METHOD, APPARATUS, AND A SYSTEM FOR ROBOTIC ASSISTED CATARACT SURGERY

• US 20140364870A1
• Filed: 06/11/2014
• Published: 12/11/2014
• Est. Priority Date: 06/11/2013
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Auris Surgical Robotics, Inc. (Johnson & Johnson)
• Inventors: Alvarez, Jeffery B., Mintz, David, Kintz, Greg, Wong, Serena
• Granted Patent: US 10,744,035 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 3/10 Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61F 2009/00851 Optical coherence topography [OCT]
• CPC Class Codes: A61F 2009/0087 Lens
• CPC Class Codes: A61F 2009/00887 Cataract
• CPC Class Codes: A61F 2009/00889 Capsulotomy
• CPC Class Codes: A61F 9/00736 Instruments for removal of intra-ocular material or intra-ocular injection, e.g. cataract instruments A61F9/008 takes precedence
• CPC Class Codes: A61F 9/008 using laser

Abstract

Systems and processes for facilitating the removal of cataract material with a robotically assisted tool with laser, irrigation capabilities, aspiration capabilities. Tool guidance systems that make use of vision technologies, including optical coherence tomography (OCT), white light imaging, and structured light imaging. Emulsification patterns optimized to minimize risk to the patient and reduce procedure time. Robotic tools with articulation capabilities that allow for precise control during capsulorhexis and emulsification procedures. Robotic instrument drive mechanisms combined with pumps, flow meters, and valves regulate and control irrigation and aspiration functionalities during robotic ophthalmologic procedures.

Claims

1. An apparatus comprising:

an instrument drive mechanism comprising an instrument interface;

a robotic tool comprising a robotic tool tip, wherein the robotic tool is coupled to the instrument interface; and

a vision system configured to detect a position of at least one of an anatomical structure of a patient and the robotic tool;

wherein the instrument drive mechanism is configured to manipulate the robotic tool.

2. The apparatus of claim 1, wherein the anatomical structure is an eye of the patient.

3. The apparatus of claim 1, wherein the instrument drive mechanism is further configured to manipulate the robotic tool tip in response to a change in the position.

4. The apparatus of claim 1, wherein the instrument drive mechanism is further configured to manipulate the robotic tool tip in response to commands from a user.

5. The apparatus of claim 1, wherein the instrument drive mechanism is a robotic arm.

6. The apparatus of claim 1, wherein the instrument interface is configured to couple to a plurality of different robotic tools.

7. The apparatus of claim 1, wherein the robotic tool comprises at least one of a laser device, an ultrasonic device, an irrigation device, and an aspiration device.

8. The apparatus of claim 7, wherein a laser fiber of the laser device is configured to extend beyond the length of the robotic tool tip.

9. The apparatus of claim 7, wherein the irrigation device and the aspiration device are jointly configured to maintain a material volume inside an enclosed operative space of the anatomic structure.

10. The apparatus of claim 1, wherein the vision system comprises at least one of a white light imaging device, a structured light imaging device, and an optical coherence tomographic imaging device.

11. The apparatus of claim 10, wherein the robotic tool tip comprises a reflective marker configured to be detected by the vision system.

12. The apparatus of claim 1, wherein the robotic tool is configured to deploy an umbrella-like structure.

13. A method comprising:

detecting a position, using a vision system, of at least one of an anatomical structure of a patient and a robotic tool; and

manipulating the robotic tool, using a robotic instrument drive mechanism, in response to a change in the position;

wherein the robotic tool is coupled to an instrument interface of the robotic instrument drive mechanism.

14. The method of claim 13, wherein the anatomical structure is an eye of the patient.

15. The method of claim 14, wherein the robotic tool comprises at least one of a laser device, an ultrasonic device, an irrigation device, and an aspiration device.

16. The method of claim 15, wherein a laser fiber of the laser device is configured to extend beyond the length of the robotic tool tip.

17. The method of claim 15, wherein the irrigation device and the aspiration device are jointly configured to maintain a material volume inside an enclosed operative space of the eye of the patient.

18. The method of claim 15, wherein manipulating the robotic tool comprises at least one of maneuvering the robotic tool relative to the eye of the patient, changing the pulse repetition rate of the laser device of the robotic tool, and changing the pulse energy of the laser device of the robotic tool.

19. The method of claim 13, wherein the instrument drive mechanism is configured to manipulate the robotic tool in response to a change in the position.

20. The method of claim 13, wherein the instrument drive mechanism is configured to manipulate the robotic tool in response to commands from a user.