US-12623341-B2 - Kinematic structures and sterile drapes for robotic microsurgical procedures

US12623341B2US 12623341 B2US12623341 B2US 12623341B2US-12623341-B2

Abstract

Apparatus and methods are described for performing a procedure using a robotic unit. A sterile drape is placed around a drape plate, such that the sterile drape forms an interface between a non-sterile zone and a sterile zone, such that the tool mount is disposed within the sterile zone, and one or more robotic arms and a tool motor are disposed within the non-sterile zone. The tool is driven to roll with respect to the end effector via at least one gear mechanism disposed within the sterile zone, 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 zone and the non-sterile zone. Other applications are also described.

Inventors

Ariel GIL
Daniel Glozman
Ofer ARNOLD

Assignees

FORSIGHT ROBOTICS LTD.

Dates

Publication Date: 20260512
Application Date: 20230323

Claims (16)

1 . Apparatus for performing a procedure on a portion of a body of a patient using a robotic unit that includes an end-effector, a tool motor configured to roll the tool with respect to the end effector, and one or more robotic arms that are configured to move the end effector, the apparatus comprising: a sterile drape configured to form an interface between a non-sterile zone on a first side of the sterile drape and a sterile zone on a second side of the sterile drape, such that the tool is disposed within the sterile zone, and the one or more robotic arms and the tool motor are disposed within the non-sterile zone; at least one gear wheel configured to be disposed within the sterile zone and configured to drive the tool to roll with respect to the end effector; a shaft configured to transmit motion from the tool motor to the at least one gear wheel; and a seal coupled to the shaft and configured to maintain a seal between the sterile zone and the non-sterile zone.
2 . The apparatus according to claim 1 , further comprising at least one computer processor configured to: output instructions to drive the one or more arms to move the end effector, calculate any resultant rolling of the end effector, and output instructions to drive the tool motor to roll the tool with respect to the end effector, such as to compensate for any resultant rolling of the end effector.
3 . The apparatus according to claim 1 , further comprising a second gear wheel that is driven to rotate by the first gear wheel.
4 . The apparatus according to claim 3 , wherein the seal seals an interface between the shaft and the first gear wheel, such as to maintain the seal between the sterile zone and the non-sterile zone.
5 . The apparatus according to claim 3 , further comprising a plate that is coupled to the sterile drape and that is couplable to the end effector, wherein the first gear wheel is disposed within the plate.
6 . The apparatus according to claim 3 , wherein the second gear wheel is built into the tool.
7 . The apparatus according to claim 3 , further comprising a tool sleeve configured to be disposed around the tool, wherein the second gear wheel is built into the tool sleeve.
8 . The apparatus according to claim 1 , further comprising: a linear tool motor configured to drive at least a portion of the tool to move linearly with respect to the end effector, a tool-actuation arm configured to be moved linearly by the linear tool motor to thereby move at least the portion of the tool linearly with respect 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 tool-actuation arm is disposed within the non-sterile zone.
9 . The apparatus according to claim 8 , wherein a portion of the sterile drape that is configured to be disposed at an interface between the tool-actuation arm and the portion of the tool that is pushed has greater rigidity than other portions of the drape.
10 . The apparatus according to claim 8 , wherein a portion of the sterile drape that is configured to be disposed at an interface between the tool-actuation arm and the portion of the tool that is pushed is has greater wearability than other portions of the drape.
11 . A method for performing a procedure on a portion of a body of a patient using a robotic unit that includes an end-effector, a tool motor configured to roll the tool with respect to the end effector, and one or more robotic arms that are configured to move the end effector, the method comprising: placing a sterile drape, such that the sterile drape forms an interface between a non-sterile zone on a first side of the sterile drape and a sterile zone on a second side of the sterile drape, with the tool disposed within the sterile zone, and the one or more robotic arms and the tool motor disposed within the non-sterile zone; and driving the tool to roll with respect to the end effector via at least one gear wheel disposed within the sterile zone, and a shaft configured to transmit motion from the tool motor to the at least one gear wheel, while maintaining a seal between the sterile zone and the non-sterile zone, the method being performed using apparatus comprising: the sterile drape configured to form an interface between the non-sterile zone on the first side of the sterile drape and the sterile zone on the second side of the sterile drape, such that the tool is disposed within the sterile zone, and the one or more robotic arms and the tool motor are disposed within the non-sterile zone; the at least one gear wheel configured to be disposed within the sterile zone and configured to drive the tool to roll with respect to the end effector; and the shaft configured to transmit motion from the tool motor to the at least one gear wheel; and a seal coupled to the shaft and configured to maintain the seal between the sterile zone and the non-sterile zone.
12 . The method according to claim 11 , further comprising operating a computer processor to: output instructions to drive the one or more arms to move the end effector, calculate any resultant rolling of the end effector, and output instructions to drive the tool motor to roll the tool with respect to the end effector, such as to compensate for any resultant rolling of the end effector.
13 . The method according to claim 11 , wherein driving the tool to roll with respect to the end effector comprises driving the tool to roll with respect to the end effector via a second gear wheel that is driven to rotate by the first gear wheel.
14 . The method according to claim 11 , further comprising: driving at least a portion of the tool to move linearly with respect to the end effector, using a linear tool motor, and a tool-actuation arm configured to be moved linearly by the linear tool motor to thereby move at least the portion of the tool linearly with respect to the end effector, wherein the sterile drape forms the interface such that the linear tool motor is disposed within the non-sterile zone and such that tool-actuation arm is disposed within the non-sterile zone.
15 . The method according to claim 14 , wherein a portion of the sterile drape that is configured to be disposed at an interface between the tool-actuation arm and the portion of the tool that is pushed is has greater rigidity than other portions of the drape.
16 . The method according to claim 14 , wherein a portion of the sterile drape that is configured to be disposed at an interface between the tool-actuation arm and the portion of the tool that is pushed has greater wearability than other portions of the drape.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS The present application is a continuation of PCT application no. PCT/IB2022/055086 to Gil et al. filed May 31, 2022, entitled “Kinematic structures and sterile drapes for robotic microsurgical procedures” (published as WO 22/254335), which claims priority from: U.S. Provisional Patent Application No. 63/195,429 to Gil et al., filed Jun. 1, 2021, entitled “Kinematic structures for robotic microsurgical procedures,” andU.S. Provisional Patent Application No. 63/229,593 to Gil et al., filed Aug. 5, 2021, entitled “Sterile drapes for robotic microsurgical procedures.” 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 generally relate to medical apparatus and methods. Specifically, some applications of the present invention relate to apparatus and methods for performing microsurgical procedures in a robotic manner. BACKGROUND Cataract surgery involves the removal of the natural lens of the eye that has developed an opacification (known as a cataract), and its replacement with an intraocular lens. Such surgery typically involves a number of standard steps, which are performed sequentially. In an initial step, the patient's face around the eye is disinfected (typically, with iodine solution), and their face is covered by a sterile drape, such that only the eye is exposed. When the disinfection and draping has been completed, the eye is anesthetized, typically using a local anesthetic, which is administered in the form of liquid eye drops. The eyeball is then exposed, using an eyelid speculum that holds 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(s) are typically made using a specialized blade, which is 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. Following this step, a viscoelastic injection is applied via the corneal incision(s). The viscoelastic injection is performed in order to stabilize the anterior chamber and to help maintain eye pressure during the remainder of the procedure, and also in order to distend the lens capsule. In a subsequent stage, known as capsulorhexis, a part of the anterior lens capsule is removed. Various enhanced techniques have been developed for performing capsulorhexis, such as laser-assisted capsulorhexis, zepto-rhexis (which utilizes precision nano-pulse technology), and marker-assisted capsulorhexis (in which the cornea is marked using a predefined marker, in order to indicate the desired size for the capsule opening). Subsequently, it is common for a fluid wave to be injected via the corneal incision, in order to dissect the cataract's outer cortical layer, in a step known as hydrodissection. In a subsequent step, known as hydrodelineation, the outer softer epi-nucleus of the lens is separated from the inner firmer endo-nucleus by the injection of a fluid wave. In the next step, ultrasonic emulsification of the lens is performed, in a process known as phacoemulsification. The nucleus of the lens is broken initially using a chopper, following which the outer fragments of the lens are broken and removed, typically using an ultrasonic phacoemulsification probe. Further typically, a separate tool is used to perform suction during the phacoemulsification. When the phacoemulsification is complete, the remaining lens cortex (i.e., the outer layer of the lens) material is aspirated from the capsule. During the phacoemulsification and the aspiration, aspirated fluids are typically replaced with irrigation of a balanced salt solution, in order to maintain fluid pressure in the anterior chamber. In some cases, if deemed to be necessary, then the capsule is polished. Subsequently, the intraocular lens (IOL) is inserted into the capsule. The IOL is typically foldable and is inserted in a folded configuration, before unfolding inside the capsule. At this stage, the viscoelastic is removed, typically using the suction device that was previously used to aspirate fluids from the capsule. If necessary, the incision(s) is sealed by elevating the pressure inside the bulbus oculi (i.e., the globe of the eye), causing the internal tissue to be pressed against the external tissue of the incision, such as to force closed the incision. SUMMARY In accordance with some applications of the present invention, a robotic system is configured for use in a microsurgical procedure, such as intraocular surgery. Typically, when used for intraocular surgery, the robotic system includes first and second robotic units. For some applications, each of the robotic units includes an end effector, which is typically configured to securely hold any one of a plurality of different tools thereupon. For some applications, the end effector is coupled to a tool mo