Methods for robotic assisted cataract surgery

A method comprising:

• inserting a first tool into a chamber of a patient, the first tool comprising a plurality of lumens, wherein at least one of the plurality of lumens houses a laser fiber, wherein the first tool is attached to a first robotic arm;
• inserting a second tool into the chamber of the patient, the second tool comprising a flush and aspiration device, wherein the second tool is attached to a second robotic arm;
• articulating, via bending, a tip of the laser fiber separately from a tip of the first tool and applying laser energy from the laser fiber to break up an undesired clump of material into smaller pieces within the chamber of the patient;
• articulating, via bending, the second tool and aspirating and removing the smaller pieces from the chamber;
• and
• gradually varying a pulse repetition rate of the laser energy between a first value and a second value based on a distance that the tip of the first tool has traveled along a tool path, wherein the gradual varying of the pulse repetition rate further comprises compensating for inconsistencies in a speed of the tip of the first tool and compensating for movement of an anatomical structure of the patient.

A method comprising:

• inserting a first tool into a chamber of a patient, the first tool comprising a plurality of lumens, wherein at least one of the plurality of lumens houses a laser fiber, wherein the first tool is attached to a first robotic arm;
• inserting a second tool into the chamber of the patient, the second tool comprising a flush and aspiration device, wherein the second tool is attached to a second robotic arm;
• articulating, via bending, a tip of the laser fiber separately from a tip of the first tool and applying laser energy from the laser fiber to break up an undesired clump of material into smaller pieces within the chamber of the patient;
• articulating, via bending, the second tool and aspirating and removing the smaller pieces from the chamber;
• and
• gradually varying a pulse repetition rate of the laser energy between a first value and a second value based on a distance that the tip of the first tool has traveled along a tool path, wherein the gradual varying of the pulse repetition rate further comprises achieving an effective tool tip speed that is substantially equivalent to a speed of the tip of the first tool having a consistent pulse repetition rate.

A method comprising:

• inserting a first tool into a chamber of a patient, the first tool comprising a plurality of lumens, wherein at least one of the plurality of lumens houses a laser fiber, wherein the first tool is attached to a first robotic arm;
• inserting a second tool into the chamber of the patient, the second tool comprising a flush and aspiration device, wherein the second tool is attached to a second robotic arm;
• bending a tip of the laser fiber separately from a tip of the first tool and applying laser energy from the laser fiber to break up an undesired clump of material into smaller pieces within the chamber of the patient;
• bending the second tool and aspirating and removing the smaller pieces from the chamber;
• and
• varying a pulse repetition rate of the laser energy based on a signal received from an optical sensor as the tip of the first tool has traveled along a tool path, wherein the pulse repetition rate is varied based on a speed of the tip of the first tool, movement of an anatomical structure of the patient, and a distance that the tip of the first tool has traveled along a tool path.