Global Coordinate System for Robotic Eye Surgery
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Solution Overview
Problem
Current microsurgical techniques for cataract removal, such as phacoemulsification and laser-based methods, face challenges including tissue damage from ultrasound energy propagation, heat generation, and difficulty in navigating tight spaces due to rigidity of probes, leading to precision and complication issues during robotic-assisted surgery.
Innovation Solution
A global coordinate system utilizing robotic mechanical arms with integrated optical coherence tomographical imaging systems for precise three-dimensional mapping and registration of surgical tools, enabling precise positioning and movement within the eye while avoiding tissue damage, and incorporating auditory feedback for safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If ultrasound probes are used for cataract emulsification, then the cataract can be effectively removed, but tissue damage occurs due to ultrasound energy propagation and heat generation
Solution Approach 1:
The patent extracts the harmful ultrasound transducer from the surgical probe, separating the imaging function (OCT) from the energy delivery function. This allows the probe to navigate safely through the eye without transmitting damaging ultrasound energy along its length, while still enabling effective cataract emulsification at the target site.
Solution Approach 2:
The patent introduces optical coherence tomography (OCT) imaging as an intermediary to guide the surgical procedure. The OCT system provides real-time visualization of the cataract and surrounding tissues, allowing the surgeon to navigate and perform emulsification without relying on ultrasound energy that causes tissue damage.
2Use of energy by moving object
If rigid probes are used for ultrasound or laser delivery, then energy can be effectively transmitted, but the probes cannot navigate tight corners or bends in the eye
Solution Approach 1:
The patent removes the rigid ultrasound transducer from the probe structure. The resulting flexible probe can navigate tight corners and bends in the eye, while energy transmission is achieved through a different mechanism (optical delivery for laser or localized ultrasound at the tip) rather than propagation along the entire probe length.
Solution Approach 2:
The patent employs a flexible probe structure that can bend and navigate through the confined spaces of the eye. This flexibility is achieved through design choices that allow the probe to conform to the eye's anatomy, such as using flexible materials or segmented structures, while still delivering energy effectively at the distal tip.
3Manufacturing precision
If femtosecond laser systems are used for cataract fragmentation, then precision incision and pre-chopping can be achieved, but operative time is extended and peripheral lens cannot be treated due to iris blocking
Solution Approach 1:
The patent utilizes optical coherence tomography imaging to provide three-dimensional visualization of the cataract, including peripheral regions blocked from direct optical access. This allows the surgeon to plan and execute a more efficient surgical approach that addresses the entire cataract in less time, while maintaining the precision benefits of laser-assisted surgery.
4Ease of operation
If traditional microsurgical techniques are used, then surgical instruments can be introduced through incisions, but extreme precision is required to avoid complications
Solution Approach 1:
The patent incorporates real-time optical coherence tomography imaging that provides feedback on the position of surgical instruments relative to the cataract and surrounding tissues. This feedback allows the surgeon to navigate and manipulate instruments with greater confidence and precision, reducing the risk of complications while maintaining ease of operation.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enhances precision and safety in robotic-assisted surgery by providing a robust, three-dimensional model of the eye for precise tool positioning and movement, reducing tissue damage and operative time, and improving control over surgical instruments within the eye.
Implementation Method 1
an optical coherence tomographical imaging system that scans and generates three-dimensional images of the eye
Data Source
AI summary
An apparatus and method for establishing a global coordinate system to facilitate robotic assisted surgery. The coordinate system may be established using a combination of the robotic data, i.e., kinematics, and optical coherence tomographic images generated by an overhead optical assembly and a tool-based sensor. Using these components, the system may generate a computer-registered three-dimensional model of the patient's eye. In some embodiments, the system may also generate a virtual boundary within the coordinate system to prevent inadvertent injury to the patient.