Systems, methods and apparatuses for telemanipulation with remote center of motion in ocular surgery

Abstract

Devices, methods, and systems related to a telemanipulation device with near, at, and trans-RCM motion for intraocular robotic surgical systems are provided. For example, there is a surgical tool telemanipulator device, including: a gripper adapted for user-controlled motion at, near, or through a remote center of motion (RCM) in a telemanipulator workspace; a plurality of rotational joints coupled to the gripper, each of the rotational joints having a motor, a cable, and an encoder; and at least one axial joint coupled to the gripper, the at least one axial joint having a motor, a cable, and an encoder. The plurality of rotational joints and the at least one axial joint may be arranged to provide encoded outputs related to (mimicking) a movement of the gripper at, near, or through the RCM within the telemanipulator workspace. Other related embodiments are disclosed.

Description

SYSTEMS, METHODS AND APPARATUSES FOR TELEMANIPULATION WITH REMOTE CENTER OF MOTION IN OCULAR SURGERYCLAIM OF PRIORITY

[0001] This application claims priority to U.S. Provisional Patent Application No. 63 / 639,529, entitled “SYSTEMS, METHODS AND APPARATUSES FOR TELEMANIPULATION WITH REMOTE CENTER OF MOTION IN OCULAR SURGERY,” filed on April 26, 2024, the contents of which are incorporated herein by reference in their entirety.INCORPORATION BY REFERENCE

[0002] All publications and patent applications mentioned in this specification are herein incorporated by reference in their entirety to the same extent as if each individual publication or patent application was specifically and individually indicated to be incorporated by reference.FIELD

[0003] This disclosure relates generally to ophthalmology and cataract surgery. In particular, this disclosure relates to telemanipulators of surgical tools in a robotic microsurgery setting.BACKGROUND

[0004] Surgical robotic systems commonly use remote-center-of-motion (RCM) mechanisms, which constrain the surgical tool in such a way that the tool always pivots about a fixed point in space. In laparoscopic or single-site surgical procedures, alignment of this fixed point to the incision site prevents unwanted motion of, and damage to, the tissue surrounding the incision.

[0005] Regarding teleoperative control of such surgical robotic systems, typical devices may use telemanipulator arms with at least six degrees of freedom (DOF), the first three DOF being used to position a wristed tooltip, and the last three (or four) DOF being used to rotate the wristed tool within the body. At all times, there must be unity between the orientation of the teleoperative or telemanipulator tool and the orientation of the surgical tool. This unity gives the surgeon the impression that they are holding the tool.

[0006] Alignment of Surgical Tool Axes

[0007] In the above-mentioned wristed devices, the surgical tool axis is defined as the last degree of freedom of the wristed tool - not the shaft of the tool passing through the entry site. As mentioned, the surgeon has the impression they are holding the wristed tool. In these wristed cases, the orientation of the tool shaft is of little concern to the surgeon. The wristed tool is sufficiently far from the entry site such that the surgeon can effectively ignore the pivoting motion of the tool shaft about the RCM. As a result, the telemanipulator design does not need to incorporate a mechanical constraint to mimic the pivoting of the tool about the entry site.

[0008] However, in some other surgical applications, the pivoting motion of the tool shaft about the RCM cannot be ignored - the surgeon must have the impression that they are holding the tool shaft that passes through the RCM, and that their motions are constrained to be consistent with that of an RCM-based surgical robotic system.

[0009] For instance, when the tool is passive (not wristed), it becomes necessary to always match the axis of the surgical tool shaft to the teleoperative or telemanipulator tool. This ensures that the surgeon will have the impression that they are holding the tool - in this case, the tool being defined as the shaft of the tool that passes through the entry site. Previous devices have responded to this requirement by enforcing an RCM constraint on the telemanipulator itself, either by mechanical constraint through a Gimbal mechanism, or software-controlled motors in the telemanipulator that always keep the surgical tool aligned to the teleoperative tool.

[0010] “Trans-RCM” Motion of Surgical Tool

[0011] Cataract surgery is unique in that the surgeon is required to operate very close to the incision, and also pass through the incision, many times during a single operation. However, there has not been development of surgical robots designed to routinely pass through the RCM, operating both inside and outside the body, a behavior called “trans-RCM motion”.

[0012] Problematically, utilizing 6 DOF telemanipulator devices for trans-RCM motion results in kinematic singularities, which are an issue not only for the usability of the device, but also for the control of the surgical robotic system.

[0013] When the surgical robotic system loses its ability to move independently in cartesian space, teleoperative control using current teleoperative devices becomes untenable. Therefore, there is a need to address the kinematic singularity that occurs when the tool of an RCM-based surgical robotic system passes through the RCM. In reality, the control instability is not only at the RCM, but also in a small region around the RCM.

[0014] Notably, if the teleoperative system shares the same mechanically constrained RCM as the surgical robotic system, this erratic behavior at the RCM does not occur. However,existing mechanically constrained RCM telemanipulators do not grant the user the ability to pass the teleoperative tool tip through the RCM, which disallows the user from operating on both sides of the RCM. Conventional teleoperative systems may be configured for operation at sites distant from an RCM, and are thus not concerned with the restrictions of operating at, near, or through (trans) RCM. Thus, conventional teleoperative systems assume a workspace or control zone operable at a distance or fixed space from the RCM.

[0015] FIG. 1 A is an illustration of axes of motion for a wristed tool used for anterior segment ophthalmic surgery, to contrast with the present invention. FIG. 1 A is provided to illustrate the wrist tool devices previously mentioned and to contrast them with the present invention. As shown here, there is a schematic view 100 including an exemplary surgical robot 102, cornea 104 and insert point / RCM 106, and tool shaft 108. Exemplary surgical robot 102 may be operating in the eye via insertion point 106. Tool wrist 110 may for example, be oriented along a tool shaft 114. Once position, there may be a final rotation axis 116 of tool wrist 110.

[0016] In contrast, the present invention relates to non-wristed tools, having straight shafts configured to pivot about the insertion point 106, without having wrist 110 and wristed tool 116.

[0017] FIG. IB is an illustration of a schematic view 150 of an exemplary robot manipulator having constraining mechanical linkages, to contrast with the present invention which may lack this feature. Also shown is a surgical consol e / tel emanipulator 152 and a teleoperative tool axis 154. Mechanical linkages 156 constrain tool 108 to mimic robotic operation in the eye along teleoperative tool axis 154, via insertion point 106 (from FIG. 1 A).

[0018] FIG. 2 is an illustration of kinematic singularity 200, to contrast with the present invention. As shown here, in one example, kinematic singularity 200 occurs when the surgical tool 208 is coincident with a space occupied by surgical insertion site and RCM 206, for example when moving to point P3 from points Pl and P2 (during retraction of surgical tool 208), with a maximum or higher movement Ml at point Pl most distance from surgical incision site / RCM 206, less movement M2 at point P2 closer to surgical incision site / RCM 206, and the least or no movement at point P3 coinciding with surgical incision site / RCM 206. When this occurs, surgical tool 208 momentarily loses its ability to move independently in Cartesian space (an inability for surgical tooltip 210 or surgical tool 208 to create motion 210M in all directions, such as along X, Y, and Z axes, or for example, motion of surgical tooltip 210 at point Pl in the direction of Ml and motion of point P2 in the direction of M2. This kinematic singularity 200 may be typical of most telemanipulators and is illustrated to contrast with the present invention. In such an example, tooltip 210 and tooltip motion 210Mare inside 202A of a patient’s body or eye, with the body or shaft of surgical tool 208 being located outside 202B a patient’s body or eye.

[0019] FIG. 3 is an illustration of a telemanipulator device incorporating a mechanically constrained RCM 300, to contrast with the present invention. As shown here, there is spherical actuator 360, which according to certain embodiments may be a Gimbal joint, and according to other embodiments may have a non-spherical shape. According to certain embodiments, spherical actuator 360 may be located at the interface between the inside 302A and outside 302B of a patient’s eye or body. Furthermore, spherical actuator 360 may be located / juxtaposed at the RCM (such as RCM 206A from FIG. 2). This juxtaposition / location of spherical actuator 360 at the RCM will serve as a physical barrier to surgical tooltip 310 from passing through the RCM and closes movement at and around the RCM. For example, the size of spherical actuator 360 may exclude near-RCM movement, and the physical blockage of the spherical actuator 360 at the RCM may prevent through / trans-RCM motion. This telemanipulator incorporating a mechanically-constrained RCM construction 300 may solve the problem of kinematic singularity 206A (from FIG. 2) in which a surgical tool (such as surgical tool 308) momentarily loses its ability to move independently in Cartesian space. Also shown are rotational degrees of freedom 301 A which may include, for example, rotational movement at surgical tooltip 310 and spherical actuator 360. Also shown is a linear degree of freedom 301B for axial movement of surgical tool shaft 308. This is in contrast to the present invention, which according to certain examples may have four degrees of freedom to allow for near-RCM, at RCM, and trans-RCM motion of a surgical tool and its components such as tool shaft 308 and surgical tooltip 310.

[0020] What is needed is a mechanically constrained RCM-based telemanipulator that allows the operator to manipulate a teleoperative tool inside, at, and outside, and through (trans) an RCM by placing a teleoperative RCM within an open volume or workspace, with controls and inputs outside of the open volume or workspace to eliminate physical and kinematic barriers to movement and control of the teleoperative tool.SUMMARY OF THE DISCLOSURE

[0021] Embodiments of this disclosure are directed to improve upon the limitations described above by incorporating a mechanically-constrained RCM construction into a surgical robotic telemanipulator with four degrees-of-freedom. The primary advantage of the embodiments of this disclosure is the intuitive teleoperative control of a surgical tool shaft to operate on both sides of the RCM during single-entry microsurgery.

[0022] For example, there is a surgical tool telemanipulator device, including: a gripper adapted for user-controlled motion at, near, or through a remote center of motion (RCM) in a telemanipulator workspace; a plurality of rotational joints coupled to the gripper, each of the rotational joints having a motor, a cable, and an encoder; and at least one axial joint coupled to the gripper, the at least one axial joint having a motor, a cable, and an encoder. The plurality of rotational joints and the at least one axial joint may be arranged to provide encoded outputs related to (mimicking) a movement of the gripper at, near, or through the RCM within the telemanipulator workspace.

[0023] According to one embodiment of the device, the plurality of rotational joints and the at least one axial joint are open. Furthermore, a teleoperative tool coupled to the gripper may be configured to pass through the RCM via the one or more open plurality of rotational joints and at least one open axial joint.

[0024] According to one embodiment of the device, there are a plurality of telemanipulators. The plurality of telemanipulators may be matched to a left hand and a right hand of the user and the user may maneuver the plurality of telemanipulators via an end-effector.

[0025] According to one embodiment of the device, the plurality of rotational joints and at least one axial joint may be arranged in a serial linkage and configured for rotational and translation movement, respectively, along a teleoperative tool axis.

[0026] According to one embodiment of the device, kinematics of the plurality of rotational joints may include a yaw, pitch, and roll. The plurality of linear joints may further include an insertion.

[0027] According to one embodiment of the device, the plurality of rotational joints and the at least one axial joint may be in an open joint configuration aligned between 60 degrees and 90 degrees apart from each other.

[0028] According to one embodiment of the device, an intersection of the plurality of rotational joints and the at least one axial joint may represent the RCM.

[0029] According to one embodiment of the device, the telemanipulation workspace may be a pre-determined volume between the plurality of rotational joints and the at least one axial joint.

[0030] According to one embodiment of the device, the device may further include a gravity compensation motor.

[0031] In yet other examples, there is a method for operating a telemanipulator device in ophthalmic surgery including moving a gripper adapted for user-controlled motion at, near, or through a remote center of motion (RCM) within a telemanipulator workspace, in which thegripper is coupled to a plurality of rotational joints each having a motor, cable, and an encoder and at least one axial joint having a motor, a cable, and an encoder.

[0032] The method then includes generating, from the plurality of rotational joints and the at least one axial joint, encoded outputs related to (mimicking) the movement of the gripper at, near, or through the RCM within the telemanipulator workspace.

[0033] According to certain examples, the method includes passing a teleoperative tool coupled to the gripper through the RCM via openings on one or more of the plurality of rotational joints and an opening of at least one axial joint.

[0034] According to certain examples, the method further includes matching a plurality of telemanipulators to a left hand and a right hand of a user, further including the user maneuvering the plurality of telemanipulators via an end-effector.

[0035] According to certain examples, the method further includes arranging the plurality of rotational joints and at least one axial joint in a serial linkage, further including executing rotational and translation movement via the plurality of rotational joints and the at least one axial joint, respectively, along a teleoperative tool axis.

[0036] According to certain examples, the method further includes kinematics of the plurality of rotational joints having a yaw, pitch, and roll, further including inserting a teleoperative tool at an insertion of the plurality of linear joints.

[0037] According to certain examples, the method is executed in an open joint configuration in which the plurality of rotational joints and the at least one axial joint are aligned between 60 degrees and 90 degrees apart from each other.

[0038] According to certain examples, the method includes intersecting the plurality of rotational joints and the at least one axial joint at an intersection point representing the RCM.

[0039] According to certain examples, the method includes configuring the telemanipulation workspace as a pre-determined volume between the plurality of rotational joints and the at least one axial joint.

[0040] According to certain examples, the method includes utilizing a gravity compensation motor.BRIEF DESCRIPTION OF THE DRAWINGS

[0041] FIG. 1 A is an illustration of axes of motion for a wristed tool used for anterior- segment ophthalmic surgery, to contrast with the present invention.

[0042] FIG. IB is an illustration of a schematic view of an exemplary robot manipulator having constraining mechanical linkages, to contrast with the present invention.

[0043] FIG. 2 is an illustration of kinematic singularity, to contrast with the present invention.

[0044] FIG. 3 is an illustration of a telemanipulator device incorporating a mechanically- constrained RCM, to contrast with the present invention.

[0045] FIGS. 4A-4B illustrate two examples of a telemanipulator device configured for operation from outside and inside of a body of a patient, respectively.

[0046] FIGS. 5A-5B illustrate two examples of a telemanipulator device configured for operation and mapping to a user’s left and right hand, respectively.

[0047] FIG. 6 is an exemplary enlarged view of one of the telemanipulator devices of FIGS. 5 A-5B illustrating telemanipulator kinematics.

[0048] FIG. 7 illustrates another example of a telemanipulator device with link twists in an alternative configuration.

[0049] FIG. 8 is a flow diagram illustrating a method for operating a telemanipulator device in ophthalmic surgery.DETAILED DESCRIPTION

[0050] Embodiments of the present surgical robotic telemanipulation device improve upon previous limitations by incorporating a mechanically-constrained RCM construction with four DOF, which may allow for intuitive teleoperative control of a surgical tool shaft for single-entry microsurgery, and sharing the same kinematic structure and DOF as an exemplary surgical robotic system. Benefits of this construction allow the teleoperative or telemanipulator tooltip to operate on both sides of the RCM and to also pass through the RCM.

[0051] FIGS. 4A-4B illustrate two examples of a telemanipulator device configured for operation from outside 400 and inside 450 of a body of a patient, respectively.

[0052] Telemanipulators 400-450 contain rigid arms connected by joints, which represent mechanical constraints that cause the motion of the teleoperative or telemanipulator tool axis to pivot about the RCM (see FIGS. 1-3). In certain embodiments, the angle between joints JI and J2 in telemanipulators 400-450 may be 60 degrees. In certain examples, joints JI and J2 may intersect at RCM 406.

[0053] FIG. 4A illustrates a simplified embodiment of a telemanipulator device being operated outside of the body 400. As shown here, teleoperative or telemanipulator tooltip 410, which is at an end of tool shaft 408, is outside of, or distal to RCM 406. Each joint axis (such as teleoperative tool axis 454) intersects at a single point representative of the RCM 406. Also shown are joints J1 / J2 / J3 / J4 corresponding to movements 402 / 404 / 405 / 407,respectively. A connection such as open joint 454A may be configured to connect the teleoperative tool axis 454 to J2. In certain examples, an open spherical actuator or Gimbal joint may be formed by JI and J2, leaving space open for outside, near outside, at, trans, near inside, and inside-RCM movement, operations, and positioning.

[0054] FIG. 4B illustrates a simplified embodiment of a telemanipulator device being operated inside of the body 450. As shown here, teleoperative or telemanipulator tooltip 410, which is at an end of tool shaft 408, has traversed through RCM 406 (trans-RCM motion 406A), and is thus proximal to RCM 406. As described in FIG. 4A, each joint axis (such as teleoperative tool axis 454) intersects at a single point representative of the RCM 406. Also shown are joints J1 / J2 / J3 / J4 corresponding to movements 402 / 404 / 405 / 407, respectively. An open spherical actuator or Gimbal joint may be formed by JI and J2, leaving space open for outside, near outside, at, trans, near inside, and inside-RCM movement, operations, and positioning.

[0055] According to certain embodiments, a user may move the telemanipulator device between the configurations shown in FIGS. 4A-4B, by advancing tooltip 410 directly and smoothly at and / or through RCM 406 due to teleoperative tool axis 454 being open at open joint 454 A, which according to certain embodiments may be an open Gimbal expansion joint. These features allow for continuous manipulation of a tool / tool shaft 408 and tooltip 410. This may be contrasted with the embodiment shown in FIG. 3 featuring a spherical joint 360 that may be a closed joint located at the RCM 360A, thus preventing a tool shaft or tooltip from passing through the RCM and placing the pivot point for the tool shaft and tooltip at the RCM.

[0056] FIGS. 5A-5B illustrate two examples of a telemanipulator device configured for operation and mapping to a user’s left 500 and right 501 hand, respectively. Each telemanipulator is a serial linkage composed of 5 subassemblies (links) that are connected via joints. Each joint contains a motor, encoder, and steel cable drive subassembly (steel cable mechanism pair) for creating motion of the telemanipulator. Each link is designed to ensure that the intersection of the serial linkage joint axes intersect at a single point (i.e. the RCM).

[0057] The telemanipulator device 500-501 consists of two individual four DOF mechanisms corresponding to the user’s left 500 and right 501 hands. Each telemanipulator device 500- 501 is constructed as a serial linkage of revolute (rotational) and prismatic (linear) degrees of freedom, which create the motions required for single-site microsurgery. As shown here, there is a tooltip 510 and gripper 599 for a user to grip and manipulate telemanipulator device 500-501. Also shown are linear encoder 502, absolute encoder 503, base link 504, linear DOF joint 505, gravity compensation motor 506, rotational DOF joints 507, and steel cable capstan508. Panels 598 may be part of a single piece comprising a link configured to secure in place a motor and a gear for rotational DOF joints 507 (such as J3).

[0058] FIG. 6 is an exemplary enlarged view 600 of one of the telemanipulator devices of FIGS. 5A-5B illustrating telemanipulator kinematics.

[0059] In an example embodiment, the first two degrees-of-freedom are each revolute joints such as JI 602 / J2 604 whose axes intersect at a single point. This intersection represents the RCM 606 of the telemanipulator device 600. Distally to the first two degrees-of-freedom is a single linear degree-of-freedom representing insertion of the tool J3 605, and a third revolute joint J4 607 representing the rotation of the tool about its longitudinal axis. In certain embodiments, there is an open space or telemanipulator workspace 611 between joints J1-J4 (602 / 604 / 605 / 607), which may be a pre-determined volume for movement via gripper 699, and a location for an open Gimbal joint, an RCM, etc.

[0060] Joint 1 (JI) 602: Revolute - Yaw

[0061] Joint 2 (J2) 604: Revolute - Pitch

[0062] Joint 3 (J3) 605: Prismatic - Insertion

[0063] Joint 4 (J4) 607: Revolute - Roll

[0064] According to one embodiment, J1 / J2 / J4 may have rotational DOF and J3 may have linear DOF. Gripper 699 may be configured to produce movement within telemanipulator workspace 611 dictated by the kinematic properties of one of Joints 1-4 or in a combined motion based on the kinematic properties of any combination of Joints 1-4. In certain embodiments, each of Joints 1-4 may have one or more of a cable, motor, and encoder (such as linear encoder 502 and absolute encoder 503 from FIGS. 5A-5B). These cable, motor, and encoder may receive an output of gripper 699 movement and output an encoder signal, which may correspond to an output of one or more of the plurality of rotational joints (J1 / J2 / J4) and axial joint J4, for movement at, near, or through (trans) RCM 606, which may be located within telemanipulator workspace 611. This movement may be related to, correspond to, or mimic movement of gripper 699. In certain embodiments such as this, the encoder output signal maps to motion generated by the user at gripper 699 for telemanipulation, translating encoder output signals to mechanical signals via the cable, motor, and encoder of one or more of joints J1-J4 602 / 604 / 605 / 607 to actuate one or more of joints J1-J4 602 / 604 / 605 / 607 to move telemanipulator tooltip 610 within telemanipulator workspace 611.

[0065] In another embodiment, the last two degrees of freedom J3 605 and J4 607 are swapped; meaning that the last degree of freedom J3 605 is the prismatic “insertion” joint whose axis aligns with the second-to-last degree of freedom J4 607, a revolute “roll” joint.The kinematics of these two embodiments are the same, and a decision between the two may be predominantly a practical concern.

[0066] In all embodiments, the architecture of the telemanipulator device 600 avoids a region around the RCM 606, allowing the user to grasp the end-effector and have a range of motion that allows for trans-RCM motion.

[0067] In certain embodiments, the design of the telemanipulator device 600 is guided by sharing the same mechanical restraints and / or kinematics as a surgical device or surgical robotic system having a surgical tool that may be coupled to telemanipulator device 600. Movement at, near or through RCM 606 in telemanipulator workspace 611 via gripper 699 may correspond to and be coupled to movement at near, or through (trans) a RCM of the surgical device or surgical robotic system, which may be located at or near a surgical insertion site. This kinematic matching between the telemanipulator and the surgical robotic system helps to avoid complexity in the mapping of input commands to output commands. In yet other embodiments, the kinematic matching between the telemanipulator and the surgical robotic system or surgical device may be scaled.

[0068] Prior devices use 6-7 DOF telemanipulators to control a 4 DOF surgical robotic system. This discrepancy in the number of degrees-of-freedom can be solved by software algorithms, except in the case where the surgical tool (such as surgical tool 208 from FIG. 2) passes through the RCM 606. That instability at the RCM 606 is the previously mentioned kinematic singularity 200 from FIG. 2, and the benefits of the claimed invention include avoiding such a singularity through mechanical means.

[0069] Table 1 : V2 Telemanipulator Mechanical Constraints.

[0070] The mechanical range of motion in the Telemanipulator can exceed that of the Surgical device. The joint limits and range of motion of the V2 Telemanipulator is shown in Table 1, along with the joint workspace of the surgical device.

[0071] According to certain embodiments, the JI 602 and J2 604 axes may be placed orthogonal to each other through 90 degree links for a maximum operating window, which according to certain embodiments may exceed the working envelope of the tool. This may allow for a theoretical workspace of a 3D ball unimpeded by joint stops. Axes of other joints such as JI 603 and J3 605, JI 602, and J4 507, J2 604 and J3 605, and J2 604 and J4 605 may also be placed orthogonal to each other through 90-degree links.

[0072] In certain examples, each degree of freedom may be driven by a motor accompanied by an encoder. To implement a zero-backlash system, all degrees of freedom may feature steel cable assemblies configured to couple every motor to its corresponding linkage.

[0073] FIG. 7 illustrates another example of a telemanipulator device with link twists in an alternative configuration 700. For example, alternative configuration 700 may illustrate 60 degree telemanipulator kinematics.

[0074] The embodiments of the telemanipulator device such as device 600 featured in FIG. 6 may have rigid links which align the J 1 602, J2 604, and J3 605 axes at 90 degrees apart from each other to maximize a workspace of the telemanipulator device 600. For example, shown here is 702 with a first rotational DOF, 704 with a second rotational DOF, and 705 with a linear DOF. With this design, the workspace between the telemanipulator device and the micromanipulator may be configured to match exactly, barring hard stops. Such an embodiment may be advantageous to increase workspace and accommodate different base positions of the micromanipulator.

[0075] As shown in FIG. 7, there is an alternative configuration for telemanipulator device 700 with link twists 707L and 709L each being 60 degrees, to match or more closely mimic the kinematics of the surgical robotic device, in order to simplify the translation of motion coordinates from a user to the surgical robotic device. This configuration mimics the kinematics of the micromanipulator and would further simplify mapping between the two mechanisms.

[0076] FIG. 8 is a flow diagram illustrating a method for operating a telemanipulator device in ophthalmic surgery.

[0077] Method 800 begins at block 805 with moving a gripper adapted for user-controlled motion at, near, or through a remote center of motion (RCM) within a telemanipulator workspace, in which the gripper is coupled to a plurality of rotational joints each having a motor, cable, and an encoder and at least one axial joint having a motor, a cable, and an encoder.

[0078] Method 800 continues at block 810 with generating, from the plurality of rotational joints and the at least one axial joint, encoded outputs related to (mimicking) the movement of the gripper at, near, or through the RCM within the telemanipulator workspace.

[0079] According to one embodiment of method 800, the method includes passing a teleoperative tool coupled to the gripper through the RCM via openings on one or more of the plurality of rotational joints and an opening of at least one axial joint.

[0080] According to one embodiment of method 800, the method further includes matching a plurality of telemanipulators to a left hand and a right hand of a user, further comprising the user maneuvering the plurality of telemanipulators via an end-effector.

[0081] According to one embodiment of method 800, the method further includes arranging the plurality of rotational joints and at least one axial joint in a serial linkage, further comprising executing rotational and translation movement via the plurality of rotational joints and the at least one axial joint, respectively, along a teleoperative tool axis.

[0082] According to one embodiment of method 800, the method further includes kinematics of the plurality of rotational joints having a yaw, pitch, and roll, further comprising inserting a teleoperative tool at an insertion of the plurality of linear joints.

[0083] According to one embodiment of method 800, the method is executed in an open joint configuration in which the plurality of rotational joints and the at least one axial joint are aligned between 60 degrees and 90 degrees apart from each other.

[0084] According to one embodiment of method 800, the method further comprises intersecting the plurality of rotational joints and the at least one axial joint at an intersection point representing the RCM.

[0085] According to one embodiment of method 800, the method further includes configuring the telemanipulation workspace as a pre-determined volume between the plurality of rotational joints and the at least one axial joint.

[0086] According to one embodiment of method 800, the method includes utilizing a gravity compensation motor.

[0087] A person of ordinary skill in the art will recognize that any process or method disclosed herein can be modified in many ways. The process parameters and sequence of the steps described and / or illustrated herein are given by way of example only and can be varied as desired. For example, while the steps illustrated and / or described herein may be shown or discussed in a particular order, these steps do not necessarily need to be performed in the order illustrated or discussed.

[0088] The various exemplary methods described and / or illustrated herein may also omit one or more of the steps described or illustrated herein or comprise additional steps in addition tothose disclosed. Further, a step of any method as disclosed herein can be combined with any one or more steps of any other method as disclosed herein.

[0089] The processor as described herein can be configured to perform one or more steps of any method disclosed herein. Alternatively or in combination, the processor can be configured to combine one or more steps of one or more methods as disclosed herein.

[0090] When a feature or element is herein referred to as being "on" another feature or element, it can be directly on the other feature or element or intervening features and / or elements may also be present. In contrast, when a feature or element is referred to as being "directly on" another feature or element, there are no intervening features or elements present. It will also be understood that, when a feature or element is referred to as being "connected", "attached" or "coupled" to another feature or element, it can be directly connected, attached or coupled to the other feature or element or intervening features or elements may be present. In contrast, when a feature or element is referred to as being "directly connected", "directly attached" or "directly coupled" to another feature or element, there are no intervening features or elements present. Although described or shown with respect to one embodiment, the features and elements so described or shown can apply to other embodiments. It will also be appreciated by those of skill in the art that references to a structure or feature that is disposed "adjacent" another feature may have portions that overlap or underlie the adjacent feature.

[0091] Terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. For example, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items and may be abbreviated as " / ".

[0092] Spatially relative terms, such as "under", "below", "lower", "over", "upper" and the like, may be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is inverted, elements described as "under" or "beneath" other elements or features would then be oriented "over" the other elements or features. Thus, the exemplary term "under" can encompass both an orientation of over and under. The devicemay be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly. Similarly, the terms "upwardly", "downwardly", "vertical", "horizontal" and the like are used herein for the purpose of explanation only unless specifically indicated otherwise.

[0093] Although the terms “first” and “second” may be used herein to describe various features / elements (including steps), these features / elements should not be limited by these terms, unless the context indicates otherwise. These terms may be used to distinguish one feature / element from another feature / element. Thus, a first feature / element discussed below could be termed a second feature / element, and similarly, a second feature / element discussed below could be termed a first feature / element without departing from the teachings of the present invention.

[0094] Throughout this specification and the claims which follow, unless the context requires otherwise, the word “comprise”, and variations such as “comprises” and “comprising” means various components can be co-jointly employed in the methods and articles (e.g., compositions and apparatuses including device and methods). For example, the term “comprising” will be understood to imply the inclusion of any stated elements or steps but not the exclusion of any other elements or steps.

[0095] In general, any of the apparatuses and methods described herein should be understood to be inclusive, but all or a sub-set of the components and / or steps may alternatively be exclusive, and may be expressed as “consisting of’ or alternatively “consisting essentially of’ the various components, steps, sub-components or sub-steps.

[0096] As used herein in the specification and claims, including as used in the examples and unless otherwise expressly specified, all numbers may be read as if prefaced by the word "about" or “approximately,” even if the term does not expressly appear. The phrase “about” or “approximately” may be used when describing magnitude and / or position to indicate that the value and / or position described is within a reasonable expected range of values and / or positions. For example, a numeric value may have a value that is + / - 0.1% of the stated value (or range of values), + / - 1% of the stated value (or range of values), + / - 2% of the stated value (or range of values), + / - 5% of the stated value (or range of values), + / - 10% of the stated value (or range of values), etc. Any numerical values given herein should also be understood to include about or approximately that value, unless the context indicates otherwise. For example, if the value " 10" is disclosed, then "about 10" is also disclosed. Any numerical range recited herein is intended to include all sub-ranges subsumed therein. It is also understood that when a value is disclosed that "less than or equal to" the value, "greater than or equal to the value" and possible ranges between values are also disclosed, as appropriatelyunderstood by the skilled artisan. For example, if the value "X" is disclosed the "less than or equal to X" as well as "greater than or equal to X" (e.g., where X is a numerical value) is also disclosed. It is also understood that the throughout the application, data is provided in a number of different formats, and that this data, represents endpoints and starting points, and ranges for any combination of the data points. For example, if a particular data point “10” and a particular data point “15” are disclosed, it is understood that greater than, greater than or equal to, less than, less than or equal to, and equal to 10 and 15 are considered disclosed as well as between 10 and 15. It is also understood that each unit between two particular units are also disclosed. For example, if 10 and 15 are disclosed, then 11, 12, 13, and 14 are also disclosed.

[0097] Although various illustrative embodiments are described above, any of a number of changes may be made to various embodiments without departing from the scope of the invention as described by the claims. For example, the order in which various described method steps are performed may often be changed in alternative embodiments, and in other alternative embodiments one or more method steps may be skipped altogether. Optional features of various device and system embodiments may be included in some embodiments and not in others. Therefore, the foregoing description is provided primarily for exemplary purposes and should not be interpreted to limit the scope of the invention as it is set forth in the claims.

[0098] The examples and illustrations included herein show, by way of illustration and not of limitation, specific embodiments in which the subject matter may be practiced. As mentioned, other embodiments may be utilized and derived there from, such that structural and logical substitutions and changes may be made without departing from the scope of this disclosure. Such embodiments of the inventive subject matter may be referred to herein individually or collectively by the term “invention” merely for convenience and without intending to voluntarily limit the scope of this application to any single invention or inventive concept, if more than one is, in fact, disclosed. Thus, although specific embodiments have been illustrated and described herein, any arrangement calculated to achieve the same purpose may be substituted for the specific embodiments shown. This disclosure is intended to cover any and all adaptations or variations of various embodiments. Combinations of the above embodiments, and other embodiments not specifically described herein, will be apparent to those of skill in the art upon reviewing the above description.

Claims

CLAIMSWhat is claimed is:

1. A surgical telemanipulator device, comprising: a gripper adapted for user-controlled motion at, near or through a remote center of motion(RCM) in a telemanipulator workspace; a plurality of rotational joints coupled to the gripper, each of the rotational joints having a motor, a cable, and an encoder; and at least one axial joint coupled to the gripper, the at least one axial joint having a motor, a a cable, and an encoder, wherein the plurality of rotational joints and the at least one axial joint are arranged to provide encoded outputs related to (mimicking) a movement of the gripper at, near, or through the RCM within the telemanipulator workspace.

2. The device of claim 1, wherein the plurality of rotational joints and the at least one axial joint are open, wherein a teleoperative tool coupled to the gripper is configured to pass through the RCM via the one or more open plurality of rotational joints and at least one open axial joint.

3. The device of claim 1, further comprising a plurality of telemanipulators, wherein the plurality of telemanipulators are matched to a left hand and a right hand of the user, wherein the user maneuvers the plurality of telemanipulators via an end-effector.

4. The device of claim 1, wherein the plurality of rotational joints and at least one axial joint are arranged in a serial linkage and configured for rotational and translation movement, respectively, along a teleoperative tool axis.

5. The device of claim 1, wherein kinematics of the plurality of rotational joints include a yaw, pitch, and roll, wherein the plurality of linear joints include an insertion.

6. The device of claim 1, wherein the plurality of rotational joints and the at least one axial joint are in an open joint configuration aligned between 60 degrees and 90 degrees apart from each other.

7. The device of claim 1, wherein an intersection of the plurality of rotational joints and the at least one axial joint represents the RCM.

8. The device of claim 1, wherein the telemanipulation workspace is a pre-determined volume between the plurality of rotational joints and the at least one axial joint.

9. The device of claim 1, further comprising a gravity compensation motor.

10. A method for operating a telemanipulator device in ophthalmic surgery, comprising: moving a gripper adapted for user-controlled motion at, near, or through a remote center of motion (RCM) within a telemanipulator workspace, wherein the gripper is coupled to a plurality of rotational joints each having a motor, cable, and an encoder and at least one axial joint having a motor, a cable, and an encoder; and generating, from the plurality of rotational joints and the at least one axial joint, encoded outputs related to (mimicking) the movement of the gripper at, near, or through the RCM within the telemanipulator workspace.

11. The method of claim 10, further comprising passing a teleoperative tool coupled to the gripper through the RCM via openings on one or more of the plurality of rotational joints and an opening on the at least one axial joint.

12. The method of claim 10, further comprising matching a plurality of telemanipulators to a left hand and a right hand of a user, wherein the user maneuvers the plurality of telemanipulators via an end-effector.

13. The method of claim 10, further comprising arranging the plurality of rotational joints and at least one axial joint in a serial linkage, further comprising executing rotational andtranslation movement via the plurality of rotational joints and the at least one axial joint, respectively, along a teleoperative tool axis.

14. The method of claim 10, further comprising kinematics of the plurality of rotational joints having a yaw, pitch, and roll, further comprising inserting a teleoperative tool at an insertion of the plurality of linear joints.

15. The method of claim 10, further comprising executing the method in an open joint configuration in which the plurality of rotational joints and the at least one axial joint are aligned between 60 degrees and 90 degrees apart from each other.

16. The method of claim 10, further comprising intersecting the plurality of rotational joints and the at least one axial joint at an intersection point representing the RCM.

17. The method of claim 10, further comprising configuring the telemanipulation workspace as a pre-determined volume between the plurality of rotational joints and the at least one axial joint.

18. The method of claim 10, further comprising utilizing a gravity compensation motor.

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