Robotic Diathermic Capsulotomy for Centered Lens-Capsule Cutting
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Solution Overview
Problem
Existing cataract surgery methods face challenges in precisely performing capsulorhexis, where the anterior lens capsule is cut to insert an intraocular lens, often leading to decentralization and reduced visual acuity due to imprecise cutting techniques.
Innovation Solution
A robotic system with a diathermic capsulotomy tool and imaging system, controlled by a computer processor, performs a circular capsulotomy by maintaining the tool's entry within the corneal incision while cutting the anterior lens capsule using high-frequency energy, centered on the patient's visual axis.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If manual capsulorhexis is performed using traditional techniques, then the surgical procedure can be completed, but the cutting precision is insufficient leading to decentralization of the intraocular lens
Solution Approach 1:
The patent replaces manual mechanical cutting techniques with an automated robotic system that uses diathermic (electrosurgical) energy for capsulotomy. The robotic arm precisely positions and moves the cutting tool along the visual axis, eliminating human hand tremors and positioning errors. This substitution of manual mechanical operation with automated robotic control directly addresses the precision and alignment problems in traditional capsulorhexis.
Solution Approach 2:
The system uses imaging to create a visual representation of the eye anatomy and visual axis, then uses this copied information to guide the robotic cutting path. The robotic system virtually plans the capsulotomy path based on pre-acquired images, ensuring precise alignment with the visual axis before executing the actual cut, thereby improving both cutting precision and alignment accuracy.
2Ease of operation
If the robotic tool moves freely within the eye, then flexibility of operation is improved, but the risk of tool displacement beyond incision edges increases
Solution Approach 1:
The system performs preliminary imaging and virtual surgical planning before the actual capsulotomy. The safe operational boundaries are pre-defined based on the incision location and size, and the robotic system is constrained to operate within these pre-established limits. This preliminary planning ensures that while the tool has flexibility in performing the cutting motion, it cannot accidentally move beyond safe boundaries.
Solution Approach 2:
The robotic system continuously monitors the tool position relative to the incision edges and visual axis during the procedure, using real-time feedback to maintain precise positioning. The system can detect and correct any deviation from the planned path, ensuring the tool remains within safe operational boundaries while maintaining flexibility in performing the capsulotomy.
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
The robotic system achieves precise and centered capsulotomy, reducing the risk of decentralization and improving surgical outcomes by maintaining the tool within the incision and aligning the cut with the visual axis, even with eye motion.
Implementation Method 1
a diathermic cutting element that is configured to cut the anterior lens capsule
Data Source
AI summary
Apparatus and methods are described for performing a capsulotomy procedure on a patient's eye. A diathermic capsulotomy tool includes a diathermic cutting element at its tip. An imaging system images the diathermic capsulotomy tool and the patient's eye. A computer processor drives a robotic unit to insert the diathermic capsulotomy tool into the patient's eye via an incision in a cornea of the patient's eye, such that the tip of the tool is disposed within the patient's eye and a remote center of motion location of the tool is disposed within the incision. The computer processor drives the robotic unit to move the cutting element in a circular motion while maintaining the remote center of motion location of the tool within the incision. Other applications are also described.