30 results about "Intraocular surgery" patented technology

A docking device for intraocular surgery is provided having an upper edge portion having a second diameter, a lower edge portion having a first diameter and a bottom surface with at least one aperture, and a sidewall extending between the upper edge portion and the lower edge portion. An arm is also provided having a first portion coupled to the central portions of the upper and lower edge portions and a second portion configured for connection to a positioning arm. The lower edge portion also has a lower surface having a suitable profile configured to be secured to the sclera and / or conjunctiva of the surgical eye. Optionally, the lower surface of the upper edge portion is adapted and configured to releasably engage with the upper surface of the lower edge portion. Other variations include a split coupling that allows the suction surface to remain coupled to the surgical eye while removing other portions of the docking device.

The application discloses an ophthalmic choroid burst hemorrhage principle teaching mold, a plurality of water injection holes are arranged on the upper portion of the mold on the choroid, a plurality of water injection pipes are arranged correspondingly to the water injection holes, the water outlets of the water injection pipes are communicated to the choroid and the retina through the water injection holes, the water inlets are gathered in the sclera external port for connecting with a syringe, so that the syringe is used to inject or suck out liquid, and choroid burst hemorrhage is simulated. The application also provides a use method of the mold. The ophthalmic choroid burst hemorrhage principle teaching mold and the use method thereof can simulate choroid burst hemorrhage caused by eye injury, intraocular surgery and the like, have strong simulation, can realize on-site operation, have strong intuitiveness, good visual communication effect, are easy to understand, are convenient to carry, are easy to use, and greatly improve the teaching effect.

The invention details a device designed to prevent dislodgment of a cannula into the eye during intraocular surgery. It consists of an adhesive tape with a hole in it that sits over the top of the cannula and attaches to the syringe to prevent the cannula ejecting at force into the eye if it does become loosened or mis threaded. It will be used during any intraocular surgical procedure. The hole is small enough to only allow the cannula to pass through but the hub of the cannula cannot fit through. The tape is then stuck to the syringe. It is easily applied and easily removed.

To provide a corner angle protector capable of preventing foreign matter from flowing into a corner angle during intraocular surgery, and a method for manufacturing the same.SOLUTION: The corner angle protector 1 includes a C-shaped member 2 that is placed at a corner angle through an incision site of an eyeball and is deformable in accordance with a shape of the corner angle in a state where the C-shaped member 2 is placed at the corner angle, and a thread 3 that is connected to one of opposing end portions of the C-shaped member 2 and can be pulled by a user to pull out the C-shaped member 2 placed at the corner angle from the incision site. The end of the C-shaped member 2 to which the thread 3 is connected is formed into a conical shape with a rounded apex.SELECTED DRAWING: Figure 1

Device surfaces are rendered superhydrophobic and / or superoleophobic through microstructures and / or nanostructures that utilize the same base material(s) as the device itself without the need for coatings made from different materials or substances. A medical device includes a portion made from a base material having a surface adapted for contact with biological material, and wherein the surface is modified to become superhydrophobic, superoleophobic, or both, using only the base material, excluding non-material coatings. The surface may be modified using a subtractive process, an additive process, or a combination thereof. The product of the process may form part of an implantable device or a medical instrument, including a medical device or instrument associated with an intraocular procedure. The surface may be modified to include micrometer- or nanometer-sized pillars, posts, pits or cavitations; hierarchical structures having asperities; or posts / pillars with caps having dimensions greater than the diameters of the posts or pillars.

A surgical robotic system and method for control of the surgical robotic system are provided The surgical robotic system is configured to hold a surgical instrument (119) and to provide model-assisted control of the surgical instrument during an intraocular procedure. To establish the model-assisted control of the surgical instrument, the surgical robotic system and method may access model data defining at least two models which each model at least part of the surgical environment, evaluate one or more switching criteria that define conditions for switching between the first model (230) and the second model (240) for the model-assisted control, and when the switching criteria are met, switch between both models in the model-assisted control. By being able to switch between different models, it may not be needed for a single model to be universally applicable in all situations during the intraocular procedure, which may be exceedingly difficult and / or may greatly increase the complexity of a single model beyond the combined complexity of two or more separate models.

A surgical robotic system (100) may be provided for use in an intraocular procedure. The surgical robotic system may comprise a movable arm part (82) for holding a surgical instrument (119). The surgical instrument may comprise a grasping device (122) for grasping a retinal surface structure (240). A processor subsystem (40) may be configured to control an actuator subsystem to control a pose of the surgical instrument during the intraocular procedure. The processor subsystem may be further configured to, when a grasping mode is activated, control the actuator subsystem to adjust the pose of the surgical instrument to position (300) the grasping device at a predetermined distance DT to the retinal surface structure, and after reaching the predetermined distance to the retinal surface structure, operate the grasping device of the surgical instrument to grasp (310) the retinal surface structure. By providing such an automated grasping mode, the risk of mis-grasps of the retinal surface structure may be reduced, and thereby the risk of retinal damage.

The invention relates to a corneo-capsular protection system (CCPS), which is an ophthalmological device designed to simultaneously protect the corneal endothelium and the posterior capsule during intraocular surgery (phacoemulsification), the system comprising a corneal protection dome (CPD) and a capsular protection floor (CPF). The dome is a foldable, transparent lens that protects the endothelium against mechanical and thermal damage while optionally providing a magnifying effect to improve surgical visibility. The floor is a foldable lens designed to protect the posterior capsule from perforations and trauma. It has a central condensation facilitating its safe removal, and can also provide protection to the macula against prolonged exposure to light. The two components are designed for easy insertion and removal through micro-incisions, thereby reducing the risk of postoperative complications, and have a complete, potentiated protective effect if used in combination.

The utility model discloses a pupil dilation system which comprises a pupil dilator and an implanter, the pupil dilator is of an annular structure, the pupil dilator is delivered into an eye through the implanter, the circumferential end angle of the pupil dilator can capture iris tissue in the eye, an iris opening is expanded, then the pupil is dilated, and a better operation space is provided for an intraocular operation. The circumferential end corner of the pupil dilator is a clamping part with a clamping opening, the maximum vertical height of the clamping opening is 0.3-0.8 mm, and the height size of the clamping opening is larger, so that the pupil dilator can be separated from iris tissue more easily when taken out, and the taking-out difficulty of the pupil dilator is reduced.

This discloses system, equipment, manufactured article, process, computer program product embodiments and combinations and subcombinations thereof for assisting injection during an intraocular procedure involving a robot arm, a control unit designed to control the robot arm, a targeting instrument mounted on the robot arm, wherein the targeting instrument is designed to aim at a target position, wherein an orientation of the robot arm in a direction of the target position is stored in an accessible memory of the control unit, and wherein the targeting instrument is further designed to be exchanged for an injection instrument, and the injection instrument is mounted on the robot arm, wherein the injection instrument is designed to be positioned at the target position under the stored orientation of the robot arm, and wherein the injection instrument is further designed to inject into the target position.

An anterior chamber maintainer (ACM), which is to be utilized in connection with maintaining physiological intraocular pressure during intraocular surgery, is disclosed and comprises an axially elongated tubular member which is adapted to be fluidically connected at a first end to a supply of balanced salt solution (BSS) for introduction into the anterior chamber of an eye so as to maintain adequate intraocular pressure while performing any intraocular surgery. A second opposite end of the anterior chamber maintainer (ACM) is provided with a sharply pointed end for insertion through a paracentesis incision formed within the limbus region of the eye, and a non-deformable, incompressible, tapered, annular bulbous portion is interposed between the first and second ends such that as the second end passes through the paracentesis incision, the non-deformable, incompressible, tapered, annular bulbous portion will cause the paracentesis incision to deform or expand radially outwardly, and after passing through the paracentesis incision, the non-deformable, incompressible, annular bulbous portion will trap the anterior chamber maintainer (ACM) within the anterior chamber of the eye.

A safety device for preventing dislodgment of a cannula into the eye during intraocular surgery comprises an adhesive tape through which a hole is formed. The tape sits over the hub of the cannula and

Devices, methods, and systems are provided for autonomous tool exchange systems for automated and semi-automated intraocular surgical procedures. According to various embodiments of the present invention, for example, there is a tool exchange system for an autonomous intraocular surgical robot. The system includes a removable, rotatable tool carousel configured to be releasably engaged with a rotating base, the tool carousel having a plurality of tool assembly docks each disposed about the tool carousel, each tool assembly dock adapted for kinematic coupling to a kinematic coupling of a surgical tool holder assembly, and each surgical tool holder assembly including an end effector kinematic coupling adapted and configured to couple with a corresponding kinematic coupling of a robot end effector while the surgical tool assembly is engaged with the tool assembly dock. Other embodiments are described herein.

A surgical robotic system is provided for use in an intraocular procedure, comprising a surgical arm comprising a movable arm part, the movable arm part comprising an end effector for holding a surgical instrument, an OCT probe configured to attach to or integrate into an intraocular part of the surgical instrument, and an actuator subsystem configured to actuate the movable arm part During the intraocular procedure, a presence of a feature of interest may be monitored by repeatedly, at respective positions of the surgical instrument, acquiring sensor data via the OCT probe, analysing the reflectivity depth profile to determine an attribute of the feature of interest in the reflectivity depth profile, and if the attribute meets a predetermined attribute criterion, effecting a feedback action. Thereby, a human operator may be alleviated from having to mentally determine the attribute of the feature of interest, and feedback actions may contribute to carrying out (semi-)autonomous operations.

Disclosed herein are system, apparatus, articles of manufacture, methods, computer program product embodiments, and combinations and sub-combinations thereof for assisting an injection in an intraocular procedure, comprising: a robotic arm; a control unit configured to control the robot arm; a targeting instrument mounted on the robotic arm, where the targeting instrument is configured to aim at a target location, where an orientation of the robotic arm in a direction of the target location is saved in a memory of a control unit for access, and where the targeting instrument is further configured to be replaced with an injection instrument; and the injection instrument mounted on the robotic arm, where the injection instrument is configured to be positioned in a preserved orientation of the robotic arm at the target location, and where the injection instrument is further configured to inject into the target location.

A surgical system includes: (1) an imaging device configured to acquire imaging data of a surgical site; (2) a surgical manipulator configured to hold a surgical tool; and (3) a controller connected to the imaging device and the surgical manipulator, wherein the controller is configured to receive the imaging data from the imaging device and derive, from the imaging data, an insertion trajectory for the surgical tool through an incision at the surgical site.

A surgical robotic system is provided for use in an intraocular procedure 5 The surgical robotic system comprises a surgical arm comprising a movable arm part for holding a surgical instrument, a human machine interface for receiving operator commands from a human operator, and a processor subsystem configured to control one or more actuators to control a pose of the surgical instrument based on the operator commands. The surgical robotic system may be configured to operate in a first 10 operational mode in which the human operator is enabled to adjust the pose of the surgical instrument across multiple degrees of freedom, to switch from the first operational mode to a second operational mode in response to a trigger, and in the second operational mode, exert control over the pose of the surgical instrument across one or a subset of the degrees of freedom. 15 (Figure 6E)

Disclosed herein are system, apparatus, article of manufacture, method, computer program product embodiments, and combinations and sub-combinations thereof, for aiding an injection in an intraocular procedure including a robot arm, a control unit configured to control the robot arm, a targeting instrument mounted on the robot arm, wherein the targeting instrument is configured to aim at a targeted position, wherein an orientation of the robot arm in a direction of the targeted position is saved in a memory of the control unit to be accessed, and wherein the targeting instrument is further configured to be exchanged with an injection instrument, and the injection instrument mounted on the robot arm, wherein the injection instrument is configured to be positioned at the saved orientation of the robot arm at the targeted position, and wherein the injection instrument is further configured to inject into the targeted position.

The application provides an application of alpha-ketoglutaric acid in improving corneal endothelial injury and dysfunction, and belongs to the technical field of biological medicine. The application finds that, as a key metabolic intermediate in the tricarboxylic acid cycle, alpha-ketoglutaric acid can significantly reduce corneal endothelial cell injury and dysfunction induced by various causes such as high glucose, genetic defects, high intraocular pressure and surgical trauma by improving mitochondrial energy metabolism, reducing oxidative stress, stabilizing mitochondrial structure and membrane potential. Experiments prove that alpha-ketoglutaric acid can be used in the form of local administration such as eye drops, anterior chamber perfusion, systemic oral administration or combined administration, effectively reduces corneal edema, reduces central corneal thickness, shortens the recovery time of corneal transparency, and has a clear protection and repair effect on diabetic-related corneal endothelial lesions, Fuchs corneal endothelial dystrophy, glaucoma high intraocular pressure injury and intraocular surgery-related endothelial injury.

The present invention belongs to the technical field of drug preparation and relates to a nicotinamide-containing intraocular surgical irrigation solution and its preparation and application. The present invention provides the use of nicotinamide in an intraocular surgical irrigation solution. The present invention uses nicotinamide to improve the intraocular surgical irrigation solution, which can inhibit corneal endothelial cell damage caused by cataract phacoemulsification surgery, reduce corneal edema caused by cataract phacoemulsification surgery, avoid a significant decrease in the number of corneal endothelial cells caused by surgery, promote the recovery of corneal transparency after surgery, promote the recovery of normal corneal thickness, maintain the normal density, cell morphology, and regular expression of functional proteins of corneal endothelial cells, and reduce complications caused by cataract phacoemulsification surgery. The present invention can provide an effective strategy for the rapid recovery of normal visual function in cataract patients after surgery.

A surgical clamp for aligning the margins of incised or wounded tissue has jaws with parallel clamping faces, and a handle for manipulating the clamp to align the margins of the tissue. The jaws are in a normally closed position, however they can be opened by compressing the handle to open the jaws. Prongs project from the inferior surface of the jaws. The clamp is positioned in a desired position over the margins of a wound to be closed, the prongs engage the margins of the wound to be aligned, and the jaws are closed by releasing compressive force on the handle. As the jaws close the prongs help move the tissue into alignment. Suture guide slots through the jaws assist in the placement of precisely placed sutures across the incision. The disclosed surgical clamp is particularly suited for selectively closing and reopening surgical incisions, such as a sclerotomy incision in the eye. Methods are disclosed for using the clamp during intraocular and other surgical or minimally invasive procedures. In one example the clamp is used during implantation into the retina of a scaffold on which choroid and retinal pigment epithelium cells and retina grow in a three-dimensional matrix that mimics the native structure of the retina.

The invention discloses an ophthalmologic intraoperative needle insertion positioning and calculating device and method, and the method comprises the steps: carrying out the nicking processing of a thick tube of an original injection needle based on mark information, obtaining a target injection needle, obtaining the needle insertion video data of the target injection needle, carrying out the image frame processing, further dividing an image frame set, and carrying out the image frame processing. And registration is carried out based on the mark points, so that accurate needle point positioning and needle insertion depth calculation can be realized. According to the method, accurate alignment and positioning can be carried out at different needle inserting moments through key point detection and an affine transformation principle, so that an efficient and reliable needle inserting depth measuring means is provided, and the needle inserting precision of an injection needle in an ophthalmic operation is improved.

Embodiments of the present application provide a remote center of motion mechanism and an intraocular surgical robot. The present application pertains to the technical field of intraocular surgery. The remote center of motion mechanism comprises a main shaft, an end-effector assembly, and a motion unit, the motion unit being configured to drive the end-effector assembly to move. The motion unit comprises a first linkage assembly, a feed linear module, a pitch drive module, and a second linkage assembly. The end-effector assembly is connected to the first linkage assembly. The feed linear module also comprises a first linear drive unit. A second slider in the pitch drive module is movably arranged along a first direction on the main shaft. The first linear drive unit is mounted on the main shaft. The pitch drive module is configured to drive the second slider to move, thereby driving the end-effector assembly to perform pitch motion. The second linkage assembly is configured to keep the first linkage assembly and the main shaft mutually parallel. This remote center of motion mechanism can ensure stability in any posture and guarantee precision of the remote center of motion.

A system for assisting a surgeon in performing an intraocular procedure on an eye of a medical patient includes a robotic arm and a tool assembly at a working end of the robotic arm. The tool assembly may include a proximal end mounted to the working end of the robotic arm, a distal end, and a narrow elongate support member extending between the proximal end and the distal end of the tool assembly. The motion controller is operable to move the robotic arm to extend the distal end and at least a portion of the support member through an incision site in a surface of the patient's eye to position the visualization element at the distal end of the tool member at a location within the patient's eye.

The invention provides an excimer laser system including a means for calibrating laser output to compensate for increased variation in laser optical fibers.

An anterior chamber maintainer (ACM) is fastened to the cornea of a patient's eye at one or more, or potentially two or more, points of contact. The ACM can be inserted through a first and second incision. The ACM can be fastened to each of the two incisions using, for example, friction surfaces, ridges, a malleable tip, magnets, a segmented tip, or other types of fasteners. The ACM includes openings to provide irrigation solution to maintain the volume of the patient's eye during cataract surgery. The shape of the openings can be customized to reduce the amount of turbulence caused by the irrigation solution. By fastening the ACM to the cornea, the ACM is less likely to shift around or become dislodged from the eye during surgery. The ACM can be integrated with iris retractors to hold the position of a floppy iris during surgery.

A surgical system includes: (1) an imaging device configured to acquire imaging data of a surgical site; (2) a surgical manipulator configured to hold a surgical tool; and (3) a controller connected to the imaging device and the surgical manipulator, wherein the controller is configured to receive the imaging data from the imaging device and derive, from the imaging data, an insertion trajectory for the surgical tool through an incision at the surgical site.

Disclosed herein are system, apparatus, article of manufacture, method, computer program product embodiments, and combinations and sub-combinations thereof, for aiding an injection in an intraocular procedure including a robot arm, a control unit configured to control the robot arm, a targeting instrument mounted on the robot arm, wherein the targeting instrument is configured to aim at a targeted position, wherein an orientation of the robot arm in a direction of the targeted position is saved in a memory of the control unit to be accessed, and wherein the targeting instrument is further configured to be exchanged with an injection instrument, and the injection instrument mounted on the robot arm, wherein the injection instrument is configured to be positioned at the saved orientation of the robot arm at the targeted position, and wherein the injection instrument is further configured to inject into the targeted position.

Devices, methods, and systems related to autonomous tool replacement systems for automated and semi-automated intraocular surgery are provided. In accordance with various embodiments of the present invention, for example, there is a tool replacement system for an autonomous intraocular surgical robot having a removable rotating tool dial configured to releasably engage to a rotating base, the tool dial having a plurality of tool assembly interfaces configured to be coupled to the rotating base, each tool assembly interface is disposed about the tool carousel, where each tool assembly interface is adapted to be kinematically coupled to a kinematic coupling on a surgical tool holder assembly, where each surgical tool holder assembly further includes an end effector kinematic coupling, the end effector kinematic coupling is adapted and configured for coupling to a corresponding kinematic coupling on the robotic end effector when the surgical tool assembly is engaged with the tool assembly interface. Other embodiments are described herein.

A simulation training device for an eye surgery robot, relating to the technical field of intraocular surgery. The simulation training device for an eye surgery robot comprises a base plate (100) and an eye movement simulation structure (200); the eye movement simulation structure (200) comprises a base (201), a movable platform (202), a U-shaped ring (203), a first axis driving assembly, and a second axis driving assembly; the base (201) is detachably connected to the top of the base plate (100); a holder (204) is provided on the top of the base (201); the top of the holder (204) abuts against the bottom of the movable platform (202); the U-shaped ring (203) is detachably connected to the surface of the movable platform (202); the first axis driving assembly is arranged on the surface of the base (201); the second axis driving assembly is arranged on one side of the U-shaped ring (203); a cavity (205) is formed in the movable platform (202); an eyeball model (206) is arranged in the cavity (205); by means of the U-shaped ring (203), the first axis driving assembly can drive the movable platform (202) to rotate around a first axis, and the second axis driving assembly can drive the movable platform (202) to rotate around a second axis, so that the eye movement condition of human eyes during surgery is simulated, and a real ophthalmic robot surgery environment is restored as much as possible, increasing the success rate of real surgery.