US 12,239,398 B2
Surgical robotic system and control of surgical robotic system
Maarten Joannes Beelen, 's-Hertogenbosch (NL); Gerrit Jacobus Lambertus Naus, Eindhoven (NL); Hildebert Christiaan Matthijs Meenink, Steenderen (NL); and Marc Joseph Dominique De Smet, Mont sur Lausanne (CH)
Assigned to PRECEYES B.V., Eindhoven (NL)
Filed by PRECEYES B.V., Eindhoven (NL)
Filed on Jan. 10, 2024, as Appl. No. 18/408,809.
Application 18/408,809 is a continuation of application No. 17/236,958, filed on Apr. 21, 2021, granted, now 11,903,660.
Application 17/236,958 is a continuation of application No. 16/432,379, filed on Jun. 5, 2019, granted, now 11,013,565, issued on May 25, 2021.
Application 16/432,379 is a continuation of application No. 15/506,519, granted, now 10,350,014, issued on Jul. 16, 2019, previously published as PCT/EP2015/069372, filed on Aug. 24, 2015.
Claims priority of application No. 2013369 (NL), filed on Aug. 26, 2014.
Prior Publication US 2024/0180636 A1, Jun. 6, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 5/103 (2006.01); A61B 17/00 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); B25J 9/16 (2006.01); A61B 90/00 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 17/00234 (2013.01); A61B 34/25 (2016.02); A61B 34/74 (2016.02); A61B 34/77 (2016.02); B25J 9/1676 (2013.01); A61B 2017/00203 (2013.01); A61B 2017/00207 (2013.01); A61B 2017/00216 (2013.01); A61B 2017/00973 (2013.01); A61B 2034/742 (2016.02); A61B 2034/743 (2016.02); A61B 2034/744 (2016.02); A61B 90/03 (2016.02); A61B 2090/062 (2016.02); A61B 2090/08021 (2016.02); G05B 2219/39082 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A surgical robotic system for use in an eye surgery procedure, comprising:
a surgical arm comprising a movable arm part, the movable arm part comprising an instrument connector for mounting of a surgical instrument, the surgical instrument having a longitudinal axis, the movable arm part having at least one degree-of-freedom to enable longitudinal movement of the surgical instrument along the longitudinal axis of the surgical instrument towards a surgical target within an eye;
a human machine interface for receiving positioning commands from a human operator for controlling the longitudinal movement of the surgical instrument;
an actuator configured and arranged for actuating the movable arm part to effect the longitudinal movement of the surgical instrument;
a processor configured for controlling the actuator in accordance with the positioning commands and a virtual bound;
wherein the surgical instrument comprises a sensor for providing sensor data, the sensor data being indicative of a distance between a tip of the surgical instrument and an anatomical structure;
wherein the processor is further configured for:
during use, determining the virtual bound based on the sensor data; and
retract the surgical instrument in longitudinal direction towards the virtual bound when the tip of the surgical instrument arrives past the virtual bound.