Rapid and precise tool exchange mechanism for intraocular robotic surgical systems
Inventors
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Assignees
University of California San Diego UCSD
University of California, San Diego (UCSD)The University of California, San Diego (UCSD) is a leading public research university located in La Jolla, California. Known for its innovative and interdisciplinary approach, UCSD offers a wide range of undergraduate, graduate, and professional programs across various fields. The university is committed to fostering a diverse and inclusive community, promoting sustainability, and driving social mobility through education, research, and public service. UCSD is recognized for its contributions to research and innovation, particularly in areas such as climate science, health innovation, and artificial intelligence.
The University of California, San Diego (UCSD) is a leading public research university located in La Jolla, California. Known for its innovative and interdisciplinary approach, UCSD offers a wide range of undergraduate, graduate, and professional programs across various fields. The university is committed to fostering a diverse and inclusive community, promoting sustainability, and driving social mobility through education, research, and public service. UCSD is recognized for its contributions to research and innovation, particularly in areas such as climate science, health innovation, and artificial intelligence.
Publication Number
US-12364560-B2
Publication Date
2025-07-22
Expiration Date
2039-03-20
Abstract
A system for intraocular robotic surgery includes: (1) a set of mounts to receive a tool collar to which a surgical tool is secured; (2) a rotational actuator connected to the set of mounts to drive rotation of the set of mounts; and (3) a translational actuator connected to the set of mounts to drive linear translation of the set of mounts.
Core Innovation
The invention relates to a mechanism for rapid, precise, and repeatable removal and replacement of surgical instruments or tools during intraocular surgical procedures, integrated on-board a robotic surgical system. This tool exchange mechanism includes a set of mounts receiving a tool collar to which various surgical instruments are secured, a coupling mechanism that secures the tool collar while enabling low-force removal, a rotational actuator to drive rotation of the tool collar and tool about its centerline, and a translational actuator to drive linear translation along the tool centerline.
The mechanism is designed to accommodate arbitrary tool sizes and shapes, providing a common universal interface through the tool collar received by the set of mounts. It facilitates precise and repeatable tool exchanges by kinematically constraining the surgical instrument in a single, self-aligning, and repeatable manner. The force-based coupling mechanism secures the tool while allowing for rapid, low-force removal and replacement, eliminating the need for post-mounting calibration or tuning. The system also provides ample space to accommodate surgical tubing and wiring, reducing physical interference and stress on cables.
The problem addressed is that intraocular microsurgical procedures are multistep and require multiple tools passed through a limited number of entry sites in the sclera. Current approaches involve custom-designed collars and mounts rigidly secured, which require accurate and time-consuming calibration, often repeated for each surgery. There is a need for a mechanism enabling rapid, low-force tool exchange while maintaining high precision and accuracy without offline calibration, improving timing and safety during surgery.
Claims Coverage
The patent includes three independent claims covering a system for intraocular robotic surgery and a tool collar, each detailing key inventive features related to rapid, precise, and repeatable tool exchange mechanisms.
Tool exchange system with low-force removable coupling
A system comprising a tool collar with a clamping mechanism for removably securing a surgical tool, a set of mounts configured to receive the tool collar and removably coupled via electromagnetic, magnetic, or vacuum force, a rotational actuator connected to the mounts to rotate the coupled tool collar and tool, and a translational actuator connected to the mounts to drive linear translation.
Mounting wheels and sliding carriage configuration
The set of mounts includes pairs of mounting wheels spaced to receive the tool collar, mounted on a sliding carriage movably mounted to a base. The sliding carriage houses a rotational actuator connected to the mounting wheels for rotation, and a translational actuator connected to the sliding carriage to drive linear translation.
Tool collar with clamping mechanism and support rings
A tool collar comprising a hollow body and a pair of support rings at respective ends including a clamping mechanism to secure a surgical tool extending within the hollow body. The support rings are configured to be removably coupled to a set of mounts by electromagnetic, magnetic, or vacuum force and to allow rotation of the surgical tool via rotation of the mounts when coupled.
Overall, the inventive features focus on a rapid, precise, and repeatable tool exchange mechanism involving a universal tool collar with clamping, a mount system with mounting wheels and sliding carriage enabling rotational and translational actuation, and force-based coupling allowing low-force removal and replacement of surgical tools without need for recalibration.
Stated Advantages
Provides rapid and precise tool exchange allowing low-force removal and replacement of surgical instruments or tools.
Accommodates arbitrary tool sizes and shapes via a common universal interface, enabling versatile use.
Offers precise and repeatable kinematic constraint and self-alignment of surgical tools, eliminating need for post-mounting calibration.
Includes sufficient space and stress relief for surgical tubing and wiring, reducing physical interference.
Enhances intraocular robotic surgery by improving timing, safety, and accuracy compared to custom collar approaches requiring time-consuming calibration.
Documented Applications
Use in intraocular robotic surgical systems for minimally invasive eye surgery such as cataract surgery, pars plana vitrectomy, and epiretinal membrane dissection requiring precise and repeatable tool exchanges.
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