CN117412723A - Kinematic structure and sterile drape for robotic microsurgery - Google Patents
Kinematic structure and sterile drape for robotic microsurgery Download PDFInfo
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- CN117412723A CN117412723A CN202280039394.4A CN202280039394A CN117412723A CN 117412723 A CN117412723 A CN 117412723A CN 202280039394 A CN202280039394 A CN 202280039394A CN 117412723 A CN117412723 A CN 117412723A
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Abstract
Devices and methods for performing a procedure on a portion of a patient's body using a tool (21) are described. The robotic unit (20) includes a base (27), an end effector (30), and a tool mount (92), the tool mount (92) configured to hold a tool such that the tool is coaxial with the end effector. The end effector is coupled to the base via a plurality of multi-articulated arms (32). Each multi-articulated arm (32) includes a rotatable arched link (64) positioned adjacent the end effector, the rotatable arched links (64) being configured to provide room for roll of the end effector about an axis that is not coaxial with the longitudinal axis of the tool. Other applications are also described herein.
Description
Cross Reference to Related Applications
The present application claims priority from:
U.S. provisional patent application No. 63/195,429 entitled "Kinematic structures for robotic microsurgical procedures (kinematic Structure for robotic microsurgery)" filed by Gil et al at 2021, 6 and 1, and
U.S. provisional patent application No. 63/229,593, issued to Gil et al at 2021, 8/5, entitled "Steriledrapes for robotic microsurgical procedures (sterile drape for robotic microsurgery)".
Both of the above-referenced U.S. provisional applications are incorporated herein by reference.
Field of embodiments of the invention
Some applications of the present invention relate generally to medical devices and methods. In particular, some applications of the present invention relate to apparatus and methods for robotically performing microsurgery (microsurgical procedure).
Background
Cataract surgery involves removing the natural lens of the eye that has undergone clouding (known as cataract) and replacing it with an intraocular lens. Such surgery typically includes a number of standard steps that are performed in sequence.
In an initial step, the face around the patient's eyes is disinfected (typically with iodine solution) and the patient's face is covered with a sterile drape (sterile drape) so that only the eyes are exposed. When disinfection and drape have been completed, the eye is typically anesthetized with a local anesthetic, which is administered in the form of a liquid eye drop. Then, the eyeballs are exposed using an eyelid speculum that keeps the upper and lower eyelids open. One or more incisions (and typically two or three incisions) are made in the cornea of the eye. The incision is typically made using a special blade called a keratome blade. At this stage, lidocaine is typically injected into the anterior chamber of the eye in order to further anesthetize the eye. After this step, a viscoelastic injection is applied through the corneal incision. Viscoelastic injection is performed to stabilize the anterior chamber and help maintain intraocular pressure during the remainder of the procedure, and also to dilate the lens capsule.
In a subsequent stage (called capsulorhexis), a portion of the anterior lens capsule is removed. Various enhancement techniques have been developed for performing capsulorhexis, such as laser assisted capsulorhexis, zepto-capsulorhexis (which utilizes precision nanopulse techniques), and marker assisted capsulorhexis (in which a pre-defined marker is used to mark the cornea to indicate the desired size of the capsular opening).
Fluid waves are then injected, typically through a corneal incision, to dissect the outer cortical layer of the cataract in a step known as water separation (hydrodifferential). In a subsequent step, called hydration, the outer softer outer core (epi-nucleus) of the lens is separated from the inner harder inner core (endo-nucleus) by injecting fluid waves. In the next step, in a process called phacoemulsification, phacoemulsification of the lens is performed. The nucleus of the lens is first broken using a nucleus splitter (chopper), and then the outer fragments of the lens are broken and removed, typically using an ultrasonic phacoemulsification probe. Further, in general, aspiration is performed using a separate tool during phacoemulsification. When phacoemulsification is complete, the remaining lens cortex (i.e., the outer layer of the lens) material is aspirated from the capsule. During phacoemulsification and aspiration, the aspirated fluid is typically replaced with a balanced salt irrigation solution to maintain the fluid pressure in the anterior chamber. In some cases, the bladder is polished if deemed necessary. An intraocular lens (IOL) is then inserted into the capsule. IOLs are typically foldable and are inserted in a folded configuration prior to deployment within the capsule. At this stage, the viscoelastic is typically removed using an aspiration device previously used to aspirate fluid from the balloon. If necessary, the incision is sealed by increasing the pressure inside the eyeball (i.e., the eye) so that the internal tissue presses against the external tissue of the incision to force the incision closed.
SUMMARY
According to some applications of the present invention, a robotic system is configured for use in microsurgery (e.g., intraocular surgery). Generally, when used in intraocular surgery, the robotic system includes a first robotic unit and a second robotic unit. For some applications, each robotic unit includes an end effector that is generally configured to securely hold any of a plurality of different tools thereon. For some applications, the end effector is coupled to a tool mount (mount) that is configured to hold a 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 the incision point and the tip of the tool is disposed within the patient's eye.
For some applications, two multi-joint arms (i.e., arms containing multiple links connected to each other by joints) are provided on one side of the end effector and are configured to movably support the end effector. Typically, a plurality of arm motors are associated with two multi-articulated arms. For some applications, the robotic unit is configured to rotate the tool about its own axis in order to compensate for the roll of the end effector relative to the base of the robotic unit. It is generally desirable to prevent the tool (and in particular the non-rotationally symmetrical tool) from rolling relative to the patient's eye. For some applications, rather than preventing rotation of the end effector relative to the base of the robotic unit, the end effector is allowed to roll relative to the base, but such roll of the end effector is compensated for by rolling the tool about its own axis relative to the end effector. For some applications, the robotic unit is configured to rotate the tool about its own axis, for example, for performing surgical maneuvers, for alternative or additional reasons.
Typically, the robotic unit is actively driven to move the end effector along the x, y and z axes and through pitch and yaw movements (pitch and yaw angular movement), with the undesirable side effect of such movements being roll of the end effector. For some applications, the computer processor calculates the amount of roll the tool should experience relative to the end effector. For example, the computer processor may calculate that the end effector will experience a +20 degree roll relative to the base due to movement of the multi-jointed arm (e.g., translational movement along the x-axis, y-axis, and/or z-axis, and/or pitch and/or yaw movement). In response, the computer processor may drive the tool to rotate-20 degrees about its own axis relative to the end effector.
For some applications, the end effector itself rolls instead of, or in addition to, rolling the tool relative to the end effector. Typically, in this case, the end effector rolls about an axis that is not coaxial with the longitudinal axis of the tool. Thus, the end effector experiences a roll about an axis that is eccentric relative to its longitudinal axis. For some applications, the robotic unit includes an end effector motor configured to roll the end effector about an eccentric axis. Typically, the robotic unit comprises at least five arm motors. For some applications, the computer processor drives the arm to move so as to compensate for the different axes of the end effector about the axis of roll and the tool axis. In this way, although the end effector rotates about the eccentric axis, the tool itself rolls about its own axis.
For some such applications, each multi-jointed arm includes a rotatable arched link (rotatable arched link) near the end effector. The rotatable arcuate link is configured to rotate to allow room for the end effector to roll about an axis. Typically, as the end effector rotates, the end effector pushes the arcuate link into rotation such that the end effector becomes received in the concave curved surface of the arcuate link. Such accommodation of the roll of the end effector is generally desirable, particularly in view of the robotic unit being configured such that the roll of the end effector is eccentric relative to its own axis. For example, if a straight link disposed perpendicular to the end effector axis is substituted for a rotatable arcuate link, the end effector can only be rotated through a relatively small angular range before being blocked by the link. In contrast, using the configurations described herein, the end effector is typically capable of rolling more than 180 degrees, such as more than 250 degrees or more than 300 degrees, about the eccentric axis.
For some applications, the sterile drape is provided between (a) a robotic arm and end effector disposed within a non-sterile field on a first side of the sterile drape and (b) a tool mount and tool disposed within a sterile field on a second side of the sterile drape. Typically, sterile drapes are placed around the drape plate and sealed against the drape plate (drape plate). For some applications, a drape plate may be coupled to the end effector and to (or may be coupled to) the tool mount. The drape sheet typically serves as an interface between (a) a robotic arm and end effector disposed within a non-sterile field on a first side of the sterile drape and (b) a tool mount and tool disposed within a sterile field on a second side of the sterile drape.
For some applications, the tool motor is disposed on the end effector within the non-sterile zone. The tool motor typically directly drives a motion-transmitting portion (e.g., a pin or shaft) to move (e.g., rotate). The motion transmission portion is configured to transmit motion of the motor to a first gear (e.g., a spur gear (i.e., a gear) or a worm gear), and the first gear drives rotation of the tool relative to the end effector by driving rotation of a second gear (typically a spur gear (i.e., a gear)). Typically (the second gear is built into the tool itself, or may be built into or coupled to the tool sleeve, depending on the respective application) the motion transmitting portion is mechanically coupled to the first gear in such a way that the interface between the motion transmitting portion and the first gear is sealed (e.g. via an O-ring). Thus, rotational movement of the tool relative to the end effector is produced by a motor disposed within the non-sterile field. The rotational motion generated by the motor is transferred to the tool via an interface that maintains a seal between the non-sterile zone and the sterile zone.
For some applications, the linear tool motor is disposed within the non-sterile zone. The linear tool motor typically drives a tool actuation arm in a linear motion. The tool actuation arm is typically disposed within the non-sterile zone and is configured to linearly urge a portion of the tool (e.g., a plunger of a syringe) by pushing the portion through the sterile drape. For some applications, a portion of the sterile drape disposed at an interface between the tool actuation arm and the portion of the tool being pushed is configured to be more rigid and/or wear resistant than other portions of the drape. For example, a sticker (stickers) may be placed on the portion to enhance the rigidity and/or abrasion resistance of the portion relative to other portions of the drape. Alternatively, the drape may be treated (e.g., using a heat treatment or a chemical treatment) at the portion to enhance the rigidity and/or abrasion resistance of the portion relative to other portions of the sterile drape. Thus, the linear motion of a portion of the tool is produced by a linear tool motor disposed within the non-sterile field. The linear motion generated by the motor is transferred to the portion of the tool via the drape so as to maintain a seal between the non-sterile field and the sterile field.
Thus, according to some applications of the present invention there is provided an apparatus for performing a procedure on a portion of a patient's body using a tool, the apparatus comprising:
a robotic unit, the robotic unit comprising:
a base;
an end effector;
a tool mount configured to hold the tool;
a plurality of multi-articulated arms via which the end effector is coupled to the base, each of the multi-articulated arms including a rotatable arched link positioned proximate the end effector, the rotatable arched links configured to allow space for the end effector to roll about an axis that is not coaxial with a longitudinal axis of the tool.
In some applications, the apparatus further comprises one or more arm motors configured to move the multi-articulated arm, and the apparatus further comprises a computer processor configured to:
calculating any roll of the end effector relative to a base about an axis that is not coaxial with a longitudinal axis of the tool due to movement of the multi-articulated arm; and
the one or more arm motors are driven to move the multi-articulated arm so as to compensate for roll of the end effector about an axis that is different from the longitudinal axes of the end effector and the tool, such that the tool rolls about the longitudinal axis of the tool itself.
In some applications, each of the rotatable arched links defines a concave curved surface, and the rotatable arched links are configured to be rotated to make room for the end effector to roll such that the end effector becomes received in the concave curved surface of the rotatable arched links.
In some applications, the device further comprises an end effector motor configured to directly roll the end effector relative to the base, the rotatable arcuate link configured to passively rotate to make room for the end effector to be actively rolled by the end effector motor.
In some applications, the device further comprises a sterile drape and a drape plate configured to be coupled to the end effector such that the multi-articulated arm and the end effector are disposed in a non-sterile area on a first side of the sterile drape and the tool mount is disposed within a sterile area on a second side of the sterile drape.
In some applications, the drape plate is configured to be coupled to the end effector such that all motion driving portions of the robotic unit configured to drive movement of the end effector are disposed in a non-sterile zone on a first side of the sterile drape.
In some applications, the rotatable arched link is configured to rotate to allow room for the end effector to roll through an angle of more than 180 degrees.
In some applications, the rotatable arched link is configured to rotate to allow room for the end effector to roll through an angle of more than 300 degrees.
In some applications, each of the plurality of multi-articulated arms further includes a first straight link adjacent a first end of the rotatable arched link and a second straight link adjacent a second end of the rotatable arched link, the end effector is coupled to the rotatable arched link via the second straight link, and the second straight link is disposed at an angle relative to the first straight link.
In some applications, the device further comprises a motor within at least one arm, the motor configured to roll the rotatable arched link relative to the first straight link, the angle between the first straight link and the second straight link configured such that roll of the rotatable arched link relative to the straight link results in roll of the end effector.
There is also provided in accordance with some applications of the present invention apparatus for performing a procedure on a portion of a patient's body using a robotic unit including 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, the apparatus comprising:
A drape plate configured to be placed between the tool mount and the end effector;
a sterile drape disposed about and sealed with respect to the drape plate and configured to form an interface between a non-sterile area on a first side of the sterile drape and a sterile area on a second side of the sterile drape such that the tool mount is disposed within the sterile area and the one or more robotic arms and the tool motor are disposed within the non-sterile area;
at least one gear mechanism configured to be disposed within the sterile field and configured to drive the tool in a roll relative to the end effector; and
a motion transmission portion configured to transmit motion from the tool motor to the at least one gear mechanism while maintaining a seal between the sterile field and the non-sterile field.
In some applications, the apparatus further comprises at least one computer processor configured to:
the end effector is driven to move relative to the base by moving the one or more arms,
Calculating any roll of the end effector relative to the base, and
the tool motor is driven to roll the tool relative to the end effector so as to compensate for any roll of the end effector relative to the base.
In some applications, the motion transmission portion comprises a shaft, and the tool motor is configured to drive rotation of the shaft, the at least one gear mechanism comprising a first gear driven in rotation by the shaft and a second gear driven in rotation by the first wheel.
In some applications, the interface between the shaft and the first gear is sealed so as to maintain a seal between the sterile zone and the non-sterile zone.
In some applications, the first gear is disposed within the drape plate.
In some applications, the second gear is built into the tool.
In some applications, the apparatus further comprises a tool sleeve configured to be disposed around the tool, the second gear being built into the tool sleeve.
In some applications, the motion transmitting portion comprises a shaft, and the tool motor is configured to drive the shaft in rotation, the at least one gear mechanism comprising a worm gear driven in linear movement by the shaft and a gear driven in rotation by the linear movement of the first wheel.
In some applications, the interface between the shaft and the worm gear is sealed so as to maintain a seal between the sterile field and the non-sterile field. In some applications, the worm gear is disposed within the drape plate. In some applications, the gear is built into the tool. In some applications, the apparatus further comprises a tool sleeve configured to be disposed around the tool, the gear being built into the tool sleeve.
In some applications, the apparatus further comprises:
a linear tool motor configured to drive at least a portion of the tool in linear motion relative to the end effector,
a tool actuation arm configured to be linearly moved by the linear tool motor to linearly move at least a portion of the tool relative to the end effector,
the sterile drape is configured to form the interface such that the linear tool motor is disposed within the non-sterile field and such that the tool actuation arm is disposed within the non-sterile field.
In some applications, a portion of the sterile drape configured to be disposed at an interface between the tool actuation arm and a portion of the tool being pushed is configured to be more rigid and/or wear resistant than other portions of the drape.
There is also provided in accordance with some applications of the present invention apparatus for performing a procedure on a portion of a patient's body using a robotic unit including an end effector, a tool mount configured to hold a tool such that the tool is coaxial with the end effector, a linear tool motor configured to drive linear movement of at least a portion of the tool relative to the end effector, and one or more robotic arms configured to move the end effector, the apparatus comprising:
a drape plate configured to be placed between the tool mount and the end effector;
a sterile drape disposed about and sealed with respect to the drape plate and configured to form an interface between a non-sterile area on a first side of the sterile drape and a sterile area on a second side of the sterile drape such that the tool mount is disposed within the sterile area and the one or more robotic arms and the linear tool motor are disposed within the non-sterile area; and
a tool actuation arm configured to be disposed within the non-sterile zone and configured to be linearly moved by the linear tool motor to thereby linearly move at least a portion of the tool relative to the end effector; and
A portion of the sterile drape configured to be disposed at an interface between a tool actuation arm and a portion of the tool being urged is configured to be more rigid and/or wear resistant than other portions of the drape.
In some applications, the device includes a sticker disposed at the portion of the sterile drape configured to enhance rigidity and/or abrasion resistance of the portion relative to other portions of the sterile drape.
In some applications, the portion of the sterile drape is heat treated to enhance the rigidity and/or abrasion resistance of the portion relative to other portions of the sterile drape.
In some applications, the portion of the sterile drape is chemically treated to enhance the rigidity and/or abrasion resistance of the portion relative to other portions of the sterile drape.
In some applications, the portion of the sterile drape includes an alternative or additional material relative to other portions of the sterile drape to enhance the rigidity and/or abrasion resistance of the portion relative to other portions of the sterile drape.
In some applications, the apparatus further comprises an automated tool actuation arm folding mechanism configured to automatically fold the tool actuation arm in response to retraction from the tool mount to a given distance.
There is also provided in accordance with some applications of the present invention apparatus for performing a procedure on a portion of a patient's body using a robotic unit including an end effector, a tool mount configured to hold a tool such that the tool is coaxial with the end effector, and a linear tool motor configured to drive linear movement of at least a portion of the tool relative to the end effector, the apparatus comprising:
a tool actuation arm configured to be linearly moved by the linear tool motor to linearly move at least a portion of the tool relative to the end effector; and
an automatic tool actuation arm folding mechanism configured to automatically fold the tool actuation arm in response to retraction from the tool mount to a given distance.
In some applications, the automated tool actuation arm folding mechanism comprises a spring mechanism.
In some applications, the tool comprises a syringe, the syringe comprises a plunger, and the tool actuation arm is configured to linearly push the plunger of the syringe.
In some applications, the tool actuation arm is configured to fold such that the tool mount can make room for a large tool without requiring removal and/or manual folding of the tool actuation arm.
In some applications, the robotic unit is configured for performing cataract surgery using a plurality of tools including a phacoemulsification probe, and the tool actuation arm is configured to fold such that the tool mount can make room for the phacoemulsification probe without removing and/or manually folding the tool actuation arm.
In some applications, the apparatus further comprises an automated tool actuation arm deployment mechanism configured to automatically deploy the tool actuation arm in response to the tool actuation arm being moved closer to the tool mount.
In some applications, the automated tool actuation arm deployment mechanism includes a spring mechanism.
There is also provided, in accordance with some applications of the present invention, apparatus for performing surgery on an eye of a patient using a tool, the apparatus comprising:
a robotic unit, the robotic unit comprising:
a base;
an end effector;
a tool mount configured to hold the tool;
a plurality of multi-articulated arms via which the end effector is coupled to the base, the multi-articulated arms configured to allow the end effector to move relative to the base such that the end effector rolls relative to the base;
At least one arm motor configured to move the multi-articulated arm; and
at least one tool motor configured to rotate a tool relative to the end effector about a longitudinal axis of the tool; and
at least one computer processor configured to:
driving the arm motor to move the end effector relative to the base by moving the multi-articulated arm, calculating any roll of the end effector relative to the base, and
driving the tool motor rolls the tool about the longitudinal axis of the tool itself so as to compensate for any roll of the end effector relative to the base.
In some applications, the robotic unit is configured to perform at least a portion of a cataract surgery on the patient's eye.
The invention will be more fully understood from the following detailed description of its application taken in conjunction with the accompanying drawings, in which.
Brief Description of Drawings
FIG. 1 is a schematic view of a robotic system configured for use in microsurgery (e.g., intraocular surgery), according to some applications of the present invention;
FIGS. 2A and 2B are schematic views of a robotic cell for use in a robotic system according to some applications of the present invention;
FIGS. 3A and 3B are schematic illustrations of a robotic unit configured to roll a tool about its own axis in order to compensate for the roll of an end effector of the robotic unit relative to a base of the robotic unit, according to some applications of the present invention;
FIGS. 4A, 4B, and 4C are schematic illustrations of a robotic unit having an end effector configured to roll about an axis, according to some alternative applications of the present invention;
FIGS. 5A, 5B and 5C are schematic illustrations of the robotic unit of FIGS. 4A and 4B in respective stages of a roll motion of an end effector of the robotic unit, according to some alternative applications of the present invention;
FIGS. 6A and 6B are schematic views of a robotic unit having an end effector configured to roll about an axis that is not coaxial with its own longitudinal axis, according to some alternative applications of the present invention;
FIGS. 7A, 7B and 7C are schematic illustrations of the robotic unit of FIGS. 6A and 6B in respective stages of a roll motion of an end effector of the robotic unit, according to some alternative applications of the present invention;
FIG. 8 is a schematic view of a sterile drape and drape plate for use with a robotic unit that is not configured to rotate a tool within an end effector, in accordance with some applications of the present invention;
FIG. 9 is a schematic view of a sterile drape and drape plate for use with a robotic unit configured to rotate a tool within an end effector, in accordance with some applications of the present invention;
FIGS. 10A, 10B, and 10C are schematic illustrations of a sterile drape and drape plate for use with a robotic unit configured to rotate a tool within an end effector, according to some alternative applications of the invention;
FIGS. 11A and 11B are photographs of a sterile drape and drape plate, generally similar to the sterile drape and drape plate schematically shown in FIGS. 10A, 10B, and 10C, according to some applications of the present invention;
FIGS. 12A and 12B are schematic views of a sterile drape and drape plate for use with a robotic unit configured to rotate a tool within an end effector, in accordance with some additional alternative applications of the present invention;
FIG. 13 is a schematic view of an end effector including an automatically collapsible tool actuation arm for linearly pushing a tool or a portion thereof, in accordance with some applications of the present invention; and
Fig. 14A, 14B and 14C are schematic illustrations of an automatically collapsible tool actuation arm at respective stages of its movement relative to a tool mount, according to some applications of the present invention.
Detailed Description
Referring now to fig. 1, fig. 1 is a schematic illustration of a robotic system 10 according to some applications of the present invention, the robotic system 10 being configured for use in microsurgery (e.g., intraocular surgery). Generally, when used in intraocular surgery, the robotic system 10 includes, in addition to an imaging system 22, a display 24, and a control component 26 (e.g., a pair of control devices, such as joysticks as shown), a first robotic unit 20 and a second robotic unit 20 (which are configured to hold a tool 21), a user (e.g., a healthcare professional) being able to control the robotic unit 20 via the control component 26. Generally, the robotic system 10 includes one or more computer processors 28 through which components of the system and a user (e.g., a healthcare professional) operatively interact with each other. For some applications, each of the first and second robotic units is supported on a base 27 as shown. 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.
Typically, the movement of the robotic unit (and/or control of other aspects of the robotic system) is controlled, at least in part, by a user (e.g., a healthcare professional). For example, a user may receive images of the patient's eyes and the robotic unit and/or tools disposed in the robotic unit via the display 24. Typically, such images are acquired by imaging system 22. For some applications, imaging system 22 is a stereoscopic imaging device and display 24 is a stereoscopic display. The user typically performs the steps of the procedure based on the received images. For some applications, the user provides commands to the robotic unit via the control component 26. Typically, such commands include commands to control the position and/or orientation of a tool disposed within the robotic unit, and/or commands to control actions performed by the tool. For example, these commands may control the phacoemulsification tool (e.g., the operating mode and/or suction of the phacoemulsification tool) and/or the syringe tool (e.g., which fluid (e.g., viscoelastic fluid, saline, etc.) should be injected and/or at what flow rate). Alternatively or additionally, the user may input commands that control the imaging system (e.g., zoom, focus, and/or x-y positioning of the imaging system). For some applications, the command includes controlling an IOL manipulator tool, e.g., such that the tool manipulates the IOL inside the eye to precisely position the IOL within the eye.
Referring now to fig. 2A and 2B, fig. 2A and 2B are schematic illustrations of a robotic unit 20 for use in the robotic system 10 according to some applications of the present invention. For some applications, each robotic unit includes an end effector 30. The end effector is generally configured to securely hold any one of a plurality of different tools 21 (shown in fig. 1) thereon. For some applications, the end effector is coupled to a tool mount configured to hold a tool (directly or indirectly), for example, as described in further 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 via the incision point, and the tip of the tool is disposed within the patient's eye.
For some applications, two multi-articulated arms 32 (i.e., arms comprising a plurality of links 34 connected to one another via joints 36) are disposed on one side of the end effector 30 and are configured to movably support the end effector. Typically, the computer processor detects three-dimensional movement of the patient's eye by analyzing images acquired by the imaging system 22 (which, as noted above, is typically a stereoscopic imaging system). For some applications, in response to the detected movement of the patient's eye, the computer processor drives the robotic unit to move the tool such that the tool remains in the patient's eye via the incision point even while the patient's eye undergoes three-dimensional movement. Generally, even when the patient's eye undergoes three-dimensional movement, the computer processor drives the robotic unit to perform at least a portion of the procedure on the patient's eye by: the tip of the tool is moved relative to the eye in a desired manner to perform a portion of the procedure while the entrance of the tool into the patient's eye is maintained fixed at the incision point. In this way, the robotic unit functions to provide a dynamic remote center of motion that is located at the incision point and about which the movement of the tool is centered. Typically, the remote center of motion moves in coordination with the movement of the eye. Alternatively or additionally, the computer processor is configured to detect when the eye is in a given position and to time the execution of certain functions by the robotic unit such that the functions are executed when the eye is in the given position.
Typically, multiple arm motors are associated with two multi-articulated arms 32. Although not shown in fig. 2A and 2B, the position of the arm motor is shown in fig. 3B, 4C, and 6B. For some applications, multiple arm motors move the end effector through five degrees of freedom (e.g., translational movement along the x, y, and z axes, as well as pitch and yaw movements). As can be seen, in the example shown in fig. 2A-2B, each link 34 of at least one of the multi-articulated arms 32 of the robotic system includes two parallel bars 40 extending between a vertical joint 42, wherein the vertical joint is disposed between each pair of adjacent links. For some applications, the arrangement of parallel bars and vertical joints results in the ends of each joint of a given multi-joint arm remaining parallel to each other (as shown by the transition from fig. 2A to fig. 2B) even as the arm moves. 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 results in mechanical decoupling of the roll of the end effector from the translational and pitch-yaw movements of the end effector. For 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 tools that are not rotationally symmetric, it may be desirable to prevent the tool from rolling relative to the patient's eye. For some applications, each multi-jointed arm is configured in the manner described above. Alternatively, only one of the multi-jointed arms is configured in the manner described above.
Referring now to fig. 3A and 3B, fig. 3A and 3B are schematic illustrations of a robotic unit 20 according to some alternative applications of the invention, the robotic unit 20 being configured to rotate a tool 21 about its own axis in order to compensate for the roll of the robotic unit's end effector 30 relative to the robotic unit's base 27. (in FIG. 3B, many reference numerals are not included to focus on the typical position of the arm motor within the robotic unit.) As noted above, it is generally desirable to prevent the tool (and in particular the non-rotationally symmetrical tool) from rolling relative to the patient's eye. In the case of procedures performed on the eye (e.g., cataract surgery), many tools are not rotationally symmetrical and the surgical space is relatively small in size. For some applications, rather than preventing rotation of the end effector relative to the base 27 (e.g., as described with reference to fig. 2A and 2B), the end effector is allowed to roll relative to the base, but such roll of the end effector is compensated for by rolling the tool about its own axis 50 relative to the end effector. For some applications, the robotic unit is configured to rotate the tool about its own axis, for example, for performing surgical maneuvers, for alternative or additional reasons.
For example, as shown in fig. 3A and 3B, none of the multi-jointed arms 32 includes the arrangement of parallel bars as described above with reference to fig. 2A-2B. Thus, the robotic unit is configured to move the end effector through six degrees of freedom (e.g., translational movement along the x-axis, y-axis, and z-axis, as well as pitch, yaw, and roll angle movements). Typically, the robotic unit is actively driven to move the end effector along the x, y and z axes and through pitch and yaw movements, with the undesirable side effect of such movement being roll of the end effector. Further, typically, the robotic unit includes at least five arm motors M1-M5, as shown in FIG. 3B.
For some applications, the computer processor 28 (shown in FIG. 1) calculates the amount of roll that the tool should experience relative to the end effector. For example, computer processor 28 may calculate that the end effector will experience a roll of +20 degrees relative to the base as a result of movement of the multi-jointed arm (e.g., translational movement along the x-axis, y-axis, and/or z-axis, and/or pitch and/or yaw movement). In response, the computer processor may drive the tool to rotate-20 degrees about its own axis 50 relative to the end effector. The tool is typically held by the end effector (or by the tool mount) such that the tool is coaxial with the end effector (or with the tool mount). Thus, the longitudinal axis 50 of the tool is also typically the longitudinal axis of the end effector (or tool mount). Thus, in the example shown in fig. 3A and 3B, the longitudinal axis 50 about which the tool rotates is coaxial with the longitudinal axis of the end effector.
As shown in fig. 3A and 3B, for some such applications, the tool motor 52 is configured to roll the tool relative to the end effector. For some applications, as shown, the tool motor drives the tool in a roll relative to the end effector via the arrangement of gears 54.
Referring now to fig. 4A, 4B, and 4C, fig. 4A, 4B, and 4C are schematic illustrations of a robotic unit 20 according to some applications of the invention, with an end effector 30 of the robotic unit configured to roll about an axis 60 that is not coaxial with its own longitudinal axis 50. For some applications, the end effector is coupled to the tool mount 92 (or forms an integral structure with the tool mount 92), the tool mount 92 being configured to hold a tool, as shown in fig. 4B. Fig. 4C is similar to fig. 4B, but many reference numerals are not included in fig. 4C in order to focus specifically on the typical position of the arm motor within the robotic unit. Referring also to fig. 5A, 5B and 5C, fig. 5A, 5B and 5C are schematic illustrations of the robotic unit of fig. 4A, 4B and 4C in respective stages of a roll motion of the end effector 30 according to some alternative applications of the present invention. Note that in some figures (e.g., fig. 5 a-5C), there are symbols (e.g., symbols A1 and B1) on the robotic arm 32. These symbols are included to demonstrate the orientation of the robotic arm in the corresponding figures.
For some applications, the end effector itself rolls in lieu of, or in addition to, the tool rolls relative to the end effector. Typically, in this case, the end effector rolls about an axis 60, which axis 60 is not coaxial with the axis 50 of the tool 21 and end effector 30. (thus, the end effector experiences eccentric roll relative to its longitudinal axis.) for some applications, the robotic unit includes an end effector motor 62, the end effector motor 62 being configured to roll the end effector about an axis 60 (as shown in fig. 4A). Typically, the robotic unit includes at least five arm motors, the positions of which are schematically shown by dashed circles labeled M1-M5 in fig. 4C. For some applications, the computer processor drives the arm movement so that the compensation axis 60 is not coaxial with the tool axis. In this way, although the end effector rotates about axis 60 via end effector motor 62, the tool itself rolls about its own axis.
For some such applications, each multi-jointed arm 32 includes a rotatable arched link 64 located near the end effector 30. The rotatable arcuate link is configured to rotate to allow room for the end effector to roll about the axis 60. This can be observed by observing the transition from fig. 5A to fig. 5B and then from fig. 5B to fig. 5C. As shown, as the end effector rotates, the end effector pushes the arcuate link, rotating the arcuate link such that the end effector becomes received in the concave curved surface 66 of the arcuate link. Such accommodation of the roll of the end effector is generally desirable, particularly in view of the robotic unit being configured such that the roll of the end effector is eccentric relative to its own axis. For example, if a straight link disposed perpendicular to the end effector axis is used in place of a rotatable arched link, the end effector can only be rotated a relatively small angular range about axis 60 before being blocked by the link. In contrast, using the configuration shown in fig. 4A-5C, the end effector is typically capable of rolling more than 180 degrees, such as more than 250 degrees or more than 300 degrees, about axis 60.
Referring now to fig. 6A and 6B, fig. 6A and 6B are schematic illustrations of a robotic unit 20 according to some applications of the invention, with an end effector 30 of the robotic unit configured to roll about an axis 70 that is not coaxial with its own longitudinal axis 50. Fig. 6B is similar to fig. 6A, but many reference numerals are not included in fig. 6B in order to focus specifically on the typical position of the arm motor within the robotic unit. Referring also to fig. 7A, 7B and 7C, fig. 7A, 7B and 7C are schematic illustrations of the robotic unit of fig. 6 in a corresponding stage of the roll motion of the end effector 30 according to some alternative applications of the present invention.
As described with reference to fig. 4A-5C, for some applications, each multi-jointed arm includes a rotatable arcuate link 64 positioned adjacent to the end effector 30. The rotatable arched link is configured to rotate in a generally similar manner as described above to allow room for the end effector to roll about axis 70. For some such applications, the first straight link 80 is disposed adjacent to the first end 82 of the rotatable arched link and the second straight link 84 is disposed adjacent to the second end 86 of the rotatable arched link (where the end effector is coupled to the rotatable arched link via the second straight link 84). As shown in fig. 6A, for some applications, the second straight link is disposed at an angle α relative to the first straight link 80.
Typically, the robotic unit includes at least five arm motors, the positions of which are schematically shown by dashed circles labeled M1-M5 in FIG. 6B. For some applications, the robotic unit includes another motor mounted near the straight link 80 or the straight link 84 of one of the arms. For example, the robotic unit may include additional motors that are mounted at positions indicated by the dashed circle labeled M6A or indicated by the dashed circle labeled M6B in fig. 6B. The additional motor is configured to roll the rotatable arched link 64 relative to the straight links 80 and 84. Typically, because the second straight link is disposed at an angle α relative to the first straight link, the rolling of the rotatable arched link 64 relative to the straight link 80 rotates the second straight link relative to the first straight link. This, in turn, causes the end effector to roll about the axis 70. This can be observed in the transition from 7A to 7B and then from 7B to 7C. Generally, for such applications, the computer processor 28 calculates how to move the links of the arm to cause the end effector to roll about the axis 70 in a desired manner. As described with reference to fig. 4A-5C, as the end effector rotates, the end effector becomes received in the concave curved surface 66 of the arcuate link. Generally, using the configuration shown in fig. 6A-7C, the end effector can be rolled more than 180 degrees, such as more than 250 degrees or more than 300 degrees, about axis 70 (off-center relative to the end effector's own axis).
Referring now to fig. 8, fig. 8 is a schematic illustration of a sterile drape 88 and drape plate 90 for use with robotic unit 20, which robotic unit 20 is not configured to rotate tool 21 within end effector 30, in accordance with some applications of the present invention. For example, a sterile drape and drape plate as shown in fig. 8 may be used with the robotic unit described with reference to fig. 4A-4C and/or with reference to fig. 6A-6B, such that any rotation of the tool is typically accomplished by rotating the end effector rather than rotating the tool relative to the end effector. Typically, in this case, all motion driving parts (e.g. motors, gears, etc.) of the robotic unit configured to drive the end effector to move, as well as the end effector 30 itself, are disposed within the non-sterile zone on the first side of the sterile drape (i.e. on the side of the sterile drape on which the arm of the robotic unit is disposed). A tool mount 92 (which is configured to directly or indirectly hold a tool) is disposed within the sterile zone on the second side of the sterile drape and may be coupled to the drape plate. Typically, a sterile drape is disposed around and sealed with respect to the drape plate. The drape plate may be coupled to (or coupled to) both the end effector and the tool mount. For example, the end effector 30 disposed at the end of the arm within the non-sterile zone may be configured to be coupled to one side of the drape plate, and the tool mount may define a portion 94 on a back side thereof, the portion 94 being configured to be coupled to a second side of the drape plate. In general, drape plate 90 serves as an interface between (a) arm 32 and end effector 30 disposed within a non-sterile field on a first side of the sterile drape, and (b) tool mount 92 and tool 21 disposed within a sterile field on a second side of the sterile drape. When the drape plate is coupled to both the end effector and the tool mount, movement of the arm and end effector (created within the non-sterile field) is transferred to the tool mount 92 and the tool 21 (both disposed within the sterile field) via the drape plate. ( Note that in some cases, the tool itself is disposed within the tool mount. Alternatively, as shown, the tool is disposed inside the tool sleeve 23, and the tool sleeve 23 is disposed within the tool mount 92. )
Referring now to fig. 9, fig. 9 is a schematic view of a sterile drape 96 and drape plate 98 for use with the robotic unit, with the tool rotated within the end effector, in accordance with some applications of the present invention. For example, a sterile drape and drape plate as shown in fig. 9 may be used with the robotic unit described with reference to fig. 3A-3B, with fig. 3A-3B showing an example of a robotic unit 20 configured to rotate a tool 21 about its own axis. For some such cases, at least some of the motion driving portions (e.g., motors, gears, etc.) of the robotic unit configured to drive the end effector and/or tool movement are disposed within the sterile zone (i.e., one side of the drape shown in fig. 9). For some applications, the tool motor 52 and/or gears 54A and 54B (configured to roll the tool relative to the end effector) are disposed within a sterile field. (note that in some cases, the tool itself includes a built-in gear, and the tool itself is rotated directly by gear 54A, gear 54A is driven to rotate by a motor. Alternatively, as shown, the tool is disposed inside tool sleeve 23, tool sleeve 23 includes or is coupled to gear 54B, gear 54B is rotated by gear 54A.) for some applications, a linear tool motor 100 configured to drive a portion of the tool for linear movement is disposed within the sterile zone. The linear tool motor is typically configured to linearly move a portion of a tool (e.g., a plunger 120 of a syringe) via a tool actuation arm 110. Some examples of linear tool motors and tool actuation arms are described in further detail below.
Typically, all portions of the device configured to be disposed within the sterile field are configured to be disposable and/or sterilizable (e.g., by autoclaving). For applications such as shown in fig. 9, typically 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 by autoclaving). Typically, the tool motor 52 and the linear tool motor 100 are powered via sealed electrical connectors through the sterile drape and/or through external cables.
Typically, sterile drape 96 is disposed around drape plate 98 and sealed with respect to drape plate 98. For some applications, arm 32 and end effector 30 (the arm and end effector are not shown in fig. 9) are disposed within a non-sterile zone, and drape plate 98 may be coupled to the end effector. In general, drape plate 98 serves as an interface between (a) end effector 30 and arm 32 (end effector 30 and arm 32 are not shown in fig. 9 and in) disposed within a non-sterile field on a first side of the sterile drape, and (b) tool mount 92 and tool 21 disposed within a sterile field on a second side of the sterile drape. When the drape plate is coupled to both the end effector and the tool mount, then movement of the arm and end effector (created within the non-sterile field) is transferred to the tool mount 92 and the tool 21 (both disposed within the sterile field) via the drape plate 98. However, as described above, for applications such as that shown in fig. 9, movement of the tool (or a portion thereof) relative to the end effector is accomplished within the sterile field via the tool motor 52 and/or the linear tool motor 100.
Referring now to fig. 10A, 10B, and 10C, fig. 10A, 10B, and 10C are schematic illustrations of a sterile drape 102 and drape plate 104 for use with the robotic unit 20, the robotic unit 20 configured to rotate the tool 21 within the end effector 30, according to some alternative applications of the invention. Typically, drape plate 104 serves as an interface between (a) arm 32 (not shown in fig. 10A-10C) disposed within a non-sterile field on a first side of the sterile drape, and end effector 30, and (b) tool mount 92 and tool 21 disposed within a sterile field on a second side of the sterile drape.
For some applications, the tool motor 52 (shown in fig. 10B-10C) is disposed on the end effector 30 within the non-sterile field. The tool motor 52 typically directly drives rotation of the motion-transmitting portion 106 (e.g., a pin or shaft). The motion transmitting portion is configured to transmit rotational motion of the motor to a first gear (i.e., spur gear) 54A, and the first gear drives rotation of the tool relative to the end effector by driving rotation of a second gear (i.e., spur gear) 54B. For some applications, the first gear is disposed within (e.g., built into) the drape plate. As described above, the second gear 54B may be built into the tool itself, or may be built into the tool sleeve 23 or coupled to the tool sleeve 23. Typically, the motion transfer section 106 is mechanically coupled to the first gear 54A in such a way that the interface between the motion transfer section and the first gear 54A is sealed so as to maintain a seal between the sterile field and the non-sterile field (e.g., via an O-ring 108 as shown in fig. 10C). Thus, in the example shown in fig. 10A-10C, rotational movement of the tool relative to the end effector is produced by motor 52 disposed within the non-sterile field. The rotational motion generated by the motor is transferred to the tool via an interface that maintains a seal between the non-sterile zone and the sterile zone.
Referring to fig. 10A, for some applications, the linear tool motor 100 is disposed within a non-sterile field. The linear tool motor 100 typically drives a tool actuation arm 110 for linear movement. For such applications, the tool actuation arm 110 is typically disposed within the non-sterile zone and is configured to linearly urge a portion of the tool (e.g., the plunger 120 of the syringe) by pushing the portion of the tool through the sterile drape 102. For some applications, a portion 114 of the sterile drape disposed at the interface between the tool actuation arm and the portion of the tool being pushed is configured to be more rigid and/or wear resistant than other portions of the drape. For example, stickers 116 may be placed at the portion 114 to enhance the rigidity and/or abrasion resistance of the portion relative to other portions of the drape. Alternatively, the drape may be treated at portion 114 (e.g., using a heat treatment or a chemical treatment) to enhance the rigidity and/or abrasion resistance of the portion relative to other portions of the sterile drape. Alternatively, the drape may include an alternative or additional material at portion 114 to enhance the rigidity and/or abrasion resistance of the portion relative to other portions of the sterile drape. Thus, in the example shown in fig. 10A-10C, linear motion of a portion of the tool is produced by a linear tool motor 100 disposed within the non-sterile field. The linear motion generated by the motor is transferred to the portion of the tool via the drape so as to maintain a seal between the non-sterile field and the sterile field.
Typically, sterile drape 102 is disposed around drape plate 104 and sealed with respect to drape plate 104. In general, the drape plate 104 may be coupled to the end effector and to (or may be coupled to) the tool mount 92. When the drape plate is coupled to both the end effector and the tool mount, then movement of the arm and the end effector (created within the non-sterile field) is transferred to the tool mount and the tool (both disposed within the sterile field) via the drape plate.
Referring now to fig. 11A and 11B, fig. 11A and 11B are photographs of a sterile drape 102 and drape plate 104 according to some applications of the present invention, the sterile drape 102 and drape plate 104 being similar to the sterile drape 102 and drape plate 104 schematically shown in fig. 10A, 10B, and 10C. Fig. 11A is a photograph showing a view of the sterile drape and drape plate from the sterile field. It will be observed that a tool mount 92 is shown, in the example shown, the tool mount 92 being built into the drape plate 104. In addition, stickers 116 are also shown. As described above, the sticker is configured to be placed at a portion of the sterile drape disposed at an interface between the tool actuation arm and the portion of the tool being pushed, the portion of the sterile drape configured to have greater rigidity and/or abrasion resistance than other portions of the drape. It is also observed that the drape 102 is shaped for placement on the arm of the robotic unit. Fig. 11B is a photograph showing a view of the sterile drape and drape sheet from a non-sterile field. As can be observed, the back side of the drape plate is generally shaped to define a housing 122. The housing generally houses the gear 54A. The housing portion is generally configured to be coupled to an end effector 30 (as shown in fig. 10A), the end effector 30 being disposed at the end of the arm and supporting a tool motor 52. For example, the housing portion may be coupled to the end effector via a snap-lock mechanism (snap-lock mechanism).
Referring now to fig. 12A and 12B, fig. 12A and 12B are schematic illustrations of a sterile drape 124 and drape plate 126 for use with a robotic unit in accordance with some additional alternative applications of the present invention, with a tool rotated within an end effector. The device as shown in fig. 12A-12B is substantially similar to the device shown and described with reference to fig. 10A-10C, except for the following differences. In the arrangement shown in fig. 12A-12B, the tool motor 52 is configured to drive the worm gear 128 in a linear motion (e.g., in an up-down direction) so as to drive the rotation of the gear 54B (which is typically built into the tool 21 or tool sleeve 23 or coupled to the tool 21 or tool sleeve 23). As described with reference to fig. 10A-10C, typically, the tool motor 52 is disposed on the end effector 30 and the end effector 30 is disposed within the non-sterile field. The tool motor 52 typically directly drives the linear motion transmission portion 130 (e.g., a pin or shaft) for linear movement (e.g., in an up-down direction). The motion transmitting portion is configured to transmit linear motion of the motor to the worm gear 128, and the worm gear drives rotation of the tool relative to the end effector via rotation of the drive gear (i.e., spur gear) 54B. For some applications, the worm gear is disposed within (e.g., built into) the drape plate. Typically, the linear motion drive portion 130 is mechanically coupled to the worm gear 128 in such a way that the interface between the linear motion drive portion and the worm gear 128 is sealed so as to maintain a seal between the sterile field and the non-sterile field (e.g., via an O-ring 132 as shown in fig. 12B). Thus, in the example shown in fig. 12A-12B, movement of the tool relative to the end effector is produced by motor 52 disposed within the non-sterile zone. The linear motion generated by the motor is transferred to the sterile field via an interface that maintains a seal between the non-sterile field and the sterile field. The linear motion is then converted into rotational motion of the tool relative to the end effector.
Referring now to fig. 13, fig. 13 is a schematic illustration of an end effector 30 according to some applications of the present invention, the end effector 30 including a tool actuation arm 110 for linearly pushing a tool or a portion of a tool. For some applications, the tool actuation arm is configured to automatically fold in response to being retracted from the tool mount 92 to a given distance. Referring also to fig. 14A, 14B and 14C, fig. 14A, 14B and 14C are schematic illustrations of an automatically collapsible tool actuation arm at respective stages of its movement relative to a tool holding portion of an end effector, according to some applications of the present invention. As described above, generally, the tool actuation arm 110 is configured to linearly push a portion of a tool (e.g., the plunger 120 of a syringe). Typically, the linear tool motor 100 drives the arm linearly via a drive shaft 134 (shown in fig. 13). For some applications, the tool actuation arm is configured to automatically fold in response to retraction from the tool mount 92 to a given distance, as shown by the transition from fig. 14A to fig. 14B and then from fig. 14B to fig. 14C. In this manner, the tool actuation arm may be automatically folded to allow space for insertion of a larger tool (e.g., phacoemulsification probe) into the tool mount without the need to remove and/or manually fold the tool actuation arm. Typically, the tool actuation arm is configured to automatically fold by activating an automatic tool actuation arm deployment mechanism (e.g., a spring mechanism). Further, typically, the tool actuation arm is configured to automatically deploy (e.g., via activation of an automatic tool actuation arm deployment mechanism (e.g., a spring mechanism)) in response to the tool actuation arm being moved closer to the tool mount. For some applications, rather than configuring the arms to fold automatically, the arms are configured to move in a different manner to allow room for insertion of a larger tool (e.g., phacoemulsification probe) into the tool mount without removing and/or manually moving the tool actuation arm. For example, the arms may be configured to retract automatically, e.g., using an electromechanical actuator, a spring mechanism, or the like.
It is noted that the scope of the present application includes combining the elements of the sterile drape, drape plate, and tool actuation arm shown in the respective figures with one another. Purely by way of example, the tool actuation arm shown in fig. 13-14C may be combined with any of the examples of sterile drapes and drape plates described with reference to fig. 9-12B.
Although some applications of the present invention are described with reference to cataract surgery, the scope of the present application includes application of the devices and methods described herein to other medical procedures with appropriate modifications. In particular, the devices and methods described herein for other medical procedures may be applied to other microsurgery, such as general surgery, orthopedic surgery, gynecological surgery, otorhinolaryngological surgery, neurosurgery, oral maxillofacial surgery, orthopedic surgery, podiatric surgery, vascular surgery, and/or pediatric surgery performed using microsurgical techniques. For some such applications, the imaging system includes one or more microscopic imaging units.
It should be noted that the scope of the present application includes application of the devices and methods described herein, with appropriate modification, to intraocular procedures other than cataract surgery. Such procedures may include collagen crosslinking, endothelial keratoplasty (e.g., DSEK, DMEK, and/or PDEK), DSO (post-corneal elastic layer dissection without grafting), laser assisted keratoplasty, LASIK/PRK, SMILE, pterygium, ocular surface cancer treatment, secondary IOL implantation (suturing, transconjuction, etc.), iris repair, IOL replacement, superficial keratotomy, minimally Invasive Glaucoma Surgery (MIGS), limbal stem cell transplantation, astigmatic keratotomy, limbal Relief (LRI), amniotic Membrane Transplantation (AMT), glaucoma surgery (e.g., trabs), catheter implantation (tube), minimally invasive glaucoma surgery), automated Lamellar Keratoplasty (ALK), anterior vitrectomy, and/or anterior flat vitrectomy.
Applications of the invention described herein may take the form of a computer program product accessible from a computer-usable or computer-readable medium (e.g., non-transitory computer-readable medium) providing program code for use by or in connection with a computer or any instruction execution system (e.g., computer processor 28). For the purposes of this description, a computer-usable or computer readable medium can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. The medium can be an electronic medium, a magnetic medium, an optical medium, an electromagnetic medium, an infrared medium, or a semiconductor system (or apparatus or device) or a propagation medium. Generally, a computer-usable or computer-readable medium is a non-transitory computer-usable or computer-readable medium.
Examples of a computer-readable medium include a semiconductor or solid state memory, magnetic tape, a removable computer diskette, a Random Access Memory (RAM), a read-only memory (ROM), a rigid magnetic disk and an optical disk. Current examples of optical discs include compact disc read only memory (CD-ROM), compact disc read/write (CD-R/W), DVD, and USB drives.
A data processing system suitable for storing and/or executing program code will include at least one processor (e.g., computer processor 28) coupled directly or indirectly to memory elements through a system bus. The memory elements can include local memory employed during actual execution of the program code, bulk storage, and cache memories which provide temporary storage of at least some program code in order to reduce the number of times code must be retrieved from bulk storage during execution. The system may read the inventive instructions on the program storage device and follow those instructions to perform the methods of the embodiments of the present invention.
Network adapters may be coupled to the processor to enable the processor to become coupled to other processors or remote printers or storage devices through intervening private or public networks. Modems, cable modem and Ethernet cards are just a few of the currently available types of network adapters.
Computer program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ or the like and conventional procedural programming languages, such as the C programming language or similar programming languages.
It will be appreciated that the algorithms described herein may be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer (e.g., computer processor 28) or other programmable data processing apparatus, create means for implementing the functions/acts specified in the algorithm described in this application. These computer program instructions may also be stored in a computer-readable medium (e.g., a non-transitory computer-readable medium) that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable medium produce an article of manufacture including instruction means which implement the function/act specified in the algorithm. The computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions/acts specified in the algorithm(s) described in this application.
The computer processor 28 is typically a hardware device programmed with computer program instructions to produce a special purpose computer. For example, when the computer processor 28 is programmed to execute the algorithms described with reference to the drawings, the computer processor 28 typically acts as a dedicated robotic system computer processor. In general, the operations described herein performed by computer processor 28 transform the physical state of memory (which is a real physical object) into having different magnetic polarities, charges, etc., depending on the memory technology used. For some applications, operations described as being performed by a computer processor are performed by multiple computer processors in combination with one another.
It will be appreciated by persons skilled in the art that the present invention is not limited to what has been particularly shown and described hereinabove. Rather, the scope of the present invention includes both combinations and sub-combinations of the various features described hereinabove, as well as variations and modifications thereof which would occur to persons skilled in the art upon reading the foregoing description and which are not in the prior art.
Claims (40)
1. An apparatus for performing a procedure on a portion of a patient's body using a tool, the apparatus comprising:
a robotic unit, the robotic unit comprising:
A base;
an end effector;
a tool mount configured to hold the tool;
a plurality of multi-articulated arms via which the end effector is coupled to the base, each of the multi-articulated arms including a rotatable arched link positioned proximate the end effector, the rotatable arched links configured to make room for the end effector to roll about an axis that is not coaxial with a longitudinal axis of the tool.
2. The apparatus of claim 1, further comprising one or more arm motors configured to move the multi-articulated arm, and further comprising a computer processor configured to:
calculating any roll of the end effector relative to a base about the axis that is not coaxial with the longitudinal axis of the tool due to movement of the multi-articulated arm; and
the one or more arm motors are driven to move the multi-articulated arm so as to compensate for roll of the end effector about the axis that is different from the longitudinal axis of the end effector and the tool, such that the tool rolls about the longitudinal axis of the tool itself.
3. The apparatus of claim 1, wherein each of the rotatable arched links defines a concave curved surface, and wherein the rotatable arched links are configured to make room for the end effector to roll by rotation such that the end effector becomes received in the concave curved surface of the rotatable arched links.
4. The apparatus of claim 1, further comprising an end effector motor configured to directly roll the end effector relative to the base, wherein the rotatable arched link is configured to passively rotate to make room for the end effector to be actively rolled by the end effector motor.
5. The apparatus of any of claims 1-4, further comprising a sterile drape and a drape plate, wherein the drape plate is configured to be coupled to the end effector such that the multi-articulated arm and the end effector are disposed in a non-sterile zone on a first side of the sterile drape and the tool mount is disposed within a sterile zone on a second side of the sterile drape.
6. The apparatus of claim 5, wherein the drape plate is configured to be coupled to the end effector such that all motion driving portions of the robotic unit configured to drive movement of the end effector are disposed in the non-sterile zone on the first side of the sterile drape.
7. The apparatus of any of claims 1-4, wherein the rotatable arched link is configured to rotate to make room for the end effector to roll through an angle of more than 180 degrees.
8. The apparatus of claim 7, wherein the rotatable arched link is configured to rotate to allow room for the end effector to roll through an angle of more than 300 degrees.
9. The apparatus of any of claims 1-4, wherein each of the plurality of multi-articulated arms further comprises a first straight link adjacent a first end of the rotatable arched link and a second straight link adjacent a second end of the rotatable arched link, the end effector coupled to the rotatable arched link via the second straight link, and wherein the second straight link is disposed at an angle relative to the first straight link.
10. The apparatus of claim 9, further comprising a motor located within at least one of the arms, the motor configured to roll the rotatable arched link relative to the first straight link, wherein an angle between the first straight link and the second straight link is configured such that rolling of the rotatable arched link relative to a straight link results in rolling of the end effector.
11. An apparatus for performing a procedure on a portion of a patient's body using a robotic unit including 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, the apparatus comprising:
a drape plate configured to be placed between the tool mount and the end effector;
a sterile drape disposed about and sealed with respect to the drape plate and configured to form an interface between a non-sterile area on a first side of the sterile drape and a sterile area on a second side of the sterile drape such that the tool mount is disposed within the sterile area and the one or more robotic arms and the tool motor are disposed within the non-sterile area;
at least one gear mechanism configured to be disposed within the sterile field and configured to drive the tool in a roll relative to the end effector; and
A motion transmission portion configured to transmit motion from the tool motor to the at least one gear mechanism while maintaining a seal between the sterile field and the non-sterile field.
12. The apparatus of claim 11, further comprising at least one computer processor configured to:
the end effector is driven to move relative to the base by moving the one or more arms,
calculating any roll of the end effector relative to the base, and
the tool motor is driven to roll the tool relative to the end effector so as to compensate for any roll of the end effector relative to the base.
13. The apparatus of claim 11 or claim 12, wherein the motion transmission portion comprises a shaft and the tool motor is configured to drive the shaft in rotation, wherein the at least one gear mechanism comprises a first gear driven in rotation by the shaft and a second gear driven in rotation by the first wheel.
14. The device of claim 13, wherein an interface between the shaft and the first gear is sealed so as to maintain a seal between the sterile zone and the non-sterile zone.
15. The apparatus of claim 13, wherein the first gear is disposed within the drape plate.
16. The apparatus of claim 13, wherein the second gear is built into the tool.
17. The apparatus of claim 13, further comprising a tool sleeve configured to be disposed about the tool, wherein the second gear is built into the tool sleeve.
18. The apparatus of claim 11 or claim 12, wherein the motion transmission portion comprises a shaft and the tool motor is configured to drive the shaft in rotation, wherein the at least one gear mechanism comprises a worm gear driven in linear movement by the shaft and a gear driven in rotation by linear movement of the first wheel.
19. The device of claim 18, wherein an interface between the shaft and the worm gear is sealed so as to maintain a seal between the sterile field and the non-sterile field.
20. The device of claim 18, wherein the worm gear is disposed within the drape plate.
21. The apparatus of claim 18, wherein the gear is built into the tool.
22. The apparatus of claim 18, further comprising a tool sleeve configured to be disposed about the tool, wherein the gear is built into the tool sleeve.
23. The apparatus of claim 11 or claim 12, further comprising:
a linear tool motor configured to drive at least a portion of the tool in linear motion relative to the end effector,
a tool actuation arm configured to be linearly moved by the linear tool motor to thereby linearly move at least a portion of the tool relative to the end effector,
wherein the sterile drape is configured to form the interface such that the linear tool motor is disposed within the non-sterile zone and such that the tool actuation arm is disposed within the non-sterile zone.
24. The apparatus of claim 23, wherein a portion of the sterile drape configured to be disposed at an interface between the tool actuation arm and a portion of the tool being pushed is configured to be more rigid and/or wear resistant than other portions of the drape.
25. An apparatus for performing a procedure on a portion of a patient's body using a robotic unit including an end effector, a tool mount configured to hold a tool such that the tool is coaxial with the end effector, a linear tool motor configured to drive at least a portion of the tool to move linearly relative to the end effector, and one or more robotic arms configured to move the end effector, the apparatus comprising:
A drape plate configured to be placed between the tool mount and the end effector;
a sterile drape disposed about and sealed with respect to the drape plate and configured to form an interface between a non-sterile area on a first side of the sterile drape and a sterile area on a second side of the sterile drape such that the tool mount is disposed within the sterile area and the one or more robotic arms and the linear tool motor are disposed within the non-sterile area; and
a tool actuation arm configured to be disposed within the non-sterile zone and configured to be linearly moved by the linear tool motor to thereby linearly move at least a portion of the tool relative to the end effector;
wherein a portion of the sterile drape configured to be disposed at an interface between a tool actuation arm and a portion of the tool being pushed is configured to be more rigid and/or wear resistant than other portions of the drape.
26. The device of claim 25, wherein the device comprises a sticker placed at the portion of the sterile drape, the sticker configured to enhance rigidity and/or abrasion resistance of the portion relative to other portions of the sterile drape.
27. The device of claim 25, wherein the portion of the sterile drape is heat treated to enhance the rigidity and/or abrasion resistance of the portion relative to other portions of the sterile drape.
28. The device of claim 25, wherein the portion of the sterile drape is chemically treated to enhance the rigidity and/or abrasion resistance of the portion relative to other portions of the sterile drape.
29. The device of claim 25, wherein the portion of the sterile drape comprises an alternative or additional material to enhance the rigidity and/or abrasion resistance of the portion relative to other portions of the sterile drape.
30. The apparatus of claim 25, further comprising an automated tool actuation arm folding mechanism configured to automatically fold the tool actuation arm in response to retraction from the tool mount to a given distance.
31. An apparatus for performing a procedure on a portion of a patient's body using a robotic unit including an end effector, a tool mount configured to hold a tool such that the tool is coaxial with the end effector, and a linear tool motor configured to drive linear movement of at least a portion of the tool relative to the end effector, the apparatus comprising:
A tool actuation arm configured to be linearly moved by the linear tool motor to thereby linearly move at least a portion of the tool relative to the end effector; and
an automatic tool actuation arm folding mechanism configured to automatically fold the tool actuation arm in response to retraction from the tool mount to a given distance.
32. The apparatus of claim 31, wherein the automated tool actuation arm folding mechanism comprises a spring mechanism.
33. The apparatus of claim 31, wherein the tool comprises a syringe comprising a plunger, and wherein the tool actuation arm is configured to linearly push the plunger of the syringe.
34. The apparatus of claim 31, wherein the tool actuation arm is configured to fold such that the tool mount can make room for a large tool without requiring removal and/or manual folding of the tool actuation arm.
35. The apparatus of claim 31, wherein the robotic unit is configured for performing cataract surgery using a plurality of tools including a phacoemulsification probe, and wherein the tool actuation arm is configured to fold such that the tool mount can make room for the phacoemulsification probe without removing and/or manually folding the tool actuation arm.
36. The apparatus of any of claims 31-35, further comprising an automated tool actuation arm deployment mechanism configured to cause the tool actuation arm to automatically deploy in response to the tool actuation arm being moved closer to the tool mount.
37. The apparatus of claim 36, wherein the automated tool actuation arm deployment mechanism comprises a spring mechanism.
38. An apparatus for performing a procedure on an eye of a patient using a tool, the apparatus comprising:
a robotic unit, the robotic unit comprising:
a base;
an end effector;
a tool mount configured to hold the tool;
a plurality of multi-articulated arms via which the end effector is coupled to the base, the multi-articulated arms configured to allow the end effector to move relative to the base such that the end effector rolls relative to the base;
at least one arm motor configured to move the multi-articulated arm; and
at least one tool motor configured to rotate the tool relative to the end effector about a longitudinal axis of the tool; and
At least one computer processor configured to:
the arm motor is driven by moving the multi-articulated arm to move the end effector relative to the base,
calculating any roll of the end effector relative to the base, and
driving the tool motor rolls the tool about the longitudinal axis of the tool itself so as to compensate for any roll of the end effector relative to the base.
39. The apparatus of claim 38, wherein the robotic unit is configured to perform at least a portion of a cataract procedure on the patient's eye.
40. The apparatus of claim 38, wherein the robotic unit is configured for use with a tool that is not rotationally symmetric.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US63/195,429 | 2021-06-01 | ||
| US202163229593P | 2021-08-05 | 2021-08-05 | |
| US63/229,593 | 2021-08-05 | ||
| PCT/IB2022/055086 WO2022254335A1 (en) | 2021-06-01 | 2022-05-31 | Kinematic structures and sterile drapes for robotic microsurgical procedures |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117412723A true CN117412723A (en) | 2024-01-16 |
Family
ID=89487589
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202280039394.4A Pending CN117412723A (en) | 2021-06-01 | 2022-05-31 | Kinematic structure and sterile drape for robotic microsurgery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117412723A (en) |
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2022
- 2022-05-31 CN CN202280039394.4A patent/CN117412723A/en active Pending
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