Patent ID: 11903660
Assignee: PRECEYES B.V.
Field: Medical technology (Instruments)
Classification: CPC A  B  G | IPC A  B

Claim 0:
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, the virtual bound dividing physical space towards the surgical target into at least a first zone and a second zone;
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
establishing a transition in control behavior based on the virtual bound by controlling the actuator differently for positioning commands representing longitudinal movement of the surgical instrument in or in a direction of the second zone than for positioning commands representing longitudinal movement of the surgical instrument in or in a direction of the first zone.