintain a seal between the sterile and non-sterile zones. In some applications, the worm gear is housed within a drape plate. In some applications, the gear is integrated into the tool. In some applications, the device further includes a tool sleeve configured to be housed around the tool, with the gear integrated into the tool sleeve.
[0035] In some application examples, the device further: A linear tool motor configured to move at least a portion of the tool linearly relative to the end effector, A tool actuation arm is configured to move at least a portion of the tool linearly relative to the end effector by being moved linearly by a linear tool motor. Equipped with, The sterilization drape is configured to form an interface such that the linear tool motor is located within the non-sterilization zone and the tool operating arm is located within the non-sterilization zone.
[0036] In some applications, a portion of the sterile drape configured to be positioned at the interface between the tool operating arm and a portion of the tool being pressed is configured to have greater rigidity and / or durability than other portions of the drape.
[0037] According to some applications of the present invention, a robotic unit is used to perform a procedure on a part of a patient's body, comprising: an end effector; a tool mount configured to hold a tool so that the tool is coaxial with the end effector; a linear tool motor configured to move at least a portion of the tool linearly with respect to the end effector; and one or more robotic arms configured to move the end effector. A drape plate configured to be positioned between the tool mount and the end effector, A sterile drape disposed around a drape plate and sealed to the drape plate, wherein an interface is formed between a non-sterile zone on a first side of the sterile drape and a sterile zone on a second side of the sterile drape, so that a tool mount is disposed within the sterile zone and one or more robot arms and linear tool motors are disposed within the non-sterile zone; A tool actuation arm is configured to be positioned within a non-sterile zone and to be moved linearly by a linear tool motor, thereby moving at least a portion of the tool linearly relative to the end effector. Equipped with, Further provided is a device in which a portion of a sterile drape, configured to be positioned at the interface between a tool operating arm and a portion of the tool being pressed, is configured to have greater rigidity and / or durability than the other portions of the drape.
[0038] In some applications, the device includes a sticker affixed to a portion of the sterile drape, the sticker configured to increase the rigidity and / or durability of that portion of the sterile drape relative to the rest of the drape.
[0039] In some applications, a portion of the sterile drape is heat-treated to increase its rigidity and / or durability relative to other portions of the sterile drape.
[0040] In some applications, a portion of the sterile drape is chemically treated to increase its rigidity and / or durability relative to other portions of the sterile drape.
[0041] In some applications, a portion of the sterile drape may include a substitute or additional material from the rest of the sterile drape to increase its rigidity and / or durability relative to the rest of the sterile drape.
[0042] In some applications, the device further includes an automatic tool actuation arm folding mechanism configured to automatically fold the tool actuation arm in response to retracting it to a given distance from the tool mount.
[0043] According to some applications of the present invention, a robotic unit comprising an end effector, a tool mount configured to hold the tool so that the tool is coaxial with the end effector, and a linear tool motor configured to move at least a portion of the tool linearly relative to the end effector is used for performing a procedure on a part of a patient's body, A tool actuation arm is configured to move at least a portion of the tool linearly relative to the end effector by being moved linearly by a linear tool motor, An automatic tool actuation arm folding mechanism is configured to automatically fold the tool actuation arm in response to retracting it to a given distance from the tool mount. A device comprising the above is further provided.
[0044] In some applications, the automatic tool operating arm folding mechanism includes a spring mechanism.
[0045] In some applications, the tool includes a syringe with a plunger, and the tool's operating arm is configured to push the syringe's plunger in a straight line.
[0046] In some applications, the tool actuation arm is configured to fold down so that the tool mount can accommodate larger tools without requiring the removal and / or manual folding of the tool actuation arm.
[0047] In some applications, the robotic unit is configured to perform cataract surgery using multiple tools, including a phacoemulsification probe, and the tool-operating arm is configured to fold so that the tool mount can accommodate the phacoemulsification probe without requiring removal and / or manual folding of the tool-operating arm.
[0048] In some applications, the device further includes an automatic tool-operating arm deployment mechanism configured to automatically deploy the tool-operating arm in response to the tool-operating arm approaching the tool mount.
[0049] In some applications, the automatic tool operating arm deployment mechanism includes a spring mechanism.
[0050] According to some applications of the present invention, an apparatus for performing a procedure on a patient's eye using a tool, base, End effector, Tool mount configured to hold a tool, Multiple articulated arms used to connect an end effector to a base, configured to allow the end effector to move relative to the base, such as rolling relative to the base. At least one arm motor configured to move a multi-joint arm, and At least one tool motor configured to rotate the tool around its longitudinal axis relative to the end effector. A robot unit equipped with, By driving the arm motor to move the multi-joint arm, the end effector is moved relative to the base. The resulting rolling of the end effector relative to the base is calculated, To compensate for the resulting rolling of the end effector relative to its base, the tool motor is driven to roll the tool around its own longitudinal axis. A computer processor configured as follows: Further devices equipped with these features are provided.
[0051] In some applications, the robotic unit is configured to perform at least part of a cataract surgery on a patient's eye.
[0052] The present invention will be better understood from the following detailed description of its applications, along with the drawings. [Brief explanation of the drawing]
[0053] [Figure 1] This is a schematic diagram of a robotic system configured for use in microsurgical procedures such as intraocular surgery, according to some application examples of the present invention. [Figure 2A] This is a schematic diagram of a robot unit used in a robot system according to some application examples of the present invention. [Figure 2B] This is a schematic diagram of a robot unit used in a robot system according to some application examples of the present invention. [Figure 3A] This is a schematic diagram of a robot unit configured to roll a tool around its own axis in order to compensate for the rolling of the robot unit's end effector relative to the base of the robot unit, according to a partial application example of the present invention. [Figure 3B] This is a schematic diagram of a robot unit configured to roll a tool around its own axis in order to compensate for the rolling of the robot unit's end effector relative to the base of the robot unit, according to a partial application example of the present invention. [Figure 4A] This is a schematic diagram of a robot unit having an end effector configured to roll around an axis, relating to some alternative applications of the present invention. [Figure 4B]This is a schematic diagram of a robot unit having an end effector configured to roll around an axis, relating to some alternative applications of the present invention. [Figure 4C] This is a schematic diagram of a robot unit having an end effector configured to roll around an axis, relating to some alternative applications of the present invention. [Figure 5A] These are schematic diagrams of the robot unit shown in Figures 4A and 4B, illustrating alternative applications of the present invention, at each stage of the rolling motion of the robot unit's end effector. [Figure 5B] These are schematic diagrams of the robot unit shown in Figures 4A and 4B, illustrating alternative applications of the present invention, at each stage of the rolling motion of the robot unit's end effector. [Figure 5C] These are schematic diagrams of the robot unit shown in Figures 4A and 4B, illustrating alternative applications of the present invention, at each stage of the rolling motion of the robot unit's end effector. [Figure 6A] This is a schematic diagram of a robot unit having an end effector configured to roll around an axis that is not coaxial with its longitudinal axis, relating to some alternative applications of the present invention. [Figure 6B] This is a schematic diagram of a robot unit having an end effector configured to roll around an axis that is not coaxial with its longitudinal axis, relating to some alternative applications of the present invention. [Figure 7A] These are schematic diagrams of the robot unit shown in Figures 6A and 6B, illustrating alternative applications of a part of the present invention, at each stage of the rolling motion of the robot unit's end effector. [Figure 7B] These are schematic diagrams of the robot unit shown in Figures 6A and 6B, illustrating alternative applications of a part of the present invention, at each stage of the rolling motion of the robot unit's end effector. [Figure 7C] These are schematic diagrams of the robot unit shown in Figures 6A and 6B, illustrating alternative applications of a part of the present invention, at each stage of the rolling motion of the robot unit's end effector. [Figure 8]This is a schematic diagram of a sterile drape and drape plate used with a robotic unit not configured to rotate a tool within an end effector, according to some applications of the present invention. [Figure 9] This is a schematic diagram of a sterile drape and drape plate used with a robotic unit configured to rotate a tool within an end effector, according to some application examples of the present invention. [Figure 10A] This is a schematic diagram of a sterile drape and drape plate used with a robotic unit configured to rotate a tool within an end effector, relating to some alternative applications of the present invention. [Figure 10B] This is a schematic diagram of a sterile drape and drape plate used with a robotic unit configured to rotate a tool within an end effector, relating to some alternative applications of the present invention. [Figure 10C] This is a schematic diagram of a sterile drape and drape plate used with a robotic unit configured to rotate a tool within an end effector, relating to some alternative applications of the present invention. [Figure 11A] These are photographs of sterile drapes and drape plates that are generally similar to those schematically illustrated in Figures 10A, 10B, and 10C, which relate to some application examples of the present invention. [Figure 11B] These are photographs of sterile drapes and drape plates that are generally similar to those schematically illustrated in Figures 10A, 10B, and 10C, which relate to some application examples of the present invention. [Figure 12A] This is a schematic diagram of a sterile drape and drape plate used with a robotic unit configured to rotate a tool within an end effector, relating to a further alternative application of some parts of the present invention. [Figure 12B] This is a schematic diagram of a sterile drape and drape plate used with a robotic unit configured to rotate a tool within an end effector, relating to a further alternative application of some parts of the present invention. [Figure 13]This is a schematic diagram of an end effector equipped with an automatically foldable tool operating arm for linearly pushing a tool or a part thereof, according to a partial application example of the present invention. [Figure 14A] This is a schematic diagram of an automatically foldable tool operating arm in each stage of its movement relative to a tool mount, according to some application examples of the present invention. [Figure 14B] This is a schematic diagram of an automatically foldable tool operating arm in each stage of its movement relative to a tool mount, according to some application examples of the present invention. [Figure 14C] This is a schematic diagram of an automatically foldable tool operating arm in each stage of its movement relative to a tool mount, according to some application examples of the present invention. [Modes for carrying out the invention]
[0054] The following reference is to Figure 1, a schematic diagram of a robotic system 10 configured for use in microsurgical procedures such as intraocular surgery, according to some applications of the present invention. Typically, when used in intraocular surgery, the robotic system 10 comprises first and second robotic units 20 (configured to hold a tool 21), an imaging system 22, a display 24, and control components 26 (e.g., a pair of control devices such as the joystick shown in the figure) through which a user (e.g., a medical professional) can control the robotic units 20. Typically, the robotic system 10 comprises one or more computer processors 28 through which the components of the system and the user (e.g., a medical professional) interact with each other in an operable manner. In some applications, each of the first and second robotic units is supported by a base 27 as shown in the figure. The scope of the present application includes mounting the first and second robotic units in any of a variety of different positions relative to each other.
[0055] Typically, the movement of the robotic unit (and / or control of other aspects of the robotic system) is controlled at least partially by a user (e.g., a medical professional). For example, the user may receive images of the patient's eye and the robotic unit, and / or tools placed therein, via a display 24. Typically, such images are acquired by an imaging system 22. In some applications, the imaging system 22 is a stereoscopic image sensor and the display 24 is a stereoscopic display. Based on the received images, the user typically performs steps of a procedure. In some applications, the user provides commands to the robotic unit via a control component 26. Typically, such commands include commands to control the position and / or orientation of tools placed within the robotic unit, and / or commands to control the actions performed by the tools. For example, commands may control a phacoemulsification tool (e.g., the operating mode and / or suction force of the phacoemulsification tool), and / or an injector tool (e.g., which fluid (e.g., viscoelastic fluid, saline, etc.) to inject and / or at what flow rate). Alternatively or additionally, the user may input commands to control the imaging system (e.g., zoom, focus, and / or xy positioning of the imaging system). In some applications, commands include controlling an IOL manipulator tool to manipulate an intraocular IOL for precise positioning of the IOL within the eye.
[0056] Next, we refer to Figures 2A and 2B, schematic diagrams of robot units 20 used in a robot system 10 according to some applications of the present invention. In some applications, each robot unit comprises an end effector 30. The end effector is typically configured to securely hold one of several different tools 21 (shown in Figure 1) on it. In some applications, the end effector is coupled to a tool mount configured to hold the tool (directly or indirectly), for example, as will be described in more detail below. Typically, the end effector is configured to insert the tool into the patient's eye such that the tool enters the patient's eye through an incision and the tip of the tool is positioned inside the patient's eye.
[0057] In some applications, two articulated arms 32 (i.e., arms including multiple links 34 connected to each other via joints 36) are positioned on one side of the end effector 30 and configured to movably support the end effector. Typically, a computer processor detects the three-dimensional movement of the patient's eye by analyzing images acquired by an imaging system 22 (typically a stereoscopic imaging system, as described above). In some applications, in response to the detection of the patient's eye movement, the computer processor drives a robotic unit to move the tool so that even as the patient's eye undergoes three-dimensional movement, the tool's entry into the patient's eye still occurs through the incision point. Typically, even as the patient's eye undergoes three-dimensional movement, the computer processor drives the robotic unit to perform at least part of the procedure on the patient's eye by moving the tip of the tool relative to the eye in the desired manner to perform part of the procedure, while the tool's entry into the patient's eye remains fixed at the incision point. Thus, the robotic unit acts to provide a dynamic remote center of motion located at the incision point and being the center of motion for the tool. Typically, the remote motor center moves in conjunction with eye movements. Alternatively or additionally, a computer processor is configured to detect when the eye is in a given position and to time the execution of certain functions by a robotic unit so that these functions are performed when the eye is in that position.
[0058] Typically, multiple arm motors are associated with two articulated arms 32. Although not shown in Figures 2A and 2B, the positions of the arm motors are shown in Figures 3B, 4C, and 6B. In some applications, the multiple arm motors move the end effector with five degrees of freedom (e.g., translational motion along the x, y, and z axes, as well as pitch and yaw angular motion). In the example shown in Figures 2A to 2B, it may be observed that at least one link 34 of the articulated arms 32 of the robot system includes two parallel bars 40 extending between vertical joints 42, with vertical joints positioned between each pair of adjacent links. In some applications, the arrangement of parallel bars and vertical joints ensures that the ends of each joint of a given articulated arm remain parallel to each other even as the arm moves (as shown in the transition from Figure 2A to Figure 2B). This, in turn, prevents the end effector from rolling relative to the base 27. In other words, the arrangement of the parallel bars and vertical joints mechanically isolates the roll of the end effector from its translational and pitch-yaw angular motions. In some applications, it is desirable to prevent the end effector from rolling relative to the base 27 in order to prevent the tool 21 from rolling relative to the patient's eye. In particular, for non-rotationally symmetric tools, it may be desirable to prevent the tool from rolling relative to the patient's eye. In some applications, each of the articulated arms is configured in the manner described above. Alternatively, only one of the articulated arms is configured in the manner described above.
[0059] Hereafter, we refer to Figures 3A and 3B, schematic diagrams of a robot unit 20 configured to rotate a tool 21 around its own axis to compensate for rolling of the end effector 30 of the robot unit relative to the base 27 of the robot unit, according to some applications of the present invention. (Figure 3B does not include many reference numerals in order to focus in particular on the typical position of the arm motor in the robot unit.) As described above, it is typically desirable to prevent the tool (specifically, a non-rotationally symmetric tool) from rolling against the patient's eye. In procedures performed on the eye (such as cataract surgery), many tools are not rotationally symmetric, and the dimensions of the surgical space are relatively small. In some applications, rather than preventing the end effector from rotating relative to the base 27 (as described with reference to, for example, Figures 2A and 2B), the end effector is allowed to roll relative to the base, but such rolling of the end effector is compensated by causing the tool to roll relative to the end effector around its own axis 50. In some applications, the robotic unit is configured to rotate a tool around its own axis for another or additional reason, such as to perform a surgical procedure.
[0060] For example, as shown in Figures 3A and 3B, none of the articulated arms 32 include the parallel bar configuration described above with reference to Figures 2A to 2B. Therefore, the robot unit is configured to move the end effector with six degrees of freedom (e.g., translational motion along the x, y, and z axes, as well as pitch, yaw, and roll angular motion). Typically, the robot unit is actively driven to move the end effector along the x, y, and z axes, as well as by pitch and yaw angular motion, although rolling of the end effector is an undesirable byproduct of such motion. More typically, the robot unit comprises at least five arm motors M1 to M5, as shown in Figure 3B.
[0061] In some applications, a computer processor 28 (shown in Figure 1) calculates the amount of roll the tool should experience relative to the end effector. For example, the computer processor 28 might calculate that, due to the movement of the articulated arm (e.g., translational motion along the x, y, and / or z axes, and / or pitch and / or yaw angular motion), the end effector will experience a roll of +20 degrees relative to the base. In response, the computer processor might drive the tool to rotate -20 degrees around its own axis 50 relative to the end effector. The tool is typically held by the end effector (or tool mount) so that the tool is coaxial with the end effector (or tool mount). Therefore, the longitudinal axis 50 of the tool is typically also the longitudinal axis of the end effector (or tool mount). Thus, in the examples shown in Figures 3A and 3B, the longitudinal axis 50, which is the axis of rotation of the tool, is coaxial with the longitudinal axis of the end effector.
[0062] As shown in Figures 3A and 3B, in some such applications, the tool motor 52 is configured to roll the tool against the end effector. In some applications, the tool motor rolls the tool against the end effector by a gear configuration 54, as shown in the figure.
[0063] Next, refer to Figures 4A, 4B, and 4C, schematic diagrams of a robot unit 20 in which the end effector 30 is configured to roll around an axis 60 that is not coaxial with its longitudinal axis 50, according to some applications of the present invention. In some applications, the end effector is coupled to (or forms an integrated structure with) a tool mount 92 configured to hold a tool, as shown in Figure 4B. Figure 4C is similar to Figure 4B, but many of the reference numerals are not included in Figure 4C in order to focus particularly on the typical positions of the arm motors in the robot unit. Also refer to Figures 5A, 5B, and 5C, schematic diagrams of the robot unit in Figures 4A, 4B, and 4C in which the rolling motion of the end effector 30 is performed at each stage, according to some alternative applications of the present invention. Note that in some of the figures (e.g., Figures 5a to 5C), the robot arm 32 is labeled with symbols (e.g., symbols A1 and B1). These symbols are included to indicate the orientation of the robot arm in each figure.
[0064] In some applications, instead of rolling the tool relative to the end effector, or in addition to rolling the tool relative to the end effector, the end effector itself is rolled. Typically, in such cases, the end effector rolls around an axis 60 that is not coaxial with the axis 50 of the tool 21 and the end effector 30. (Thus, the end effector undergoes eccentric rolling with respect to its longitudinal axis.) In some applications, the robot unit includes an end effector motor 62 configured to roll the end effector around axis 60 (shown in Figure 4A). Typically, the robot unit includes at least five arm motors, the positions of which are schematically indicated in Figure 4C by dashed circles labeled M1 to M5. In some applications, a computer processor drives the arms to move in a manner that compensates for the fact that axis 60 is not coaxial with the tool axis. Thus, the end effector rotates around axis 60 via the end effector motor 62, but the tool itself rolls around its own axis.
[0065] In some such applications, each of the articulated arms 32 is provided with a rotatable arched link 64 near the end effector 30. The rotatable arched link is configured to rotate in response to rolling around the axis 60 of the end effector. This can be observed by observing the transition from Figure 5A to Figure 5B, and from Figure 5B to Figure 5C. As shown in the figures, when the end effector rotates, it pushes the arched link, causing it to rotate, and as a result, the end effector is received by the concave surface 66 of the arched link. Such acceptance of rolling of the end effector is typically desirable, especially from the perspective of a robot unit where the rolling of the end effector is configured to be eccentric with respect to its own axis. For example, if there were a linear link positioned perpendicular to the axis of the end effector instead of a rotatable arched link, the end effector might only be able to rotate within a relatively narrow range of angles around the axis 60 before being blocked by the link. In contrast, using the configurations shown in Figures 4A to 5C, the end effector can typically roll more than 180 degrees around axis 60, for example, more than 250 degrees or even more than 300 degrees.
[0066] Next, we refer to Figures 6A and 6B, schematic diagrams of a robot unit 20 in which the end effector 30 is configured to roll around an axis 70 that is not coaxial with its longitudinal axis 50, according to some applications of the present invention. Figure 6B is similar to Figure 6A, but many of the reference numerals are omitted in Figure 6B in order to focus particularly on the typical positions of the arm motors in the robot unit. We also refer to Figures 7A, 7B, and 7C, schematic diagrams of the robot unit of Figure 6 in each stage of the rolling motion of the end effector 30, according to some alternative applications of the present invention.
[0067] As illustrated with reference to Figures 4A to 5C, in some applications, each of the articulated arms is provided with a rotatable arched link 64 near the end effector 30. The rotatable arched link is configured to rotate in accordance with the rolling of the end effector around the axis 70, as generally described above. In some such applications, a first linear link 80 is positioned adjacent to the first end 82 of the rotatable arched link, and a second linear link 84 is positioned adjacent to the second end 86 of the rotatable arched link (the end effector is coupled to the rotatable arched link via the second linear link 84). As shown in Figure 6A, in some applications, the second linear link is positioned at an angle α with respect to the first linear link 80.
[0068] Typically, the robot unit comprises at least five arm motors, the positions of which are schematically indicated by dashed circles labeled M1 to M5 in Figure 6B. In some applications, the robot unit comprises additional motors mounted near a linear link 80 or linear link 84 of one arm. For example, the robot unit may comprise additional motors mounted at either the position indicated by the dashed circle labeled M6A or the position indicated by the dashed circle labeled M6B in Figure 6B. The additional motors are configured to roll a rotatable arched link 64 relative to the linear links 80 and 84. Typically, the rolling of the rotatable arched link 64 relative to the linear link 80 is caused by the second linear link being positioned at an angle α with respect to the first linear link, thereby causing the second linear link to pivot relative to the first linear link. This causes the end effector to roll around axis 70. This can be observed in the transition from Figure 7A to Figure 7B, and from Figure 7B to Figure 7C. Typically, in such applications, the computer processor 28 calculates how to move the links of the arm to cause the end effector to roll around the axis 70 in a desired manner. As the end effector rotates, as illustrated with reference to Figures 4A to 5C, it is received by the concave surface 66 of the arched link. Typically, using the configuration shown in Figures 6A to 7C, the end effector can roll more than 180 degrees around the axis 70, for example, more than 250 degrees, or more than 300 degrees (eccentrically with respect to its own axis).
[0069] The following references to Figure 8, a schematic diagram of a sterile drape 88 and drape plate 90 used with a robot unit 20 that is not configured to rotate a tool 21 within an end effector 30, according to some applications of the present invention. For example, the sterile drape and drape plate shown in Figure 8 may be used with a robot unit as described with reference to Figures 4A to 4C and / or Figures 6A to 6B, in which case the rotation of the tool is typically performed by rotating the end effector rather than rotating the tool relative to the end effector. Typically, in such a case, all the motion drive components (motors, gears, etc.) of the robot unit configured to drive the end effector, and the end effector 30 itself, are located in the non-sterile zone on the first side of the sterile drape (i.e., the side of the sterile drape where the arm of the robot unit is positioned). A tool mount 92 (configured to hold the tool directly or indirectly) is located in the sterile zone on the second side of the sterile drape and can be coupled to the drape plate. Typically, the sterile drape is positioned around the drape plate and sealed to the drape plate. The drape plate can be coupled to (or is coupled to) both an end effector and a tool mount. For example, the end effector 30 may be positioned within a non-sterile zone at the end of an arm and configured to couple to one side of the drape plate, and the tool mount may define a portion 94 on its back surface that is configured to couple to a second side of the drape plate. Typically, the drape plate 90 serves as an interface between (a) the arm 32 and end effector 30 positioned within a non-sterile zone on the first side of the sterile drape, and (b) the tool mount 92 and tool 21 positioned within a sterile zone on the second side of the sterile drape. When the drape plate is coupled to both the end effector and the tool mount, the movement of the arm and end effector (generated within the non-sterile zone) is transmitted via the drape plate to the tool mount 92 and the tool 21 (both located within the sterile zone). (Note that in some cases, the tool itself may be located within the tool mount.)Alternatively, as shown in the figure, the tool is housed inside a tool sleeve 23 which is located within a tool mount 92.
[0070] The following reference is to Figure 9, a schematic diagram of a sterile drape 96 and a drape plate 98 used with a robotic unit that rotates a tool within an end effector, according to some applications of the present invention. For example, the sterile drape and drape plate shown in Figure 9 may be used with a robotic unit such as the one described with reference to Figures 3A to 3B, which show an example of a robotic unit 20 configured to rotate a tool 21 around its own axis. In some such applications, at least a portion of the motion drive unit (e.g., motors, gears, etc.) of the robotic unit configured to drive the end effector and / or the tool is located within the sterile zone (i.e., the surface of the drape shown in Figure 9). In some applications, the tool motor 52 and / or gears 54A and 54B (configured to roll the tool relative to the end effector) are located within the sterile zone. (Note that in some examples, the tool itself has an internal gear and is directly rotated by a motor-driven gear 54A. Alternatively, as shown in the figure, the tool is housed inside a tool sleeve 23 that has a gear 54B rotated by gear 54A or is coupled to gear 54B.) In some applications, a linear tool motor 100 configured to drive a part of the tool to move linearly is housed in the sterilization zone. The linear tool motor is typically configured to move a part of the tool (such as a syringe plunger 120) linearly via a tool actuation arm 110. Examples of linear tool motors and parts of tool actuation arms are described in more detail below.
[0071] Typically, all parts of the apparatus configured to be placed within a sterilization zone are configured to be disposable and / or sterilizable (e.g., via an autoclave). In the application example shown in Figure 9, typically the tool motor 52, gear 54A, tool sleeve 23 (and gear 54B), linear tool motor 100, and tool actuation arm 110 are all configured to be disposable and / or sterilizable (typically via an autoclave). Typically, the tool motor 52 and linear tool motor 100 are powered via sealed electrical connectors passing through a sterilization drape and / or by external cables.
[0072] Typically, the sterile drape 96 is positioned around the drape plate 98 and sealed to the drape plate 98. In some applications, the arm 32 and end effector 30 (not shown in Figure 9) are positioned within the non-sterile zone, and the drape plate 98 can be coupled to the end effector. Typically, the drape plate 98 acts as an interface between (a) the end effector 30 and arm 32 (not shown in Figure 9), positioned within the non-sterile zone on the first side of the sterile drape, and (b) the tool mount 92 and tool 21, positioned within the sterile zone on the second side of the sterile drape. When the drape plate is coupled to both the end effector and the tool mount, the movement of the arm and end effector (generated within the non-sterile zone) is transmitted via the drape plate 98 to the tool mount 92 and tool 21 (both positioned within the sterile zone). However, as explained above, in the application example shown in Figure 9, the movement of the tool (or part thereof) relative to the end effector is brought from within the sterilization zone via the tool motor 52 and / or linear tool motor 100.
[0073] The following references to Figures 10A, 10B, and 10C, schematic diagrams of a sterile drape 102 and a drape plate 104 used with a robotic unit 20 configured to rotate a tool 21 within an end effector 30, relating to some alternative applications of the present invention. Typically, the drape plate 104 serves as an interface between (a) an arm 32 (not shown in Figures 10A to 10C) and an end effector 30 located in the non-sterile zone on the first side of the sterile drape, and (b) a tool mount 92 and a tool 21 located in the sterile zone on the second side of the sterile drape.
[0074] In some applications, the tool motor 52 (shown in Figures 10B to 10C) is located in the end effector 30 within a non-sterile zone. The tool motor 52 typically directly drives and rotates a motion transmission unit 106 (such as a pin or shaft). The motion transmission unit is configured to transmit the rotational motion of the motor to a first gear (i.e., a spur gear) 54A, which drives the tool to rotate relative to the end effector by rotating a second gear (i.e., a spur gear) 54B. In some applications, the first gear is located within a drape plate (e.g., integrated into the drape plate). As described above, the second gear 54B can be integrated into the tool itself or integrated into or coupled to the tool sleeve 23. Typically, the motion transmission unit 106 is mechanically coupled to the first gear 54A such that the interface between the motion transmission unit and the first gear 54A is sealed (for example, via an O-ring 108, as shown in Figure 10C) to maintain a seal between the sterile and non-sterile zones. Thus, in the example shown in Figures 10A to 10C, the rotational motion of the tool's end effector is generated by a motor 52 located in the non-sterile zone. The rotational motion generated by the motor is transmitted to the tool via the interface that maintains a seal between the non-sterile and sterile zones.
[0075] Referring to Figure 10A, in some applications, the linear tool motor 100 is located within a non-sterile zone. The linear tool motor 100 typically drives the tool actuation arm 110 to move linearly. In such applications, the tool actuation arm 110 is typically located within a non-sterile zone and is configured to linearly push a portion of the tool (such as the plunger 120 of a syringe) by pushing it out of the sterile drape 102. In some applications, a portion 114 of the sterile drape located at the interface between the tool actuation arm and the portion of the tool being pushed is configured to have greater rigidity and / or durability than other portions of the drape. For example, a sticker 116 may be affixed to the portion 114 to increase its rigidity and / or durability relative to other portions of the sterile drape. Alternatively, the drape may be treated at portion 114 (e.g., using heat treatment or chemical treatment) to increase its rigidity and / or durability relative to other portions of the sterile drape. Alternatively, the drape may include alternative or additional material in portion 114 compared to other parts of the drape to increase the rigidity and / or durability of the portion compared to other parts of the sterilized drape. Thus, in the example shown in Figures 10A to 10C, the linear motion of a portion of the tool is generated by a linear tool motor 100 located within the non-sterilized zone. The linear motion generated by the motor is transmitted to the portion of the tool via the drape to maintain a seal between the non-sterilized and sterilized zones.
[0076] Typically, a sterile drape 102 is positioned around a drape plate 104 and sealed to the drape plate 104. Typically, the drape plate 104 is connectable to an end effector and connectable to (or connectable to) a tool mount 92. When the drape plate is connected to both the end effector and the tool mount, the movement of the arm and end effector (generated in the non-sterile zone) is transmitted via the drape plate to the tool mount and the tool (both positioned in the sterile zone).
[0077] Next, we refer to Figures 11A and 11B, which are photographs of a sterile drape 102 and a drape plate 104 similar to those schematically shown in Figures 10A, 10B, and 10C, relating to some applications of the present invention. Figure 11A is a photograph showing the sterile drape and drape plate as viewed from the sterile zone. As can be observed, a tool mount 92 is shown, which is incorporated into the drape plate 104 in the example shown. A sticker 116 is also shown. As described above, the sticker is configured to be affixed to a portion of the sterile drape that is positioned at the interface between the tool operating arm and the pressed portion of the tool, and is configured to have higher rigidity and / or durability than other parts of the drape. It can also be observed that the drape 102 is shaped to be positioned above the arm of the robot unit. Figure 11B is a photograph showing the sterile drape and drape plate as viewed from the non-sterile zone. As can be observed, the back surface of the drape plate is typically molded to define a housing 122. The housing typically accommodates a gear 54A. The housing is typically positioned at the end of an arm and configured to be coupled to an end effector 30 (shown in Figure 10A) that supports a tool motor 52. For example, the housing may be coupled to the end effector via a snap-lock mechanism.
[0078] Next, refer to Figures 12A and 12B, schematic diagrams of sterile drapes 124 and drape plates 126 used with a robotic unit in which a tool rotates within an end effector, relating to further alternative applications of some parts of the present invention. The apparatus shown in Figures 12A to 12B is in general similar to that shown and described with respect to Figures 10A to 10C, with the following differences. In the apparatus shown in Figures 12A to 12B, the tool motor 52 is configured to drive a worm gear 128 to move linearly (e.g., vertically) in order to drive a gear 54B (typically built into or coupled to the tool 21 or tool sleeve 23) to rotate. Typically, the tool motor 52 is located on an end effector 30 located in a non-sterile zone. The tool motor 52 typically drives a linear motion transmission unit 130 (such as a pin or shaft) directly to move linearly (e.g., vertically). The motion transmission unit is configured to transmit the linear motion of the motor to a worm gear 128, which drives the tool to rotate relative to the end effector by rotating a gear (i.e., a spur gear) 54B. In some applications, the worm gear is housed within a drape plate (e.g., embedded). Typically, the linear motion transmission unit 130 is mechanically coupled to the worm gear 128 such that the interface between the linear motion transmission unit and the worm gear 128 is sealed (e.g., via an O-ring 132, as shown in Figure 12B) to maintain a seal between the sterile and non-sterile zones. Thus, in the example shown in Figures 12A to 12B, the movement of the tool relative to the end effector is generated by a motor 52 housed in the non-sterile zone. The linear motion generated by the motor is transmitted to the sterile zone via the interface that maintains the seal between the non-sterile and sterile zones. The linear motion is then converted into rotational motion of the tool relative to the end effector.
[0079] Next, refer to Figure 13, a schematic diagram of an end effector 30 comprising a tool actuation arm 110 for linearly pushing a tool or a part thereof, according to some applications of the present invention. In some applications, the tool actuation arm is configured to automatically fold in response to retracting to a given distance from the tool mount 92. Also refer to Figures 14A, 14B, and 14C, schematic diagrams of an automatically foldable tool actuation arm at each stage of its movement relative to the tool holder of the end effector, according to some applications of the present invention. As described above, typically the tool actuation arm 110 is configured to linearly push a part of a tool (such as the plunger 120 of a syringe). Typically, a linear tool motor 100 drives the arm to move linearly via a transmission shaft 134 (shown in Figure 13). In some applications, the tool actuation arm is configured to automatically fold in response to retracting to a given distance from the tool mount 92, as shown in the transition from Figure 14A to Figure 14B, and from Figure 14B to Figure 14C. Thus, the tool actuation arm may be configured to automatically fold to accommodate the insertion of larger tools, such as phacoemulsification probes, into the tool mount, without requiring removal and / or manual folding of the tool actuation arm. Typically, the tool actuation arm is configured to automatically fold by the action of an automatic tool actuation arm deployment mechanism, such as a spring mechanism. More typically, the tool actuation arm is configured to automatically extend (for example, by the action of an automatic tool actuation arm deployment mechanism, such as a spring mechanism) in response to the tool actuation arm approaching the tool mount. In some applications, instead of being configured to automatically fold, the arm is configured to move in a different way to accommodate the insertion of larger tools, such as phacoemulsification probes, into the tool mount, without requiring removal and / or manual movement of the tool actuation arm. For example, the arm may be configured to automatically retract, for example, using an electromechanical actuator, a spring mechanism, etc.
[0080] It should be noted that the scope of this application includes combining the elements of the sterile drape, drape plate, and tool operating arm shown in each figure. Purely as an example, the tool operating arm shown in Figures 13 to 14C can be combined with any one of the examples of sterile drapes and drape plates described with reference to Figures 9 to 12B.
[0081] While some applications of the present invention are described in relation to cataract surgery, the scope of this application includes the application of the apparatus and methods described herein to other medical procedures. Specifically, the apparatus and methods described herein for other medical procedures may be applied to other microsurgical procedures performed using microsurgical techniques, such as general surgery, orthopedic surgery, gynecology, otolaryngology, neurosurgery, oral and maxillofacial surgery, plastic surgery, podiatric surgery, vascular surgery, and / or pediatric surgery. In some such applications, the imaging system includes one or more microscope imaging units.
[0082] It should be noted that the scope of this application includes the application of the apparatus and methods described herein to intraocular procedures other than cataract surgery. Such procedures may include collagen cross-linking, endothelial corneal transplantation (e.g., DSEK, DMEK, and / or PDEK), DSO (non-transplantable corneal detachment), laser-assisted corneal transplantation, corneal transplantation, LASIK / PRK, SMILE, pterygium, treatment of ocular surface cancer, secondary IOL placement (suturing, transconjunctival, etc.), iris repair, IOL repositioning, IOL replacement, corneal surface resection, minimally invasive glaucoma surgery (MIGS), limbal stem cell transplantation, astigmatic keratectomy, limbal resection (LRI), amniotic membrane transplantation (AMT), glaucoma surgery (e.g., trABs, tuBes, minimally invasive glaucoma surgery), automated laminar keratoplasty (ALK), anterior vitrectomy, and / or transsquamous anterior vitrectomy.
[0083] Examples of applications of the present invention described herein may take the form of a computer program product accessible from a computer-enabled or computer-readable medium (e.g., a non-temporary computer-readable medium) that provides program code for use by or related to a computer or any instruction execution system, such as a computer processor 28. For the purposes of this description, the computer-enabled or computer-readable medium may be any device that can store, transmit, propagate, or carry a program for use by or related to an instruction execution system, apparatus, or device. The medium may be an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system (or apparatus or device) or propagation medium. Typically, the computer-enabled or computer-readable medium is a non-temporary computer-enabled or computer-readable medium.
[0084] Examples of computer-readable media include semiconductor or solid-state memory, magnetic tape, removable computer diskettes, random-access memory (RAM), read-only memory (ROM), hard magnetic disks, and optical disks. Current examples of optical disks include compact discs - read-only memory (CD-ROM), compact discs - read / write (CD-R / W), DVDs, and USB drives.
[0085] A data processing system suitable for storing and / or executing program code would include at least one processor (e.g., a computer processor 28) directly or indirectly coupled to a memory element via a system bus. The memory element may include local memory used during the actual execution of the program code, bulk storage, and cache memory for temporary storage of at least some of the program code to reduce the number of times the code must be retrieved from bulk storage during execution. The system can read instructions according to the present invention from a program storage device and execute methods of embodiments of the present invention in accordance with these instructions.
[0086] Network adapters can be coupled to a processor, allowing it to connect to other processors, remote printers, or storage devices via an intermediary private or public network. Modems, cable modems, and Ethernet cards are just a few of the types of network adapters currently available.
[0087] Computer program code for performing the operation of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, SmallAlk, and C++, and conventional procedural programming languages such as the C programming language or similar programming languages.
[0088] It will be understood that the algorithms described herein can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general-purpose computer, a dedicated computer, or other programmable data processing device to generate a machine, thereby generating means for performing the functions / operations defined in the algorithms described herein, which are executed by the computer's processor (e.g., computer processor 28) or the other programmable data processing device. Furthermore, these computer program instructions may be stored in a computer-readable medium (e.g., a non-temporary computer-readable medium), and by being able to instruct a computer or other programmable data processing device to function in a particular way, the instructions stored in the computer-readable medium may generate a product containing instruction means for performing the functions / operations defined in the algorithms. Additionally, computer program instructions may be loaded into a computer or other programmable data processing device to execute a series of operational steps on that computer or other programmable device to generate a computer-implemented process, thereby providing a process for performing the functions / operations defined in the algorithms described herein.
[0089] The computer processor 28 is typically a hardware device programmed with computer program instructions to generate a dedicated computer. For example, when programmed to execute the algorithm described with reference to the figure, the computer processor 28 typically functions as a dedicated robotic system computer processor. Typically, the operations described herein performed by the computer processor 28 change the physical state of memory, which is an actual physical item, resulting in different magnetic polarity, charge, etc., depending on the technology of the memory used. In some applications, the operations described as being performed by a computer processor are performed by multiple computer processors combined with each other.
[0090] Those skilled in the art will understand that the present invention is not limited to what has been specifically shown and described above. Rather, the scope of the present invention includes both combinations and partial combinations thereof of the various features described in the above specification, as well as modifications and variations thereof that are not in the prior art and will be conceivable to those skilled in the art by reading the above description.
Claims
1. A device for performing a procedure on a part of a patient's body using a robotic unit comprising an end effector and a base, a tool mount configured to hold a tool, a tool motor configured to roll the tool relative to the end effector, and one or more robotic arms configured to move the end effector relative to the base, A drape plate configured to be positioned between the tool mount and the end effector, A sterile drape disposed around the drape plate and sealed to the drape plate, wherein an interface is formed between the non-sterile zone on the first side of the sterile drape and the sterilized zone on the second side of the sterile drape, so that the tool mount is disposed within the sterilized zone and one or more robot arms and the tool motor are disposed within the non-sterile zone. A gear mechanism configured to be positioned within the sterilization zone and configured to roll the tool against the end effector, A motion transmission unit configured to transmit motion from the tool motor to the at least one gear mechanism while maintaining a seal between the sterilization zone and the non-sterilization zone, Equipped with, The motion transmission unit comprises a shaft, the tool motor is configured to rotate the shaft, and the at least one gear mechanism includes a first gear driven to rotate by the shaft and a second gear driven to rotate by the first gear. The interface between the shaft and the first gear is sealed to maintain a seal between the sterilization zone and the non-sterilization zone. Device.
2. The apparatus according to claim 1, wherein the first gear is disposed within the drape plate.
3. The apparatus according to claim 1, wherein the second gear is incorporated into the tool.
4. The apparatus according to claim 1, further comprising a tool sleeve configured to be disposed around the tool, wherein the second gear is incorporated into the tool sleeve.
5. An apparatus for performing a procedure on a part of a patient's body using a robot unit comprising an end effector and a base, a tool mount configured to hold a tool, a tool motor configured to roll the tool relative to the end effector, and one or more robot arms configured to move the end effector relative to the base, A drape plate configured to be positioned between the tool mount and the end effector, A sterile drape disposed around the drape plate and sealed to the drape plate, wherein an interface is formed between the non-sterile zone on the first side of the sterile drape and the sterilized zone on the second side of the sterile drape, so that the tool mount is disposed within the sterilized zone and one or more robot arms and the tool motor are disposed within the non-sterile zone. A gear mechanism configured to be positioned within the sterilization zone and configured to roll the tool against the end effector, A motion transmission unit configured to transmit motion from the tool motor to the at least one gear mechanism while maintaining a seal between the sterilization zone and the non-sterilization zone, Equipped with, The motion transmission unit comprises a shaft, the tool motor is configured to rotate the shaft, and the at least one gear mechanism includes a worm gear driven to move linearly by the shaft, and a gear driven to rotate by the linear movement of the worm gear. The interface between the shaft and the worm gear is sealed to maintain a seal between the sterilization zone and the non-sterilization zone. Device.
6. The apparatus according to claim 5, wherein the worm gear is disposed within the drape plate.
7. The apparatus according to claim 5, wherein the gear is incorporated into the tool.
8. The apparatus according to claim 5, further comprising a tool sleeve configured to be arranged around the tool, wherein the gear is incorporated into the tool sleeve.
9. A linear tool motor configured to move at least a portion of the tool linearly with respect to the end effector, A tool actuation arm is configured to move linearly by the linear tool motor, thereby causing at least a portion of the tool to move linearly relative to the end effector. Furthermore, The apparatus according to claim 1, wherein the sterilization drape is configured to form the interface such that the linear tool motor is disposed within the non-sterilization zone and the tool operating arm is disposed within the non-sterilization zone.
10. The apparatus according to claim 9, wherein a portion of the sterilization drape, which is configured to be disposed at the interface between the tool operating arm and the portion of the tool being pressed, is configured to have higher rigidity and / or durability than the other portion of the drape.