Carl Zeiss Meditec

A surgical robotic system for ophthalmic surgery, comprising an instrument manipulator (240) for mounting a surgical instrument (250), wherein the surgical robotic system is configured to establish a remote center of motion, RCM, for the surgical instrument and to control a position of the RCM in three-dimensional space, wherein the surgical robotic system comprises a processor subsystem configured to reposition the RCM to track the entry point during orbital manipulation of the eye by accessing a model indicative of a repositioning of the entry point in three-dimensional space during orbital manipulation of the eye; repositioning the RCM in accordance with the model during the orbital manipulation of the eye; obtaining intraoperative sensor data and analyzing the intraoperative sensor data to detect a deviation of the RCM from the entry point and/or the ocular surface of the eye; and adjusting the position of the RCM based on the detected deviation. This may reduce the reliance on a perfectly accurate model, while still enabling the RCM to track the entry point during orbital manipulation.

A surgical device (1) is provided for use in microsurgery, comprising an outer tube (20) comprising a distal end, an instrument insert (30) extending axially from the distal end of the outer tube, wherein the instrument insert comprises at least two working ends (40, 50), wherein the outer tube is configured to slidably move (S) over the instrument insert, wherein the at least two working ends are structurally biased to an open state, wherein the instrument insert is actuated by the outer tube being advanced distally over the instrument insert to cause the outer tube to urge the at least two working ends to a closed state. The surgical device (1) further comprises an optical fiber (60) for intraoperative sensing, wherein the optical fiber is arranged relative to the instrument insert to have axial forward visibility when the at least two working ends are in the closed state.

A surgical robotic system for intraocular procedures is provided. The system comprises a surgical arm having a movable arm part, wherein the movable arm part comprises an end effector configured to hold a surgical instrument, the surgical instrument comprising a needle 121 for subretinal injection of a substance below a retinal surface 220. The system further comprises an actuator subsystem configured to actuate the movable arm part and a processor subsystem configured to control the actuator subsystem to control a longitudinal positioning of the surgical instrument during the intraocular procedure. The processor subsystem is configured to control the actuator subsystem to perform at least part of a subretinal injection procedure by indenting the retinal surface 220 with a tip 122 of the needle 121 and, from the indented state of the retinal surface 220, performing a piercing movement by advancing the needle 121 longitudinally to penetrate the retinal surface 220 and reach a target depth 123 below the retinal surface 220. A corresponding computer-implemented method for controlling such a surgical robotic system is also provided.

Es werden Techniken zur Bestimmung von Kontextinformation für eine geschätzte Patienten-Registrierung (85) beschrieben. Die Patienten-Registrierung kann z.B. von einem chirurgischen Navigationssystem geschätzt werden. Die Kontextinformation kann z.B. eine Unsicherheit für die Patienten-Registrierung und/oder eine alternative Schätzung für die Patienten-Registrierung angeben. Die Kontextinformation wird anhand von intraoperativen Bilddaten, die mittels eines chirurgischen Visualisierungssystems erfasst werden, bestimmt. Basierend auf der Kontextinformation können dann ein oder mehrere Komponenten, die mit einem chirurgischen Assistenzsystem assoziiert sind, angesteuert werden.

Es werden Techniken zur Bestimmung von Kontextinformation für eine geschätzte Patienten-Registrierung (85) beschrieben. Die Patienten-Registrierung kann z.B. von einem chirurgischen Navigationssystem geschätzt werden. Die Kontextinformation kann z.B. eine Unsicherheit für die Patienten-Registrierung und/oder eine alternative Schätzung für die Patienten-Registrierung angeben. Die Kontextinformation wird anhand von intraoperativen Bilddaten, die mittels eines chirurgischen Visualisierungssystems erfasst werden, bestimmt. Basierend auf der Kontextinformation können dann ein oder mehrere Komponenten, die mit einem chirurgischen Assistenzsystem assoziiert sind, angesteuert werden.

A surgical robotic system 200 is provided which comprises an eye manipulation system. The eye manipulation system may be configured for orbital manipulation of an eye of a patient. The eye manipulation system may comprise an arm 132 having at least one degree of freedom and an eye gripping device 130 mounted to a distal end of the arm. The eye gripping device may be configured to engage an eyeball 102 by exerting a grip on a fibrous surface layer of the eyeball, and the arm may be adjustable in pose to move the eye gripping device along a curved plane 131 representing a curvature of the eyeball to, when the eyeball is engaged by the eye gripping device, rotate the eyeball within an eye socket 104.

An eye gripping device 120 is provided for engaging an eyeball 102. The eye gripping device comprises a base structure that includes one or more contact elements 126. The contact elements define one or more contact surfaces arranged along a contact plane that conforms to the curvature of the ocular surface. The device further includes a plurality of needles 128 affixed to the base structure, each needle having an outer diameter of 600 µm or less, preferably 400 µm or less, and more preferably 200 µm or less. The needles protrude from the contact plane by 600 µm or less, preferably 400 µm or less, facilitating secure engagement with the ocular surface without penetrating deeply into the tissue. The device is suitable for precise eye manipulation, ensuring stability during procedures involving the eyeball 102.

An eye manipulation system is provided for orbital manipulation of an eye of a patient. The eye manipulation system may comprise an arm 132 having at least one degree of freedom and an eye gripping device 130 mounted to a distal end of the arm. The eye gripping device may be configured to engage an eyeball 102 by exerting a grip on a fibrous surface layer of the eyeball, and the arm may be adjustable in pose to move the eye gripping device along a curved plane 131 representing a curvature of the eyeball to, when the eyeball is engaged by the eye gripping device, rotate the eyeball within an eye socket 104. A surgical robotic system 200 may be provided which comprises the eye manipulation system. In such an example, the arm 132 of the eye manipulation system may be attached to a component of the surgical robotic system.

Systems and methods are provided for performing Doppler (phase-sensitive) optical coherence tomographic vibrometry measurements involving the vibrometric response of a rigid structure to an acoustic stimulus, such that the impact of speckle noise on a calculated vibrometric measure is reduced. Detected signals are processed to determine a depth range associated with the rigid structure, and to provide sampled time-dependent phase data encoded with the vibratory response of the rigid structure during application of the acoustic stimulus. The sampled time-dependent phase profile is processed to generate a vibrometric measure characterizing the rigid structure, based on non-uniformly-weighted contributions from one or more subregions within the depth region associated with the rigid structure (and optionally one or more time windows). The contribution from each subregion may be dependent on a depth-domain intensity measure associated with the subregion, where each subregion may be sufficiently small to encompass speckle-induced spatially-dependent changes.

The disclosure relates to a nose cone (160) for a vibrometry measurement system. The nose cone comprises a cone body (165) having a base portion (210) and a top portion (220); the top portion (220) comprising a plurality of ports (230, 332, 334) on a top surface (225), wherein at least one light guiding element (144) is coupled to at least one of the plurality of ports (230, 332, 334). A speaker duct (336) configured to transmit an acoustic stimulus from a speaker (152); and a microphone duct (338) configured to relay an acoustic pressure to a microphone (154). The invention further relates to a vibrometry measurement system and a method for manufacturing a nose cone.