Patent Description:
A common experience among people with myopia or hyperopia is that they want to use contact lenses to access the benefit of freedom from eyeglass frames, but they find it terrifying to apply them to their eyes. To give an idea about the prevalence of this experience, an internet search for "fear of contact lenses" yields <NUM><NUM><NUM> results in <NUM> seconds when using one particular search engine.

There are known contact lens applicators but none appear to have much flexibility. <CIT> to Procenko has a hollow lens extension tube and a light directed therealong. The light allows a user to aim the lens at the eye and then apply the lens to their eye. This mechanism still has a drawback, in that it requires a person to drive the lens toward their own eye, which is an action which causes many users to panic. <CIT> discloses a contact lens manipulation and cleaning apparatus with a contact lens manipulation means on an elongated arm. Other contact lens applicators are shown in <CIT> and <CIT>. <CIT> discloses a contact lens applicator with a finger mount and a contact lens retainer.

People who use contact lenses do so because they have poor vision. So, when self-administering contact lenses, they do so without their eyeglasses, which, to see clearly, they need. Everything the person sees is blurred, making it difficult to apply the contact lens to their eye. There are many kinds of disease which can make it more difficult to apply the contact lens to the eye, including MS, Parkinsons, stroke, tremors, both essential and dystonic, alcohol withdrawal, and others.

Since contact lenses are worn directly on the cornea of the eye, it is useful for them to be handled with exceptional care to prevent eye infections, ulcerations and other eye diseases. Careless handling or storage of contact lenses, or sleeping with the lenses on can have severe implications after the lenses are worn and remains a key challenge hindering the large-scale take-up and usage of contact lenses, particularly among skeptical consumers.

It is estimated that <NUM> percent of contact lens wearers have engaged in at least one "contact lens hygiene risk behaviour" known to increase the chances of developing eye infection or inflammation. Also, it is estimated that about one-third of contact lens wearing people have had to visit a doctor because of eye redness or pain caused by their contact lenses.

In addition, medical practitioners in developing countries are not well equipped to prescribe contact lenses, which also threatens to limit the overall growth prospects of the global contact lens market.

Nevertheless, the market for contact lenses in the Asia Pacific region and elsewhere is expected to expand.

In <NUM> it is estimated that there were <NUM> million contact users in the United States, which is about <NUM>% of the global market, such that, in <NUM>, the global market was estimated at about <NUM> million users. Demand for contact lens is projected to grow at approximately <NUM>% per annum. The contact user dropout rate varies between about <NUM>% - <NUM>% (median <NUM>%) of new users per annum. Of the total dropouts, approximately <NUM>% have difficulty inserting & removing lens. Of the total dropouts, approximately <NUM>-<NUM>% have eye infection issues.

Much current contact lens research is directed towards the treatment and prevention of conditions resulting from contact lens contamination and colonization by foreign organisms. Clinicians tend to agree that one complication of contact lens wear is microbial keratitis and that one of the microbial pathogens is Pseudomonas aeruginosa.

The present inventor seeks to provide a new contact lens applicator that seeks to ameliorate one or more of the above mentioned disadvantages.

Broadly, the present technology provides a contact lens applicator which automatically applies or removes a contact lens to, or from, a user's, or a patient's, eye. Embodiments of the contact lens applicator do not require a person or operator to come into contact with the contact lens before it is placed in the eye, or during the removal operation, so the contact lens application or removal operation is carried out in a substantially sterile environment.

The present invention relates to a contact lens applicator as set forth in the appended claims. The method of using the contact lens applicator is not claimed.

Advantageously the present technology facilitates self-application of a contact lens.

In accordance with one aspect of the present technology there is provided a contact lens applicator which includes:.

The arrangement is such that, in embodiments, the robotic arm is caused and/or configured to execute a programmed sequence of tasks including:.

Further programmed steps or routines for embodiments of the contact lens applicator include:.

In accordance with another aspect of the present technology there is provided a method of delivering a contact lens to a target eye with a robotic arm mounted on a main tool base, the method including the steps of:.

Advantageously, in some embodiments the method includes the step of compensating for movements of a base on which the robotic arm is mounted, to facilitate self-administration of the contact lens while holding the contact lens in a user's own hand.

In one embodiment, the robotic arm includes one or more telescopic arms for extending the contact lens toward the target eye.

In one embodiment, the robotic arm is articulating, in that it includes a plurality of articulated arms.

In one embodiment, the robotic arm includes three articulating arms, connected together by hinged joints or ball and socket joints.

In one embodiment, the robotic arm is mounted on a turntable on the main tool base for movement about at least the z-axis. In one embodiment, the robotic arm is mounted on a three- or four-axis gimbal to isolate the movements of the main tool base.

In one embodiment, the robotic arm includes a four-axis gimbal so as to isolate movements of the base from those of the end effector. Advantageously, this feature allows the user to hold the main tool base near the eye so as to apply the contact lens to their own eye. This is particularly advantageous because the fear of the approaching lens can cause shaking or other undesirable motion to the main tool base.

In one embodiment, at least one arm of the robotic arm includes a soft and/ or resilient material so as to deliver the contact lens in a gentle manner.

In one embodiment, the robotic arms include stepper motors to control their delivery of the contact lens to the target eye.

In one embodiment, the robotic arms include angular stepper motors to control angular articulation of the arms.

In one embodiment, the robotic arms include squiggle motors which include belt drive elements to control the angular articulation of the arms.

In one embodiment, the end effector includes a hinged joint or ball joint to facilitate angular displacement of the contact lens relative to an arm on which it is mounted.

In one embodiment, the end effector is angled so as to facilitate the placement of the contact lens under the upper eyelashes of the target eye.

In one embodiment, the end effector is a vacuum device which grasps the contact lens by vacuum pressure.

In one embodiment, the end effector includes a vacuum fastener.

In one embodiment the end effector includes a clamp for folding the lens into an applicating position.

In one embodiment the end effector clamp jaws are actuated by vacuum pressure.

In one embodiment, the end effector is configured to reverse the vacuum pressure to release and gently propel the contact lens onto the target eye.

In one embodiment, the sensor is a 3D scanner. The 3D scanner may be in one embodiment, a laser scanner, ultrasonic, microwave, or optical scanner. In one embodiment, the 3D scanner is a combination of some or all of those type of scanners, and/or other types of scanners. There may be two cameras placed side by side so as to provide stereoscopic vision for greater depth perception.

In one embodiment, the main tool base includes a steriliser for the end effector. In one embodiment, the steriliser includes a UV light, and/or an autoclave, or chemical bath, or like steriliser.

In one embodiment, the main tool base includes at least one contact lens magazine or reservoir for storing a plurality of contact lenses.

In one embodiment, the main tool base includes a closure for closing the magazine or reservoir. In one embodiment, the processor is configured to cause the opening of the reservoir closure. In one embodiment, the reservoir or magazine closure is a hinged closure, or a sliding closure, or other kind of suitable closure. In one embodiment, the processor is configured to cause the closure of the reservoir or magazine closure.

In one embodiment, the main tool base includes two parallel magazines to store the contact lenses.

In one embodiment, the main tool base includes four magazines to store the contact lenses.

In one embodiment, one or more of the magazines is configured to store individually-wrapped sterile packages which include saline solution to store each contact lens.

In one embodiment, the end effector includes a cutter to cut the sterile packages open to access the contact lens inside. In one embodiment, the cutter is separately provided on the closure or adjacent the closure.

In one embodiment, the magazine includes a biasing element such as a spring to index the contact lenses forward toward the closure to facilitate access by the end effector.

In one embodiment the processor causes the robot arm to reverse the lens application procedure by reaching out to a target eye, grasping the contact lens payload with the end effector, and then withdrawing the contact lens and disposing of it by release into a container.

In accordance with yet another aspect of the present invention there is provided a replaceable storage magazine for contact lenses configured to suit a lens applicator hereindescribed.

Advantageously, embodiments of the apparatus provide a contact lens applicator which compensates for movement relative to a face and target eye in various ways, including via gimbal and other articulating joints, as well as by real-time imaging and scanning of the target face and eye. These features make the apparatus suitable for portable, hand-held self-application of contact lenses, or even by a doctor or any other third person applying it to a patient or other person.

Advantageously, embodiments of the apparatus provide a portable, hand-held extractor for a contact lens from a target eye by real-time assessment of the location of a target face and eye.

In this specification, where a document, act or item of knowledge is referred to or discussed, this reference or discussion is not an admission that the document, act or item of knowledge or any combination thereof was at the priority date:.

It is to be noted that, throughout the description and claims of this specification, the word 'comprise' and variations of the word, such as 'comprising' and 'comprises', is not intended to exclude other variants or additional components, integers or steps.

In order to enable a clearer understanding, a preferred embodiment of the technology will now be further explained and illustrated by reference to the accompanying drawings, in which:.

Referring to the drawings there is shown an embodiment of a portable hand-held contact lens applicator tool generally shown at <NUM>, which automatically applies a contact lens <NUM> to a user's, or a patient's, eye (not shown) with a robotic arm <NUM>.

Advantageously the present technology facilitates portable self-application of a contact lens <NUM> to a user's own eye.

The contact lens applicator <NUM> will now be described in detail. It includes a main tool base <NUM> for housing a control system <NUM> which includes on board power <NUM> (in the form of batteries) a processor <NUM>, memory <NUM>, and a networking module <NUM> for communication with other computing processors via Wi-fi, Bluetooth or other suitable protocol.

The processor <NUM> includes memory <NUM>, and may be in the form of a Raspberry Pi, PLC, or any other kind of microprocessor which may run any particular kind of operating system suitable for the purpose of operating gimbals <NUM> and robotic arms with end effectors <NUM>. The Operating system may be AWS, iOS, Linux or the like. The microprocessor may be programmable by a port which can receive code or any other suitable manner. There may be displays that can be connectable to a port for diagnosing errors, or other status indicators.

There is also provided in the main tool base <NUM> one or more contact lens magazines <NUM>.

The main tool base <NUM> also includes a charging inlet <NUM> which is shown on the bottom surface of the tool base.

Also, the main tool base <NUM> includes user interface <NUM> which includes program actuator <NUM>, magazine selector <NUM> and program selector <NUM>. Deployment actuator <NUM>, when actuated, causes the onboard processor <NUM> to commence the program selected by the program selector <NUM>. The program selector <NUM> can select between an application routine (applying contact lens to eye) or an extraction routine (removing contact lens from eye).

The lens application routine causes the processor <NUM> to execute the steps set out below:.

Further programmed steps or routines caused by the processor <NUM> during another routine or during another routine, on various models of the contact lens applicator tool include:.

Another step that the processor <NUM> can cause to occur is the reversal of vacuum pressure to release and gently propel the contact lens onto the target eye, when the robotic arm is detected to be adjacent the target ey.

The robotic arm <NUM> is mounted on the tool base <NUM> and has an end effector <NUM> mounted on an end of the robotic arm <NUM> for grasping a contact lens <NUM> for delivery to an eye of the user.

The robotic arm <NUM> includes a plurality of articulated arms to facilitate safe delivery of the lens to the eye, the arrangement being such that there is a proximal lens placement arm <NUM> operatively mounted on the main tool base <NUM>, a second lens placement arm <NUM> operatively mounted on the proximal lens placement arm <NUM>, and an end effector arm <NUM> mounted the first intermediate arm <NUM>. The arms <NUM>, <NUM>, and <NUM> are configured to articulate to make application of the contact lens <NUM> application to the eye safer than other arrangements. For example, a telescopic arm, if it were to be used, has the potential to misfire and extend uncontrollably into the eye. An articulating arm has a lower likelihood of directly smashing into the eye during deployment.

At the end of the end effector arm <NUM> is operatively mounted an end effector <NUM>. The end effector is flexible enough to be angled, or the distal arm itself is angled, so that the upper edge of the contact lens <NUM> hits the eye first, and slides under the upper eyelid of the eye before the distal arm advances and rotates vertically for more secure and easy application. This is part of the application routine which is implemented by the processor <NUM>.

The robotic arm <NUM> is mounted on a four-axis gimbal <NUM>. The gimbal <NUM> includes a turntable <NUM> and three other rotating elements <NUM>, <NUM> and <NUM> to isolate the movements of the main tool base <NUM> from the robotic arm <NUM>. This facilitates portability and self-administering, since it allows the user to hold the main tool base <NUM> near the eye so as to self-diagnose health issues, and/or self-apply the contact lens to their own eye. This is particularly advantageous in the case of self-application of contact lens because the fear of the approaching lens can cause shaking or other undesirable motion to the main tool base.

The robotic lens placement arms, <NUM>, <NUM>, and <NUM> include stepper motors to control their delivery of the contact lens <NUM> to the target eye. The stepper motors may be in the form of squiggle motors <NUM> which include belt drive elements to control the angular articulation of the arms <NUM>, <NUM>, and <NUM>. The stepper motors relay their positions to the processor <NUM> so that the processor can understand the location of the end effector <NUM> relative to the target eye.

The end effector <NUM> is part of a vacuum apparatus, and in operation it grasps the contact lens <NUM> by pneumatic force. This is substantially facilitated via a vacuum line which extends through the robotic arm <NUM>, in the form of hollow chambers in the arms, <NUM>, <NUM> and <NUM> connected by sealed joints at the ends of the arms <NUM>, <NUM> and <NUM>.

In order to provide real-time guidance for the robotic arms <NUM> during the delivery of the contact lens <NUM> to the eye, the processor <NUM> in operation receives real time position data on facial features from a 3D scanner <NUM> which is mounted on the second distal arm <NUM> in the representations shown, which is a low power laser scanner, ultrasonic, microwave, or optical scanner, stereoscopic camera and any or some or all of those scanner types may be utilised.

The processor <NUM> also receives data from current or voltage sensors or position sensors such as encoders on the motors in order to provide a degree of obstruction detection or force detection. In operation, if the sensors detect an anomaly, the processor <NUM> causes the robotic arm <NUM> to retract into the stowed position, or otherwise stops the advance of the robotic arm <NUM> towards the eye.

The main tool base <NUM> further includes a steriliser <NUM> for the end effector <NUM>. The steriliser includes a UV light which is caused by the processor to switch on when the position sensors inform the processor <NUM> that the robotic arms are in the stowed position.

The main tool base includes a closure <NUM> for closing the magazine <NUM>. The processor <NUM> in operation is configured to cause the opening of the magazine closure <NUM> at the beginning of the lens deployment sequence. The magazine closure <NUM> is a sliding closure. After the robotic arm <NUM> end effector <NUM> has grasped the contact lens from the magazine <NUM> of the deployment sequence, the processor <NUM> causes the closure of the magazine closure <NUM>.

There is provided a fan or an air reservoir <NUM> in the main tool base <NUM> for providing vacuum pressure to the end effector <NUM>. The processor during the deployment routine causes the opening of the reservoir or the operation of the fan so as to draw the contact lens against the end effector <NUM>.

The main tool base <NUM> includes two parallel magazines <NUM> to store the contact lenses. The magazine includes a biasing element such as a spring <NUM> to index the contact lenses forward toward the closure <NUM> to facilitate access by the end effector <NUM>.

The processor <NUM> in operation (after an extraction routine is actuated) causes the robot arm to reverse the lens application procedure by reaching out to a target eye, grasping the contact lens payload <NUM> with the end effector <NUM>, and then withdrawing the contact lens and disposing of it by release into a container.

In operation, a user holds the tool body <NUM> in their hand and uses the interface with their thumb. Picking up the tool body <NUM> causes the motion sensor to actuate a guiding light from adjacent a camera to indicate to the user where to place their face relative to the robot arm <NUM>. The guide may be in the form of a bar or arm or laser or light which the user can use to place their face in the useful envelope of the tool body <NUM>.

The user selects the magazine <NUM> (with selector <NUM>) from which they would like to select their lens. Many people have different prescriptions for left and right eyes, so the user selects left or right magazine with selector <NUM>. The light may switch to the other side to indicate to the user to move the tool body relative to the new target eye.

Then the user selects apply or extract (in or out as shown) on the lens program selector <NUM>.

The processor <NUM> implements a method of delivering a contact lens to a target eye with a robotic arm mounted on a main tool base, the method including the steps of:.

The processor <NUM> first receives a command from the program actuator <NUM> which releases the end effector <NUM> from the steriliser <NUM> and causes the closure <NUM> to open. Retracting the closure <NUM> causes a contact lens packet from the magazine to be opened and then a contact lens is exposed for the end effector <NUM> to grasp.

The processor <NUM> operates the robotic arm <NUM> to cause the end effector <NUM> to reach down, using a stored routine, and grasp the contact lens by vacuum pressure. The processor <NUM> during the stored routine, monitors the position of each arm in the robotic arm <NUM> so as to accurately place the end effector <NUM> into the magazine <NUM>.

To grasp the contact lens <NUM> and load it onto the end effector <NUM> the processor <NUM> activates the vacuum pump (not shown) or opens one or more inlet or outlet valves on the vacuum reservoirs or pneumatic reservoirs <NUM>. The reservoirs <NUM> and/or vacuum pump are in fluid communication with the central grasping vacuum line <NUM>. The central eye <NUM> of the end effector <NUM> is caused by the vacuum pressure in the central grasping vacuum line <NUM> to grasp a portion of the lens <NUM> (usually a central portion). The vacuum pressure in the end effector <NUM>, in a separate chamber <NUM> outside or adjacent the central vacuum line <NUM>, causes the end effector <NUM> to clamp down on the contact lens <NUM> and fold it into an applicating position, so it can slip under the eye lid. The end effector <NUM> is then caused by the processor <NUM> to move to a ready position in which the sensors <NUM> are directed at the face of the user.

The robotic arm <NUM> is caused to move under the guidance of the processor <NUM> toward the eye of the user. This movement is caused to be done by the processor <NUM> which processes the image data from the cameras and sensors <NUM> to advance the end effector <NUM> towards the eye of the user. There is an option that the image processing be conducted on a nearby computer such as a mobile device connected by wifi or bluetooth protocol, depending on efficiencies and speeds required.

The lens <NUM> is delivered to the eye and the processor causes the vacuum pump or reservoir <NUM>, in the last one or two mm or so of travel toward the eye, to reverse the vacuum pressure in the line <NUM>, and once contact has been made with the eye and the lens <NUM> is slipped under the lid, the change in the angle of the end effector <NUM> is detected by the processor <NUM>. The end effector <NUM> is then opened by the venting of pressure in the chamber <NUM> and the lens is gently applied to the eye.

Extraction of the lens <NUM> from the eye is the reverse process, whereinafter extraction, the lens may be deposited in a discard magazine (not shown) or in a trash receptacle.

The method for extraction includes a contact lens presence check step. The contact lens presence check is conducted with camera <NUM> for watermark on contact lens; if watermark is detected, then proceed with extraction routine. The camera <NUM> sends data to processor <NUM> for onboard processing or off-site processing via network card. The contact lens watermark is applied at manufacture.

The extraction routine includes the step of checking for presence of eye in operation envelope, with camera <NUM>.

The extraction routine includes the step of providing guidance to the user as to placement of the eye in the operation zone. This is done in the embodiment shown by actuation of a blue light which becomes visible when the user is in front of, and close enough to, the operation zone. Two lights are provided in order to provide guidance to the eyes and they are both visible to the user when the user's eyes are in the right location for application or extraction of one or more lenses. The lights may be LEDs or other kinds of lights or lamps - incandescent, or other light. The guides may be apertures in the tool body <NUM> such that they can be seen through when the eye is in the right place. The apertures may be adjustable. The lights may be adjustable.

The extraction routine commences when the actuator <NUM> is depressed and the eye is in the operation zone. During the extraction routine, the gimbal <NUM> motors operate to compensate for user movements of the body <NUM>, and then the lens placement arms <NUM>, <NUM>, <NUM> operate to extend and the end effector <NUM> fastens the lens <NUM> when it approaches, since the vacuum tube <NUM> is actuated.

Advantageously, the method includes the step of compensating for movements of a base on which the robotic arm is mounted, to facilitate self-administration of the contact lens while holding the contact lens in a user's own hand.

Claim 1:
A contact lens applicator (<NUM>) which automatically applies and/or removes a contact lens (<NUM>) to a user's, or a patient's, eye, the contact lens applicator including:
a main tool base (<NUM>) for housing a control system (<NUM>);
an end effector (<NUM>) mounted on an end of a robotic arm (<NUM>) for grasping a contact lens (<NUM>) for delivery to an eye of the user,
characterized in that the robotic arm (<NUM>) includes a plurality of articulated arms, mounted on the tool base (<NUM>) and in communication with the control system (<NUM>) and the robotic arm (<NUM>) is mounted on a turntable on the main tool base (<NUM>) for movement about at least the z-axis.