US 12,383,359 B2
Surgical master-slave robot
Gerrit Jacobus Lambertus Naus, Eindhoven (NL); Hildebert Christiaan Matthijs Meenink, Steenderen (NL); Maarten Joannes Beelen, 's-Hertogenbosch (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 Dec. 18, 2023, as Appl. No. 18/543,051.
Application 18/543,051 is a continuation of application No. 17/141,167, filed on Jan. 4, 2021, granted, now 11,986,264.
Application 17/141,167 is a continuation of application No. 16/075,821, granted, now 10,905,509, issued on Feb. 2, 2021, previously published as PCT/EP2017/052103, filed on Feb. 1, 2017.
Claims priority of application No. 16154172 (EP), filed on Feb. 4, 2016.
Prior Publication US 2024/0115341 A1, Apr. 11, 2024
Int. Cl. A61B 34/37 (2016.01); A61B 34/00 (2016.01); A61B 90/50 (2016.01); A61F 9/007 (2006.01)
CPC A61B 34/37 (2016.02) [A61B 34/70 (2016.02); A61B 90/50 (2016.02); A61F 9/007 (2013.01); A61B 34/25 (2016.02); A61B 2090/508 (2016.02)] 19 Claims
OG exemplary drawing
 
1. A robotic eye surgery system for use in eye surgery on a subject, the robotic eye surgery system comprising:
an instrument manipulator for manipulating an intraocular surgical instrument held by the robotic eye surgery system; and
a linkage system for moveably suspending the instrument manipulator, wherein the linkage system is configured for guiding one or more suspension points of the instrument manipulator to move along respective movement trajectories to provide a curve-shaped or arc-shaped movement of the instrument manipulator from a surgical position proximate to the subject to a distal position distal to the subject, wherein the movement of the instrument manipulator causes a tip of a distal end of the instrument manipulator to move along a tip movement trajectory, wherein an end portion of the tip movement trajectory proximate to the subject is oriented in a direction perpendicular to a surgical entry surface of the eye of the subject.