Patent Application
20230048115
The present invention relates to the field of handling intraocular lenses (IOLs), and in particular to a method and apparatus for the automated transfer of an intraocular lens from a start location to a destination location.
An intraocular lens—as its name says—is implanted into the eye of a patient, and in the vast majority of the cases an intraocular lens is used to replace the natural lens of the eye (e.g. in the treatment of cataract). An intraocular lens typically comprises an optical lens body (providing the required refractive power) and two haptics attached to the peripheral edge of the optical lens body and extending outwardly from the peripheral edge of the lens body. The purpose of the haptics is to properly position the intraocular lens including the optical lens body in the capsular bag of the eye of the patient. Obviously, therefore, the intraocular lens is a delicate medical article that must be treated with the utmost care possible during manufacture and handling, since—once implanted into the eye of the patient—the optical lens body of the intraocular lens providing the required refractive power must be free from any defects that may have a negative impact on the vision of the patient.
During manufacture and subsequent packaging, the intraocular lens must be transferred between different stations/locations. For example, the intraocular lens must be transferred from one carrier or fixture that carries the intraocular lens during a first manufacturing step to another carrier or fixture that carries the intraocular lens in a subsequent manufacturing step (e.g. from a carrier or fixture used during cleaning the intraocular lens to a carrier or fixture used during inspection of the intraocular lens). Many of the handling/transfer processes are presently carried out more or less manually by operators using specific tools such as for example a specific tool (similar to a forceps) allowing to carefully grip the intraocular lens at the peripheral edge of the optical lens body in order to avoid scratches or other damages to the optical lens body, as scratches or other damages in the optical lens body may lead to rejection of the intraocular lens during inspection. However, these manual handling/transfer processes are cumbersome for the operator, and even if the operator applies the utmost care the various intraocular lenses are not always placed on the carrier or fixture in the same position, as this is simply impossible in a manual procedure. Accordingly, from the point of view of repeatability and reliability as well as from the point of view of efficiency manual processes are disadvantageous.
Another problem occurring with an intraocular lens made of a flexible material is that the haptics may get slightly flexed or bent during the manufacturing process. At the time of inspection, however, not only the optical lens body is inspected for its integrity and compliance with the specifications, but also the overall dimensions of the intraocular lens including the haptics are measured and it is determined whether the overall dimensions of the intraocular lens meet the predefined specifications. In case the haptics are flexed or bent during manufacturing so that they do not have their regular orientation, this may lead to rejection of an intraocular lens during inspection (due to not meeting the specifications as regards the overall dimensions of the intraocular lens) although the intraocular lens would be compliant with the specifications if the haptics were properly oriented.
It is therefore an object of the invention to suggest a method and an apparatus overcoming the afore-mentioned disadvantages.
The present invention overcomes the afore-mentioned disadvantages by suggesting a method and an apparatus as it is specified by the features of the respective independent claim. Advantageous aspects of the method and apparatus are specified in the respective dependent claims.
In particular, the method for the automated transfer of an intraocular lens comprising an optical lens body and two haptics attached to a peripheral edge of the optical lens body and extending outwardly from the peripheral edge of the optical lens body comprises the steps of:
According to one aspect of the method according to the invention, gripping the intraocular lens only at the haptics is performed using a gripper comprising aspiration ports to attach the intraocular lens to the gripper only at the haptics of the intraocular lens by positioning the aspiration ports of the gripper adjacent to the haptics of the intraocular lens and applying vacuum to the aspiration ports. Releasing the intraocular lens from the gripper at the destination location is performed by applying overpressure to the aspiration ports to detach the haptics of the intraocular lens from the aspiration ports.
According to a further aspect of the method according to the invention, the aspirations ports of the gripper comprise two aspiration ports arranged at a distal end of the gripper and projecting distally away from the gripper. Each of the two aspiration ports comprises at its distal end an aspiration opening surrounded by a lens attachment surface. According to this aspect, the method further comprises
In one aspect of the method according to the invention the gripper is a gripper having the two aspiration ports fixedly arranged at the distal end of the gripper.
In another aspect of the method according to the invention, the gripper is a gripper having the two aspiration ports rotatably arranged at the distal end of the gripper. Each of the two aspiration ports is rotatably arranged about a respective predetermined rotational axis which is normal to a plane defined by the lens attachment surfaces of the two aspiration ports.
According to yet a further aspect of the method according to the invention the method further comprises
Still in accordance with a further aspect of the method according to the invention the method further comprises
The apparatus for the automated transfer of an intraocular lens comprising an optical lens body having a peripheral edge as well as two haptics attached to the peripheral edge of the optical lens body and extending outwardly from the peripheral edge of the optical lens body, comprises a gripper, and the gripper includes:
The two aspiration ports are spaced from one another by a distance ranging from 5 mm to 17 mm (millimeters) measured in a plane defined by the lens attachment surfaces, for gripping the intraocular lens only at the haptics by attaching the haptics of the intraocular lens to the lens attachment surfaces of the aspiration ports, and for releasing the intraocular lens by detaching the haptics of the intraocular lens from the lens attachment surfaces.
According to one aspect of the apparatus according to the invention, the two aspiration ports are fixedly arranged at the distal end of the gripper.
According to another aspect of the apparatus according to the invention, the two aspiration ports are rotatably arranged at the distal end of the gripper. Each of the two aspiration ports is rotatably arranged about a respective predetermined rotational axis which is normal to the plane defined by the lens attachment surfaces.
In accordance with a further aspect of the apparatus according to the invention, the gripper further comprises two independent rotary motors, a first rotary motor and a second rotary motor each having a rotary drive shaft. The rotary drive shaft of the first rotary motor is connected by a torque-proof connector with a first gripper finger having one of the two aspiration ports arranged at a distal end thereof, and the rotary drive shaft of the second rotary motor is connected by a further torque-proof connector with a second gripper finger having the other one of the two aspiration ports arranged at a distal end thereof.
In accordance with still a further aspect of the apparatus according to the invention, each of the torque-proof connector and the further torque-proof connector comprises a magnetic clutch including a permanent magnet and two pins made of a magnetically susceptive material. The permanent magnet is mounted in a torque-proof manner to a distal end of the rotary drive shaft and faces towards a proximal end of the respective one of the first or second gripper fingers. The two pins are arranged at the proximal end of the respective one of the first or second gripper fingers and face towards the permanent magnet. The distal ends of the two pins are fixedly connected with the respective one of the first or second gripper fingers, and the proximal ends of the two pins are magnetically coupled to the permanent magnet.
In accordance with yet a further aspect of the apparatus according to the invention, the first gripper finger comprises an abutment flange arranged immediately proximal to the one aspiration port and the second gripper finger comprises a further abutment flange arranged immediately proximal to the other aspiration port. The gripper at its distal end comprises first and second abutment projections projecting distally from the distal end of the gripper at opposite sides of the gripper. The first abutment projection forms a stop for the abutment flange of the first gripper finger to define a predetermined rotational orientation of the one aspiration port when the abutment flange abuts against the first abutment projection, and the second abutment projection forms a stop for the further abutment flange of the second gripper finger to define a predetermined rotational orientation of the other aspiration port when the further abutment flange abuts against the second abutment projection.
According to a further aspect of the apparatus according to the invention, the apparatus further comprises an illumination source for illuminating an intraocular lens carried by a lens carrier as well as a camera for capturing an image of the illuminated intraocular lens carried by the lens carrier to determine the position of the intraocular lens and the rotational orientation of the haptics of the intraocular lens carried by the lens carrier. The apparatus further comprises a control unit coupled to the camera and to the gripper, for moving the gripper with the two aspiration ports to a position in which the two aspiration ports are arranged adjacent to the haptics of the intraocular lens such that the rotational orientation of the two aspiration ports corresponds to the determined actual rotational orientation of the two haptics of the intraocular lens.
Yet in accordance with a further aspect of the apparatus according to the invention, the apparatus further comprises a support plate comprising a plurality of mounting locations for mounting different types of lens carriers thereto. The apparatus further comprises at least two different lens carriers of different types mounted to the mounting locations. The support plate, the mounting locations and the at least two lens carriers of the different types are configured such that an intraocular lens arranged on a said lens carrier, regardless of the type of lens carrier, is arranged in the same plane parallel to the plane defined by the lens attachment surfaces of the aspiration ports.
The method according to the invention is advantageous in that it is an automated method which can be performed with high repeatability and reliability. In particular, the IOL can be picked up by gripping it at the two haptics only and repeatably placing it at the destination location (e.g. on a carrier) in the same manner and at the same position. Thus, the IOL is not gripped at the optical lens body at all (not even at the peripheral edge thereof) so that scratches or any damages to the optical lens body of the IOL may be completely avoided.
In case gripping the IOL is performed with the aid of a gripper comprising aspiration ports, the aspiration ports may be positioned adjacent to the haptics of the IOL and vacuum may be applied to the aspiration ports to attach the IOL to the aspiration ports (more precisely: to the lens attachments surfaces of the aspiration ports) only at the haptics. Releasing the IOL from the gripper at the destination location may be performed through the application of overpressure to the aspiration ports in order to detach the haptics of the IOL from the aspiration ports (more precisely: from the lens attachment surfaces of the aspiration ports). This enables a very careful handling of the IOL without any contact of the gripper to the optical lens body.
For example, a gripper with two aspiration ports may be used, each of which comprises at its distal end an aspiration opening which is surrounded by a lens attachment surface. The distal end of one aspiration port is then positioned adjacent to one of the two haptics, and the distal end of the other aspiration port is positioned adjacent to the other of the two haptics. The aspiration ports are positioned such that the aspiration opening of each aspiration port is covered by a portion of the respective haptic. The term “covered” in this regard does not mean that the IOL is already attached to the lens attachment surface surrounding the aspiration opening, nor does it mean that the aspiration opening is fully covered by the portion of the haptics. Rather, the term “covered” is intended to describe a certain overlap of the portion of the respective haptic with the respective aspiration opening which is at least 50%.
Vacuum is then applied to the aspiration openings to make the haptics attach to the lens attachment surfaces surrounding the lens attachment openings. And although this may lead to scenarios in which the aspiration opening of an aspiration port is not fully covered by the portion of the respective haptic after the gripping action, despite a small leakage stream the respective haptic remains securely attached to the respective lens attachment surface. Ideally, however, the aspiration openings are fully covered by the portion of the respective haptic, so that once the IOL is attached to the gripper, there is no leakage stream at all resulting in a strong attachment of the haptics to the lens attachment surfaces.
Generally, the haptics are attached to the optical lens body at well-defined locations and with a well-defined (desired) orientation. Accordingly, it is possible to use a gripper in which the aspiration ports are fixedly arranged at the distal end of the gripper (in a position such that the aspiration ports have a distance and orientation that corresponds to the said well-defined location and orientation of the haptics). It is thus possible to reliably pick the IOL up with a gripper that is comparatively simple from a constructional point of view.
Alternatively, a gripper may be used in which the two aspiration ports are rotatably arranged at the distal end of the gripper. Each aspiration port is rotatable about a respective predetermined rotational axis which is normal to a plane defined by the lens attachment surfaces of the aspiration ports. Such a gripper—while being more complex from a constructional point of view—may account for deviations of the actual location and orientation of the haptics from the said well-defined (desired) location and orientation.
When using such a gripper, it is possible to first determine the actual location and orientation of each of the two haptics of the IOL, then rotate each of the aspiration ports about the predetermined rotational axis such that there is the greatest possible overlap of the aspiration openings with the respective portions of the haptics. Only thereafter, vacuum is applied to the aspiration openings to make the haptics of the IOL attach to the lens attachment surfaces of the aspiration ports with the greatest overlap possible, ideally with the haptics fully covering the aspiration openings.
As regards the apparatus according to the invention, the apparatus is advantageous as it is able to grip the IOL by attaching the IOL to the gripper only at the haptics through the application of vacuum to the aspiration openings of the aspiration ports. To achieve this, vacuum is supplied to the pressure supply connectors from which the vacuum is further supplied to the aspiration openings of the two aspiration ports at the distal end of the gripper with the aid of two separate fluid channels. The haptics of the IOL (or to be more precise: portions of the haptics) are then attached to the lens attachment surfaces surrounding the aspiration openings of the aspiration ports. When the IOL is to be detached from the gripper, overpressure is supplied to the pressure supply connectors from which the overpressure is further supplied to the aspiration openings of the aspiration ports, thus detaching the IOL from the gripper (the IOL is carefully blown off). The aspiration ports are spaced from one another by a distance ranging from 5 mm to 17 mm, and is typically in the range of 9 mm to 10 mm.
The two aspiration ports may be fixedly arranged at the distal end of the gripper, i.e. with a fixed distance between the aspiration ports. As already mentioned, generally the haptics are attached to the optical lens body at well-defined locations and with a well-defined (desired) orientation. The fixedly arranged aspiration ports are then arranged at a fixed distance that corresponds to the distance between those portions of the haptics of the IOL that should be sucked against the lens attachment surfaces of the aspiration ports. It is thus possible to reliably pick the IOL up with a gripper that is comparatively simple from a constructional point of view.
Alternatively, the two aspiration ports may be rotatably arranged at a distal end of the gripper, with each of them being rotatably arranged about a respective predetermined rotational axis which is normal to the plane defined by the lens attachment surfaces. Such a gripper—while being more complex from a constructional point of view—may account for deviations of the actual location and orientation of the haptics from the said well-defined (desired) location and orientation. It is then possible to first determine the actual location and orientation of each of the two haptics of the IOL, then rotate each of the aspiration ports about the predetermined rotational axis to the actual location and orientation of the haptics such that there is the greatest possible overlap of the aspiration openings with the respective portions of the haptics to be sucked against the lens attachment surfaces. Only thereafter, vacuum is applied to the aspiration openings to make the haptics of the IOL attach to the lens attachment surfaces of the aspiration ports with the greatest overlap possible, ideally with the haptics fully covering the aspiration openings.
For the determination of the actual location and orientation of the two haptics of the IOL, the apparatus may comprise an illumination source (e.g. configured for dark-field illumination) for illuminating an IOL carried by a lens carrier. The apparatus may further comprise a camera for capturing an image of the illuminated IOL. From this image of the IOL the actual position and orientation of the two haptics of the IOL carried by the lens carrier can be determined (e.g. through image analysis). The apparatus further may comprise a control unit which is coupled to the camera and to the gripper. Depending on the position and orientation determined from the image of the IOL captured by the camera the control unit moves the gripper with the two aspiration ports to a position in which the two aspiration ports are arranged adjacent to the haptics of the IOL. In case the gripper comprises the afore-mentioned rotatably arranged aspiration ports, the aspiration ports may be rotated to the actual location and orientation of the haptics such that there is the greatest possible overlap of the aspiration openings with corresponding portions of the haptics, ideally with the haptics fully covering the aspiration openings. In case the gripper comprises the fixedly arranged aspiration ports, the gripper is moved to the position in which there is the greatest possible overlap of the aspiration ports with the corresponding portions of the haptics. As already mentioned, this may lead to scenarios in which the aspiration opening of an aspiration port is not fully covered by the portion of the respective haptic after the gripping action. However, even if there is a small leakage stream the respective haptic remains securely attached to the respective lens attachment surface.
To further increase repeatability and reliability, the apparatus may further comprise a support plate comprising a plurality of mounting locations to which different types of lens carriers may be mounted (e.g. lens carriers used for cleaning the IOLs and lens carriers used for the inspection of the IOLs). Two (or more than two) lens carriers of different types may be mounted to the mounting locations of the support plate, for example to transfer an IOL from one type of lens carrier (e.g. from a lens carrier for cleaning an IOL) to a different type of lens carrier (e.g. to a lens carrier for the inspection of an IOL). The support plate, the mounting locations and the different types of lens carriers are configured such that an IOL arranged on a said lens carrier, regardless of the type of lens carrier, is always arranged in the same plane parallel to the plane defined by the lens attachment surfaces of the aspiration ports. This allows for fixedly attaching the gripper to a robot that moves the gripper in a z-direction normal to the said plane (i.e. towards and away from the mounting plate) as well as in a plane parallel to the said plane. At least as regards the z-direction, the robot may then be taught not to move the gripper beyond a certain position in the z-direction to avoid collisions of the gripper with the IOL or with any of the lens carriers arranged on the support plate. Also, the robot may be taught what is the optimum position in the z-direction for picking up the IOL. These positions may be taught to the robot only once even if the gripper must be replaced, as long as the new gripper to be mounted has the same dimensions as the gripper to be replaced.
For rotating the two rotatably arranged aspiration ports, the gripper may comprise tow independent rotary motors, a first and a second rotary motor. Each of these first and second motors has a rotary drive shaft. The rotary drive shaft of the first motor is connected with a first gripper finger by a torque-proof connector. The first gripper finger has the first aspiration port arranged at a distal end of this first gripper finger. Likewise, the rotary drive shaft of the second motor is connected with a second gripper finger by a torque-proof connector. The second gripper finger has the second aspiration port arrange at a distal end of this second gripper finger. This allows to independently rotate the first and second gripper fingers, thereby rotating the respective aspiration ports, to a position in which the aspiration opening of the respective aspiration port has the greatest possible overlap with the corresponding portion of the respective haptic of the IOL. The torque-proof connection of the respective drive shaft of the first and second rotary motor allows for a very precise adjustment of the respective rotational position of the respective aspiration port arranged at the distal end of the first or second gripper finger.
Although many torque-proof connections are generally conceivable (including form-locking connections), one advantageous example for such torque-proof connection comprises a magnetic clutch that includes a permanent magnet and two pins made of a magnetically susceptive material (a magnetizable material). The permanent magnet may be mounted in a torque-proof manner to a distal end of the rotary drive shaft of the respective rotary motor and faces towards a proximal end of the respective one of the first or second gripper fingers. The two pins made of the magnetically susceptive material are arranged at the proximal end of the respective one of the first or second gripper fingers, too, and face towards the permanent magnet. The distal ends of the two pins are fixedly connected with the respective one of the first or second gripper fingers (for example, the distal ends of the two pins are press-fitted into corresponding holes), while the proximal ends of the two pins are magnetically coupled to the permanent magnet (for example, the proximal end faces of the two pins may abut against the distal end face of the permanent magnet). Such a magnetic clutch is simple from a constructional point of view while at the same time forming a reliable torque-proof connection. When the rotary drive shaft of the respective motor is rotated, the two pins are rotated, too, and due to being fixedly connected with the respective first or second griper finger, the two pins rotate the respective first or second gripper finger by exactly the same angle by which the rotary drive shaft is rotated. This allows for a very precise adjustment of the respective rotational position of the respective aspiration port arranged at the distal end of the first or second gripper finger.
The first gripper finger may additionally comprise an abutment flange which is arranged immediately proximal to the one aspiration port (of the two aspiration ports), and second gripper finger may comprise a further abutment flange which is arranged immediately proximal to the other aspiration port (of the two aspiration ports). The gripper, at its distal end, may comprise first and second abutment projections projecting distally from the distal end of the gripper at opposite sides. The first abutment projection forms a stop for the abutment flange of the first gripper finger to define a predetermined rotational orientation of the one aspiration port (of the two aspiration ports) when the abutment flange abuts against the first abutment projection. Likewise, the second abutment projection forms a stop for the further abutment flange of the second gripper finger to define a predetermined rotational orientation of the other aspiration port (of the two aspiration ports) when the further abutment flange abuts against the second abutment projection.
This represents a constructive measure for individually defining predetermined rotational orientations for the two aspiration ports. For example, each of the gripper fingers may be rotated to the positions in which its abutment flange abuts against the respective abutment projection. Starting from this predetermined orientation, the respective aspiration port can then be rotated to the desired rotational orientation in which the overlap of the aspiration opening of the respective aspiration port with the portions of the respective haptic of the IOL to be gripped is maximal. For example, these well-defined predetermined orientations may be stored in the control unit, so that upon having captured an image of the IOL and having determined the actual rotational orientation of the respective haptics of the IOL each of the first and second gripper fingers may be rotated to the actual rotational orientation of the respective haptic (starting from this well-defined predetermined orientation). This enables a very accurate adjustment of the desired orientation of the two aspiration ports.
Further advantageous aspects of the method and apparatus according to the invention will become apparent from the following description of embodiments of the invention with the aid of the schematic drawings.
As used in the specification including the appended claims, the singular forms “a”, “an”, and “the” include the plural, unless the context explicitly dictates otherwise. When using the term “about” with reference to a particular numerical value or a range of values, this is to be understood in the sense that the particular numerical value referred to in connection with the term “about” is included and is explicitly disclosed, unless the context clearly dictates otherwise. For example, if a range of “about” numerical value a to “about” numerical value b is disclosed, this is to be understood to include and explicitly disclose a range of numerical value a to numerical value b. Also, whenever features are combined with the term “or”, the term “or” is to be understood to also include “and” unless it is evident from the specification that the term “or” must be understood as being exclusive.
As mentioned further above already, not only the optical lens body 10 of the IOL 1 is inspected for its integrity and compliance with the specifications, but also the overall dimensions of the intraocular lens including the haptics are measured. By way of example, the diameter of the optical lens body 10 has a predetermined value which is a value ranging from 4.9 mm to 7.1 mm, and the overall diameter of the IOL 1 (distance between the tips of the two haptics 11) has a predetermined value which is typically in the range of 10.5 mm to 14.5 mm, but may even be larger than that. Only by way of example, the diameter of the optical lens body 10 may be 6.0 mm or 6.3 mm, and the overall diameter of the IOL 1 (including the haptics) may be 13.3 mm.
IOLs are typically made of materials exhibiting a high flexibility (e.g. silicone hydrogels), as during the surgical procedure it is desirable that the dimensions of the IOL 1 may be temporarily reduced to be as small as possible so that only a small incision is needed in the eye for the insertion of the IOL 1 into the capsular bag through the incision (scleral tunnel).
Due to the flexibility of the material the IOL 1 is made of, the haptics 11 may get slightly flexed or bent during the manufacturing process. To illustrate this, two such lens carriers 2 of the first type are shown in
The haptics 11 of the IOL 1 on the lens carrier 2 shown on the left-hand side in
Accordingly, while a simple transfer of the IOL 1 from the lens carrier 2 of the first type shown on the left hand side in
Lens carrier 3 of the second type comprises some small pins 31 (or studs) for holding the IOL 1 in position on the lens carrier 3. Lens carrier 3 further comprises an inspection opening 30, and the IOL 1 is arranged on the lens carrier 3 such that the lens body 10 of IOL 1 is arranged above the inspection opening 30 to allow for the inspection of the lens body 10 of IOL 1 through this inspection opening 30. The process of transferring the IOL 1 from either the lens carrier 2 of the first type shown on the left-hand side in
Apparatus 5 further comprises an illumination source 51, a camera 52 (not visible in
The apparatus 5 may further comprise an additional camera 59 (schematically indicated in
A scheme illustrating the transfer of the IOL 1 from a respective start location to a respective destination location is shown in
For example, in row rA the transfer of the IOL 1 (see
Turning back to the apparatus 5 shown in
As mentioned, gripper 6 is movable in the direction towards and away from the support plate 50 (z-direction normal to the x-y-directions of the rows and columns), this direction being indicated by the double-headed arrow in
A first embodiment of the gripper 7 of the apparatus 5 according to the invention is described in the following with the aid of
During mounting the gripper end piece 73 to the gripper body 71, the two positioning pins 710 projecting distally away from the gripper body 71 penetrate into the blind bores 737 of the gripper end piece 73, and once the set screw 75 starts engaging the conical notch 740 of tensioning bolt 74 the tensioning bolt 74 is pulled upwards thereby pulling the gripper end piece 73 against the gripper body 71. Through this pulling action, the two O-rings 736 are compressed so that two separate pressure-tight fluid channels are established, each pressure-tight fluid channel fluidically connecting one of the pressure supply connectors 72 with the aspiration opening 731 of a respective one of the aspiration ports 730 to either supply vacuum to the respective aspiration port 730 (for picking the IOL 1 up), or to supply overpressure to the respective aspiration port 730 (for releasing the IOL 1). Each of the pressure-tight fluid channels is formed by the supply channel 712 extending through the gripper body 71, and further by the recess 734 and the supply bore 735 extending from the bottom of recess 734 down to the aspiration opening 731 of the aspiration port 730.
As can be seen in
To grip an IOL 1 the haptics 11 of which are regularly arranged on the lens carrier 2 of the first type as is shown on the left-hand side of
Gripper 7 with the IOL 1 attached thereto is then moved to the destination location, for example to a location above the lens carrier 3 of the second type shown in
A second embodiment of the gripper 8 of the apparatus 5 according to the invention is described in the following with reference to
Moreover, gripper 8 comprises two independent rotary motors, a first rotary motor 84 and a second rotary motor 85. As can be seen best in
The torque-proof connector connecting the rotary drive shaft 840 of the first rotary motor 84 with the first gripper finger 86 comprises a magnetic clutch. This magnetic clutch comprises a permanent magnet 841 which is mounted to a distal end of the rotary drive shaft 840 in a torque-proof manner (e.g. glued), as well as two pins 842, 843 (see
Similarly, the further torque-proof connector connecting the second rotary drive shaft 850 of the second rotary motor 85 with the second gripper finger 87 comprises a magnetic clutch. This magnetic clutch again comprises a permanent magnet 851 which is mounted to a distal end of the second drive shaft 850 of the second rotary motor 85 in a torque-proof manner (e.g. glued) as well as two pins 852, 853 made of a magnetically susceptive material (only pin 852 visible in
The first gripper finger 86 and the second gripper finger 87 are similarly structured, so that in the following only the first gripper finger 86 will be explained in more detail with the aid of
Rotation of the first gripper finger 86 may occur around a predetermined first rotational axis (that corresponds to the line XIX-XIX of
From the bottom (radially innermost surface) of the middle groove 866 a fluid channel 868 extends radially into the interior of the gripper finger 86 and down to the aspiration opening 861 of aspiration port 860. Due to the pressure-tight arrangement of the first gripper finger 86 within the lower body portion 811 of gripper body 81, vacuum or overpressure supplied through the pressure supply connector 82 is supplied through a fluid channel that fluidically connects the pressure supply connector 82 and the aspiration opening 861 of the aspiration port 860, this fluid channel being formed through the middle groove 866 and through fluid channel 868 which extends down to the aspiration opening 861 of aspiration port 860.
First gripper finger 86 further comprises an abutment flange 869 arranged immediately proximal to the aspiration port 860. As can be seen best in
The gripper 8 is of course suitable to reliably pick up an IOL 1 the haptics 11 of which are regularly oriented (i.e. the haptics 11 are arranged as this is shown for the IOL 1 arranged on lens carrier 2 on the left-hand side in
As can be seen, in this embodiment the distance e is not fixed and may vary depending on the rotational orientation of aspiration port 860 and aspiration port 870. The gripper 8 is then lowered until the aspiration port 860 and the aspiration port 870 are each arranged a short distance (e.g. 0.05 mm to 0.5 mm, preferably 0.15 mm) above the associated haptic 11.
Vacuum is then supplied to the pressure supply connectors 82 with the aid of the control valves 53, so that the haptics 11 of the IOL 1 are sucked against the lens attachment surface of the aspiration port 860 and to the lens attachment surface of the aspiration port 870, respectively, thus picking the IOL 1 up. In case an IOL 1 is gripped, this can be detected as the vacuum actually applied increases compared to no IOL 1 being gripped. The gripper 8 with the IOL 1 attached thereto (the IOL 1 being gripped only at the haptics 11) is then raised again, and is subsequently moved to the location (in the x-y plane) of the lens carrier 3 (
This can be performed in the same manner for an IOL 1 the haptics 11 of which are arranged at an irregular orientation as shown for the IOL 1 arranged on the lens carrier 2 on the right-hand side in
Embodiments of the invention have been described with the aid of the drawings. However, the invention is not limited to these embodiments, but rather many changes and modifications are possible without departing from the teaching underlying the invention. Therefore, the scope of protection is not limited to the embodiments described but rather is defined by the appended claims.
This application claims the benefit of priority of U.S. Provisional Patent Application Ser. No. 63/233,420 titled “METHOD AND APPARATUS FOR THE AUTOMATED TRANSFER OF AN INTRAOCULAR LENS,” filed on Aug. 16, 2021, whose inventors are David Heemyung, Christoph Ludwig and Gerhard Klokow, which is hereby incorporated by reference in its entirety as though fully and completely set forth herein.
| Number | Date | Country | |
|---|---|---|---|
| 63233420 | Aug 2021 | US |
