US 2026/0215969 A1Published application

Robotic system for performing cataract surgery

AssigneeAlcon Inc.

InventorSteven T. CHARLES

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Abstract

In certain embodiments, a robotic system for performing cataract surgery includes a base, a robotic mechanism, and a control system. The robotic mechanism includes a patient interface configured to be coupled to the head of a patient, an end effector configured to receive an exchangeable tool, and sensors that include a polarization camera, a stereo camera, and an optical coherence tomography (OCT) sensor. The control system includes a processor configured to fuse the polarized image data, the stereo image data, and the depth image data to generate fused sensor data of a region of the eye including the cornea and the lens, determine the location of a phacoemulsification tool coupled to the end effector based on the fused sensor data, and control the end effector and the phacoemulsification tool, based on the phacoemulsification tool location, to remove the lens through an incision in the cornea.

Claims20

Dependent claims

A robotic system for performing cataract surgery, comprising:

a base;
a robotic mechanism coupled to the base, the robotic mechanism comprising:
a patient interface configured to be coupled to a head of a patient,
an end effector configured to receive an exchangeable tool, and
sensors comprising:
a polarization camera configured to generate polarized image data of an eye of the patient,
a stereo camera configured to generate stereo image data of the eye of the patient, and
an optical coherence tomography (OCT) sensor configured to generate depth image data of the eye of the patient;
and
a control system coupled to the robotic mechanism, the control system comprising a memory and a processor configured to:
fuse the polarized image data, the stereo image data, and the depth image data to generate fused sensor data of a region of the eye comprising a cornea and a lens,
determine, based on the fused sensor data, a location of a phacoemulsification tool coupled to the end effector of the robotic mechanism, and
control, based on the phacoemulsification tool location, the end effector and the phacoemulsification tool to remove the lens through an incision in the cornea.

10 more elements

A method for performing cataract surgery using a robotic system, comprising:

generating, by a polarization camera, polarized image data of an eye of a patient;
generating, by a stereo camera, stereo image data of the eye of the patient;
generating, by an optical coherence tomography (OCT) sensor, depth image data of the eye of the patient;
fusing, by a processor, the polarized image data, the stereo image data, and the depth image data to generate fused sensor data of a region of the eye comprising a cornea and a lens;
determining, by the processor based on the fused sensor data, a location of a phacoemulsification tool coupled to an end effector of a robotic mechanism;
and
controlling, by the processor based on the phacoemulsification tool location, the end effector and the phacoemulsification tool to remove the lens through an incision in the cornea.

4 more elements

Dependencies are inferred from the claim text.