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

Claim 17:
18. A method for controlling a surgical robotic system during use in an eye surgery procedure, the surgical robotic system comprising a surgical arm, the 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, the method comprising:
receiving positioning commands from a human operator for controlling the longitudinal movement of the surgical instrument;
actuating the movable arm part to effect the longitudinal movement of the surgical instrument;
controlling said actuating 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;
the method further comprising:
during use of the surgical robotic system in the surgical procedure, determining the virtual bound based on the sensor data; and
establishing a transition in the 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.