RU2574576C2 - Connection with control by images for ophthalmological surgical systems - Google Patents

Abstract

FIELD: medicine.

SUBSTANCE: system contains connecting unit, made with possibility of matching ophthalmological system and eye, image formation system, image formation controller, which contains processor, local memory controller, made with possibility to control transmission of calculated data of scanning from processor to data buffer, and outlet digital-analogue converter, connected with data buffer. Data buffer is made with possibility to store scanning data and display scanning data. System is made with possibility of matching connection unit with internal eye structure depending on formed image and connection of connection unit with eye.

EFFECT: increased accuracy of controlled connection with ophthalmological target object.

24 cl, 12 dwg

Description

FIELD OF THE INVENTION

The present invention relates to systems and methods for use in surgery, including in ophthalmic surgery. In particular, the present invention relates to systems and methods for high-precision docking of ophthalmic surgical systems with the surgical eye.

BACKGROUND

Over the years, a wide variety of advanced surgical laser systems have been developed for ophthalmic surgery in areas of the cornea, lens, retina and other structures of the eye. Some of the surgical systems mentioned increase the accuracy of the surgical procedure by creating a precisely controlled connection between the ophthalmic surgical device and the ophthalmic target, usually the region or structure of the eye. In some cases, said connection is established by lowering the docking module or unit by eye. Some systems also use an additional fixation step, for example, the use of vacuum to strengthen the connection. In typical surgical laser systems, the accuracy and controllability of ophthalmic surgery largely depends on the accuracy of the mentioned stages of docking and fixation, and therefore, increasing the accuracy of the docking procedure can increase the accuracy of the ophthalmic surgical procedure as a whole.

SUMMARY OF THE INVENTION

The present description provides examples and embodiments of systems and methods for controlling an ophthalmic surgical system to create a precisely controlled compound with an ophthalmic target, such as the human eye.

For example, a method of docking an ophthalmic system may include the steps of combining a docking unit of the ophthalmic system and the eye; imaging the internal structure of the eye by the imaging system; clarification of the combination of the docking unit with the internal structure of the eye, depending on the image formed and the docking unit docking with the eye.

The step of combining the docking unit may comprise using a first imaging system to combine the target pattern of the ophthalmic system with a characteristic element of the eye.

The first imaging system may be one of a microscope or a video microscope; the target pattern of the ophthalmic system may comprise at least one of the center of the contact lens, the center of the docking unit, the docking ring or the docking crosshair; and the characteristic element of the eye may be the center of the iris, pupil, cornea, limb or lens; or an annular formation associated with the region of the iris, pupil, cornea, limb or lens.

The image forming step may comprise image formation by a second image forming system, wherein the second image forming system is one of an image forming system by optical coherence tomography and an image forming system configured to form images of the internal structure of the eye.

The alignment refinement step may comprise extracting positional information regarding the internal structure of the eye from the generated image; and adjusting the position of at least one of the eyes or the docking unit depending on the selected positional information.

The alignment refinement step may comprise extracting orientation information regarding the internal structure of the eye from the generated image; and adjusting the orientation of at least one of the eyes or the docking unit depending on the selected orientation information.

The image forming step may comprise calculating in the processor scan data corresponding to the scan pattern; saving scan data in a data buffer; transferring scan data from the data buffer to the output module; outputting the scanning signals from the output module to at least one scanner based on the scanning data; and scanning with an imaging beam by means of at least one scanner in accordance with the scanning signals.

The step of computing the scan data may comprise implementing a scan pattern that contains at least one of a linear pattern, a ring pattern, an oval pattern, a closed pattern, an arc pattern, a raster pattern, a two-coordinate (xy) pattern, a cross pattern, a star pattern, spiral pattern and pattern with remote points.

The step of computing the scan data may include inserting clock signals into the scan data by the processor.

The step of computing the scan data may comprise calculating the casting data to the calculated point corresponding to the casting to the calculated point connecting the start point of the scanning pattern with the preset point.

The step of storing the scan data may include storing the scan data in the processor memory and transferring the stored scan data from the processor memory to the data buffer, in part, under the control of a specialized memory controller.

A specialized memory controller may include a direct memory access mechanism; and the data buffer may contain inverse store type memory.

The step of transmitting the scan data may comprise outputting the scan data by the data buffer to the output module in the high-speed data transmission mode.

The step of transmitting the scan data may comprise outputting the scan data from the data buffer, without transmitting the scan data by means of at least one of the buses connecting the dedicated memory controller and the processor, processor or processor memory.

The step of transmitting the scan data may comprise outputting the scan data in parallel with the processor performing at least one of the image processing, computing the scan data corresponding to the scanning pattern, or performing a control function.

The step of transmitting the scan data may comprise receiving the scan data by the output module, without interruption by another system agent, thereby withstanding a temporary jitter of the scan data of less than 40 microseconds.

The step of outputting the scan signals may comprise converting the scan data into analog scan signals by the output module, wherein the output module comprises a digital-to-analog converter.

The scanning step by the imaging beam may comprise receiving the outputted scanning signals by the scanning controller and the imaging synchronizer, wherein the scanning signals comprise synchronizing signals; re-adjusting the at least one scanner by the scan controller in accordance with the scan signals to scan with an imaging beam; and re-synchronizing the camera for imaging by the imaging synchronizer, in accordance with the clock signals.

The scan controller may include at least one controller with a galvanometric drive (hereinafter galvanometric); and the imaging synchronizer may comprise at least one camera controller for generating ophthalmic coherent images.

In some embodiments, the performance limiting factor of the imaging system may be the integration time of the image recording apparatus.

The step of outputting the scanning signals may comprise outputting the scanning signals at a speed within one of the following ranges: 1 Hz-1 MHz, 100 Hz-1 MHz, or 1 kHz-100 kHz.

The step of outputting the scan signals may comprise adjusting the output speed of the output of the scan signals.

The alignment refinement step may include providing a speech command for the patient to move his eye, move the patient’s head, move the patient’s table on which the patient is resting, move the patient’s eye, move the docking unit by moving the gantry or articulated arm, and use a gripper to move the eye on the base images of the internal structure of the eye.

The alignment refinement step may comprise adjusting at least one of the fixing beam or the guide light to clarify the alignment of the eye and the docking unit; and instructing the patient to accompany the eye with a fixing beam or directing light.

The alignment refinement step may include the beginning of the alignment refinement step before the docking unit comes in contact with the eye after the docking unit comes in contact with the eye, but before the partial vacuum is applied to the docking unit or after the partial vacuum is applied.

The docking step may comprise measuring the distance between the reference point of the docking unit and the outer layer of the eye and lowering the docking unit in accordance with the measured distance.

In some embodiments, the reference point may be adjustable.

The docking step may comprise bringing the docking unit into physical contact with the eye and applying a vacuum through the portion of the docking unit after the docking unit comes into physical contact with the eye.

In some embodiments, the imaging controller for the ophthalmic system may include a processor that calculates scan data for the scan pattern; a local memory controller that partially controls the transfer of the calculated scan data from the processor to the data buffer, the data buffer being configured to save scan data and output scan data; and an output digital-to-analog converter associated with a data buffer that converts the selected scan data into analog scan signals and outputs scan signals.

The local memory controller may include a direct memory access mechanism.

The data buffer may comprise a reverse store type memory that outputs stored scan data in high speed data mode.

The imaging controller may further comprise processor memory and a bus associated with the processor, the local memory controller and processor memory, wherein the processor is configured to output the calculated scan data to the processor memory via the bus and the local memory controller is configured to transmit scan data from the processor memory to the data buffer on the bus.

In some embodiments, the data buffer is configured to output scan data without transmitting the scan data via at least one of a bus, processor memory, or processor.

In some embodiments, the processor is configured to perform at least one of image processing and computing scan data while the data buffer outputs scan data.

In some embodiments, the output digital-to-analog converter is coupled to the data buffer such that scan data output by the data buffer is received without interruption by another system agent, thereby withstanding a temporary jitter of the scan data of less than 40 microseconds.

In some embodiments, the output digital-to-analog converter is configured to output scan signals to the scan controllers along the x- and y-axes to scan with an imaging beam; and timing signals to the imaging camera to record the reflected imaging beam in synchronization with the scan.

In some embodiments, an ophthalmic imaging management method may include the step of computing processor scan data; the step of storing the scan control data in the data buffer, in part, under the control of a memory controller; a step of transmitting the scan control data from the data buffer to the signal converter via a dedicated channel; and a step of transmitting the scan signals to the scan controller by the output module, wherein the scan signals are converted from the scan control data by the signal converter.

The step of storing the scan control data may comprise storing the calculated scan control data in the processor memory and moving the scan control data from the processor memory to the data buffer.

The step of transmitting the scan control data may comprise transmitting the scan data from the data buffer, without transmitting the scan data via at least one of a bus connecting the local memory controller and the processor, processor or processor memory.

The step of transmitting the scan control data may comprise transmitting the scan data in parallel with the processor executing at least one of the image processing and computing the scan data corresponding to the scan pattern.

The step of transmitting the scan control data may comprise transmitting the scan data without interruption by another system agent, thereby withstanding a temporary jitter of the scan data of less than 40 microseconds.

The local memory controller may comprise a direct memory access mechanism, and the data buffer may comprise inverse store type memory.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a diagram of a human eye.

FIG. 2 is a diagram of an ophthalmic surgical system.

FIG. 3 is a diagram of a docking method.

FIG. 4A-B is a schematic of the alignment step.

FIG. 5 is a diagram of the tilt and displacement of the lens relative to the docking unit.

FIG. 6A-B is a diagram of an inclined and displaced lens and its image.

FIG. 7 is a diagram for clarifying alignment between the lens and the docking unit.

FIG. 8A-B is a diagram of combining a docking unit with a lens after the step of refining alignment and the corresponding image.

FIG. 9 is a diagram of a docking method routed using an image forming method.

FIG. 10 is a diagram of a docking system with image control.

FIG. 11 is a detailed block diagram of an image-controlled docking system.

FIG. 12 - stages of a method for controlling a method of docking with image control.

DETAILED DESCRIPTION

Many ophthalmic surgical systems contain a docking unit or patient interface that comes into contact with the human eye and withstands it, in fact, stationary relative to the lens of the surgical system during the ophthalmic procedure. The accuracy of the ophthalmic procedure can be improved by increasing the accuracy of combining the docking unit with the target of the surgical operation.

During corneal procedures, when the operational target, the cornea, is not obscured and is visible, the combination of the patient’s interface with the target can be performed by the surgeon in a relatively simple way.

However, cataract surgeries pose more complex tasks of combining and docking the interface for a number of reasons. The mentioned tasks are due to the fact that the target lens is inside the eye and, therefore, is less visible to the surgeon or partially obscured from it.

It is also often difficult for patients to combine their operated eye with the optical axis of the ophthalmic surgical system, even under the guidance and upon receipt of oral instructions from the surgeon, because, for example, patients often receive muscle relaxants or are in a state of deep sedation.

In addition, the internal structures of the eye, such as the lens, are often fixed by their soft supporting muscles outside the center and with a slope relative to the visible structures of the eye, such as the pupil. Therefore, even if the surgeon manages to combine the pupil with the optical axis of the surgical system, the lens inside the eye may remain displaced and inclined.

Moreover, as the docking unit is lowered into the eye, the docking unit exerts pressure on the eye, which can lead to additional displacement and tilt of the lens. The above problem can be further exacerbated by applying a vacuum to dock the patient interface.

Implementations and embodiments in the present description offer docking procedures and systems to improve the accuracy of the docking procedure during ophthalmic surgical operations using imaging techniques.

In FIG. 1 shows the human eye 1 with some details. The eye 1 contains the cornea 2, which receives and refracts incoming light, the iris 3, the pupil 4, which provides an opening for light to enter the inner eye, and the lens 5, which focuses the light on the retina 6. As mentioned above, the axis of the lens 5 is often not aligned with the axis of the pupil 2, and the system of soft supporting ciliary muscles of the lens can allow additional displacement and tilt when pressure is applied to the eye 1 by the docking unit, which exacerbates the problem of inaccurate alignment with the docking unit.

Implementations and embodiments in the present description offer docking procedures and systems to improve the accuracy of the docking procedure during ophthalmic surgical operations using imaging techniques.

In FIG. 2 illustrates an ophthalmic laser surgical system 50. The surgical system 50 may include a surgical laser subsystem 51 that generates a surgical laser beam. The surgical laser beam can be scanned across the operating target area with a three-dimensional (xyz) laser scanner 52. The surgical laser beam can be introduced into the main optical path of the system by a beam splitter 53-1, redirecting the beam to the lens 54. The lens 54 may be part of the input tip, the distal end or the objective part or may contain them.

In some embodiments, portions of a laser three-axis (x-y-z) scanner 52, such as a z-scanner unit, may be located after the beam splitter 53-1 in the optical path. The z-scanner unit may be a separate unit, or may contain at least two blocks, or may be part of the lens 54. Each of the x-, y- and z-scanners may contain at least two functional blocks. For example, to perform scanning in the x-direction or in the y-direction, you can use several mirrors or for optimized scanning along the z-axis, you can use several separate lens groups.

The docking unit 55 can be detachably attached to the eye contact lens 54 in order to increase the accuracy of aiming the surgical laser beam in the operative target area in the eye. The docking unit may be combined into one part or may contain at least two parts. The first part of the multi-element docking unit can first be attached to the operated eye, and the second part of the docking unit can first be attached to the lens 54 or the input tip. Further, the first and second parts of the docking unit can be coupled. Docking unit 55 may be called a patient interface, patch tip, docking tip, objective part, or patch device, and may include a contact lens or applanation lens that may be in contact with the eye or may be near the eye.

Surgical and docking procedures can be supported by various imaging systems. In some surgical systems 50, a first imaging system, such as an ophthalmic surgical stereo microscope or video microscope 56, may be provided for imaging the operating target area for the surgeon. (Ophthalmic or video microscope 56 may use observational or imaging light.

The imaging light may use a common portion of the main optical path of the surgical system 50 or may be projected directly into the target area. In an embodiment with a common path, observation light can be generated near the microscope 56, then directed into the eye and reflected / scattered from the eye, entering the main optical path or optical system of the surgical system 50 through a beam splitter 53-1. In an embodiment not containing a common path, imaging light can be generated near and outside the lens 54 and directly projected onto portions of the eye. In the aforementioned embodiment, only the reflected part of the imaging light can be directed along the main optical path of the system into the microscope 56.

Some embodiments may comprise a second imaging system in the surgical system 50 to provide imaging data of the internal structures of the eye and the target area. The synergistic use of images from the first and second imaging systems can provide improved management of the ophthalmic procedure, in general, and improve the accuracy of docking of the patient interface, in particular.

In some surgical systems 50, the second imaging system may be an optical coherence tomography (OCT) imaging system 57. The OCT imaging system 57 (hereinafter the OCT imaging system) may be, among other things, an OCT imaging system operating in the time domain with a swinging frequency or a spectral system. The imaging OCT system 57 may comprise an OCT imaging unit 58 that creates an imaging OCT bundle, directs an imaging OCT bundle to the eye, and processes the imaging OCT bundle reflected from the eye. The OCT image forming system 57 may also comprise a two-axis (x-y) OCT scanner 59 that scans the target region in the x-y plane with an imaging OCT beam, which may be, for example, perpendicular to the optical axis.

In general, the designation "x-y-z" is used in the present description in a broad sense: this designation can refer to scanning in three directions, which are significant angles between each other. However, said angles do not have to be right angles. Scanning can also be performed either along straight lines or along curved lines, along flat or curved surfaces, in accordance with a grid, raster, concentric, spiral or other pattern. In some embodiments, it is possible to scan an OCT imaging beam with a surgical x-y-z laser scanner 52. In other embodiments, only some of the surgical laser beam and OCT imaging beam scanning functions are performed by a common scanner unit, for example, the x-y axis scan function. Some OCT systems, for example, time-domain OCT systems, need to scan the beam along the z-axis, while other systems, such as spectral OCT systems, do not need to be scanned along the z-axis, since the mentioned systems collect image data from all depths creature at the same time.

An OCT imaging beam can be introduced into the main optical path of the surgical system 50 via a beam splitter 53-2 and directed to the target area by the lens 54 and the docking unit 55. In some embodiments, some or all of the z-axis scan functions can be performed by a z-scanner, located in the common optical path, after the beam splitter 53-2. The z-scanner may even be part of the lens 54.

In FIG. 3 shows a docking method 100 for an ophthalmic laser surgical system 50, wherein the docking method 100 may comprise:

Alignment step 110 for aligning the docking unit 55 of the ophthalmic system 50 and the eye;

an image forming step 120 for imaging an internal structure of the eye by an image forming system;

alignment adjustment step 130 to clarify the alignment of the docking unit 55 with the internal structure of the eye depending on the image generated and

docking step 140 for docking the docking unit 55 to the eye.

The above steps are explained in detail below.

The alignment step 110 may comprise using a first imaging system to align the target pattern of the ophthalmic laser surgical system 50 with a characteristic eye element. Said alignment step 110 may be performed, for example, in connection with reducing the docking unit 55 to the eye. The first imaging system may be an ophthalmic surgical microscope or a video microscope 56.

The target pattern of the ophthalmic laser surgical system 50 may include at least one of the marks of the center of the contact lens, the center of the docking unit 55 or the optical axis of the lens 54, the docking unit 55 or the contact lens. In other embodiments, the target pattern may comprise a docking ring, a docking crosshair, or any other docking target pattern, as well as a combination of the above patterns. Said target pattern may be formed in the optical system of an ophthalmic surgical microscope 56 or may be formed by electronic means and displayed on a display or screen of a video microscope 56.

A characteristic element of the eye may be the center of the region of the cornea 2, iris 3, pupil 4, limbus, sclera or lens 5; or an annular formation associated with the region of the cornea 2, iris 3, pupil 4, limbus, sclera or lens 5.

In FIG. 4A-B show an illustrative example of alignment step 110. As seen in FIG. 4A, the video microscope 56 displays the eye 1, as seen through the lens 54 of the laser surgical system 50, and the ring 111 of the target pattern with an adjustable radius, centered on the common optical axis of the lens 54 and the docking unit 55. When the surgeon lowers the docking unit 55 to the eye, the surgeon, in step 112 of adjusting the pattern, can adjust the adjustable radius of the ring 111 of the target pattern to essentially equal to the radius of the inner annular edge 4A of the pupil 4 of the patient, as shown by arrows 112-1 and 112-2. In addition, in step 113 of the movement of the pattern 113, the surgeon can also adjust or move the docking unit 55 in the x-y plane, as shown by arrow 113, to align the target pattern ring 111 with the inner annular edge 4A of the pupil 4 before, during or after adjusting the radius.

The radius of the ring 111 of the target pattern can be selected slightly different from the radius of the inner annular edge 4A of the pupil 4, provided that the radius allows the surgeon to combine the ring 111 of the target pattern with the pupil 4 with the required accuracy. In other embodiments, it is possible to use any other target pattern, including arc, cross, and raster patterns, as listed above.

In FIG. 4B shows that adjusting the adjustable radius of the ring 111 of the target pattern in step 112 and moving the docking unit 55 in the xy plane in step 113 can be performed repeatedly and iteratively until the ring 111 of the target pattern substantially matches the inner annular edge 4A of the pupil 4. The situation described above combines the common optical axis of the lens 54 and the docking unit 55 with the axis or center of the pupil 4.

In said alignment step 110, the docking unit 55 can lower toward the eye, possibly even in physical contact with the eye, while adjusting the position of the docking unit 55 in the z-direction. However, in any case, the docking unit 55 can still remain movable relative to the eye, which allows the surgeon to perform the alignment step 110, possibly by an iterative method. Even at the end of the alignment step 110, the docking unit may remain movably connected to the eye to allow for a possible subsequent alignment step.

In some embodiments, the alignment step 110 may not require the use of a target pattern. In such cases, the alignment control of the docking unit 55 may be based mainly on the visual assessment of the surgeon.

Embodiments of said alignment step 110 combine the docking unit 55 and the eye with some precision. If the docking unit is docked with the eye after the alignment step 110, then the ophthalmic procedure can be performed with some accuracy. For some procedures, the accuracy mentioned may be sufficient, but for other procedures, higher accuracy might be useful.

In FIG. 5 shows the aforementioned situation. Even after the optical axis 202 of the docking unit 200 is aligned with the pupil 4 of the eye in the alignment step 110, the lens 5 of the eye may remain biased and inclined relative to the optical axis 202, since the lens 5 may not be aligned with the pupil 4 for one of the above reasons . In such a case, the docking unit 200 may be an embodiment of the docking unit 55.

As shown in FIG. 5, even after the optical axis 12 of the pupil 4 and the eyes are aligned with the optical axis 202 of the docking unit 200 in the alignment step 110, the center 14 of the pupil 5 is still offset by Δ from the common optical axis 12/202 of the pupil 4 and the docking unit 200, and the axis of symmetry 16 of the lens 5 still makes an angle α with a common optical axis 12/202.

In the aforementioned case, the housing or clip 204 of the docking unit 200, sometimes referred to as the patient interface, objective part or patch tip, may include a contact lens, applanation lens or applanation plate 206 and a guard or flexible seal 208 that comes into contact with the outer surface of the eye, usually with a cornea, limbus or sclera. The docking unit 200 may be attached to an embodiment of the lens, an input tip or a distal end 210 or 54, which may contain several lenses, the last lens being a distal lens 212.

In FIG. 6A-B, the imaging step 120 is explained in more detail.

In FIG. 6A shows that, in the alignment step 110, the docking unit 55 or 200 can be properly aligned and centered with the pupil 4 using a video microscope 56, as indicated by the target pattern ring 111, which partially coincides with the inner annular edge 4A of the pupil 4, and the center 118 (indicated by a ring) is located in the center of the pupil 4. However, the lens 5, shown by a dashed line along its outer perimeter, is hidden from the viewing field of the video microscope 56 and may not be located in the center of the pupil 4. The center 14 also indicates this location the lens indicated by the symbol × located off-center 118 of the target pattern 111, indicated by the ring. In addition, the axis 16 of the lens 5 can be tilted relative to the common axis 202/12 of the docking unit 200 and the pupil 4.

Therefore, even after the alignment step 110, the target pattern ring 111 may not be precisely aligned with the lens 5, and therefore, the accuracy of the cataract procedures aligned to the center of the target pattern ring 111 may not be optimal. Mentioned non-optimal accuracy can be improved by performing step 120 of the image formation.

In FIG. 6A and B show that, in a typical case, the image forming step 120 may comprise a linear scan 121 through the center 118 of the target pattern ring 111, which coincides with the center of the pupil 4. Said linear scan 121 forms an image 122 in the yz plane that contains the image 2c corneal segment and images of 5a and 5p segments, respectively, of the anterior and posterior lens capsules. In the image 122 in the y-z plane, the images of the lens segments 5a and 5p appear tilted and decentered with respect to the optical axis 202, even if the corneal segment image 2c appears centered, since the lens 5 can be tilted and decentered with respect to the cornea and pupil. Therefore, providing images of the lens segments 5a and 5p can help the surgeon improve the accuracy of alignment of the docking unit 200 with the tilted and decentered lens 5.

In other embodiments, the imaging step 120 may comprise imaging, by linear scanning, by a linear pattern, arcs, a cross pattern, a star pattern, a ring pattern, an oval pattern, a closed pattern, a spiral pattern, a concentric multi-ring pattern, a pattern of several shifted rings , a line pattern, and two-dimensional scanning at xy coordinates, according to a raster or grid pattern and a pattern with deleted points.

The imaging step 120 may comprise imaging with an embodiment of an optical coherent tomography (OCT) imaging system 57, a detailed description is given above and below. The imaging step 120 may also be performed by another imaging system capable of forming images of the internal structure of the eye.

In FIG. 7 shows that the alignment of the docking unit 200 with the lens 5 can be made more accurate by the alignment adjustment step 130 based on the imaging step 120.

In accordance with one aspect, alignment refinement step 130 may comprise extracting positional information regarding the lens 5 from the generated image 122 and adjusting the position of at least one of the eyes 1 or the docking unit 200 depending on the extracted positional information. In some embodiments, it is possible to aim at other internal structures of the eye, for example, the nucleus of the lens or the structure of the retina.

In one embodiment, the surgeon can analyze the image 122 in the plane formed at step 120 of imaging, and determine the offset Δ of the center 14 of the lens from the optical axis 202 of the docking unit 200. Based on the above definition, the surgeon can move either the eye or the docking unit, or and an eye and a docking unit to eliminate said offset Δ, as indicated by arrow 130a. Said alignment refinement step 130 may reduce or even eliminate the displacement Δ between the lens center 14 and the optical axis 202. Typically, said displacement 130a may bias the optical axis 202 of the docking unit 200 from the optical axis 12 of the lens 5.

The shift 130a can be performed iteratively, since the surgeon may not accurately determine the offset Δ on the first try. To correct said inaccuracy in some embodiments, the alignment refinement step 130 may be followed by a repeated imaging step 120 ′ to determine how the offset Δ ′ has changed as a result of the shift 130a. Said repeated imaging step 120 ′ may be followed by a repeated alignment refinement step 130 ′ based on the updated image 122 ′ formed in the repeated imaging step 120 ′, and so on. In effective operating embodiments, the offset Δ decreases in stages. In other embodiments, implementation, even if Δ increases at some stage, subsequent steps reduce said displacement, ultimately.

The shift 130a can be performed by issuing an oral command to the patient to move his eye, or by physically moving the patient’s head or the surgical table on which the patient is resting, or by manually moving the patient’s eye, or by moving the fixation light from the fixation light source, or by moving the guide light on the guide light display, in which case, in each case, instructing the patient to accompany the light with his eye, or by moving with ykovochnogo unit 200 in the x-y plane by moving the gantry or the articulated arm. In embodiments using composite docking blocks, a part that is attached to the eye, such as a gripper, can be used to move or rotate the eye. Fixing or directing light can be directed either to the operated eye or to the non-operated eye. These adjustments can be made manually by the surgeon or by actuating at least one electric drive, or by means of a computer. In some cases, it is possible to jointly perform at least two shifts of the above type.

In FIG. 7 also shows that in other embodiments, the alignment refinement step 130 may comprise extracting orientation information regarding the lens 5 or other target internal structure of the eye from the generated image 122 and adjusting the orientation of at least one of the eye 1 or the dock block 200, depending on the selected orientation information.

In one embodiment, the surgeon can analyze the image 122 in the yz plane formed in the image forming step 120 and determine the angle α between the optical axis 16 of the lens 5 and the optical axis 202 of the docking unit 200. Based on the above definition, the surgeon can turn either the eye, either the docking unit or move the docking unit, or adjust the optical path of the laser beam in the laser surgical system 50 to eliminate the mentioned inaccurate alignment. The eye rotation option is indicated by arrow 130b. Said alignment refinement step 130 may reduce or even eliminate the angle α between the optical axis 16 of the lens 5 and the optical axis 202 of the docking unit 200. The alignment refinement described above is typically provided by introducing an angle between the optical axis 12 of the eye and the optical axis 202 of the docking unit 200, as indicated dashed line.

Turn 130b can be performed iteratively, since the surgeon may not accurately determine the angle α on the first try. To correct this inaccuracy in some embodiments, the alignment refinement step 130 may be followed by a repeated imaging step 120 ′ to determine how the angle has changed after rotation 130b from the repeated image 122 ′, followed by a repeat of the alignment refinement step 130 ′ based on the image 122 'formed in the repeated imaging step 120', and so on. In effective embodiments, the angle α decreases stepwise. In other embodiments, implementation, even if α increases at some stage, subsequent steps reduce said angle, ultimately.

The rotation step 130b can be performed by issuing an oral command to the patient to move his eye, or by manually turning the patient’s head, or by physically turning the patient’s eye, or by moving the fixation light from the fixation light or directing light displayed on, , in each case, instructing the patient to accompany the light with his eye, or by moving or rotating the docking unit 200 in the xy plane by moving the gantry or arnirnoy console. Fixing or directing light can be directed either to the operated eye or to the non-operated eye. In embodiments using composite docking blocks, a part that is attached to the eye, such as a gripper, can be used to move or rotate the eye. These adjustments can be made manually by the surgeon or by actuating at least one electric drive, or by means of a computer. In some cases, it is possible to jointly perform at least two shifts of the above type.

In FIG. 8A-B present the result of the image forming step 120 and the alignment refinement step 130.

In FIG. 8A that after the successful alignment refinement step 130, the shifted 111 ′ ring of the target pattern can become concentric with the lens 5 rather than the pupil 4. Accordingly, the shifted line of linear scanning 12 through the shifted center 118 ′ of the ring 111 ′ of the target pattern can now pass through the center 14 of the lens 5, and not through the center of the pupil 4.

In some embodiments, it is possible to display both the first ring 111 of the target pattern, concentric to the pupil 4, and the second target pattern 111 ', which is shifted in step 130 to refine the alignment to concentricity with respect to the lens 5.

In FIG. 8B, it is shown that after the effective alignment adjustment step 130 in the repeated imaging step 120 ′, an image 122 ′ in the section plane yz can be recorded, indicating that the lens center 14 is now on the optical axis 202 of the docking unit 200. In addition, the image segments 5a 'and 5p' of the anterior and posterior capsules after relative rotation and shift of the eye and the docking unit 200 are almost symmetrical and, thus, indicate that the optical axis 16 of the lens is approximately aligned with the optical axis 202 of the docking Lok 200.

Ensuring the alignment of the 55/200 docking unit with a displaced and tilted lens 5 hidden from observation, and not with the visible pupil 4, with the mentioned increased accuracy is one of the advantages of the image-docking method 100.

In FIG. 9 shows that embodiments of a related docking method 300 with image control may comprise the following steps:

a step 310 for generating video images to form a video microscopic image of a portion of the eye;

a centering step 320 for centering the docking tip based on the video microscopic image;

an OCT image forming step 330 for forming an OCT image of an eye portion;

a distanceometric step 340 for determining the removal of the docking tip from the cornea based on the OCT image;

a moving step 350 for using the found removal to move the docking tip to the cornea of the eye;

a determining step 360 for determining the position or orientation of the lens of the eye based on the OCT image;

alignment step 370 for aligning the docking tip to align the docking tip with the lens of the eye by issuing verbal commands to the patient or adjusting the guiding light or moving the gantry, and

a docking step 380 for applying a vacuum to dock the docking tip.

Some of the steps 310-380 of the method 300 may be performed similarly to the corresponding steps of the method 100. In addition, the distanceometric step 340 may include determining the distance between the cornea 2 of the eye and the docking tip, which may be the docking unit 55 or 200 or any other patient interface. At said step 340, the distance from the docking tip may be based on a reference point. The reference point may be located in the optical system of the surgical laser system 50, for example, in the lens 54. The reference point may be movable and may allow adjustment or shift for various reasons.

In FIG. 10 shows an OCT 457 imaging system for a more detailed explanation of the imaging step. The OCT 457 imaging system may comprise an OCT 458 imaging unit and a two-axis (x-y) OCT scanner 459.

The operating principles of OCT imaging systems are widely known and described in the literature. The OCT system 457 can be an OCT system (a) in the time domain, (b) with a sweep frequency source, or (c) spectral. OCT imaging systems of types (a) and (b) use a narrow-band light source 410 for OCT and scan the focal point of the beam in the z-direction, and thus, these systems provide information for imaging corresponding to different depths along the z-axis, sequentially in time. OCT systems of type (a) move the reference mirror in the time domain, and OCT systems of type (b) with a sweeping frequency rearrange the wavelength of the laser beam.

Type (c) spectral OCT systems use a broadband light source 410 for OCT imaging, and essentially simultaneously or in parallel obtain images in the depth range along the z axis corresponding to different wavelengths in a wide range of light source for OCT imaging. Due to the mentioned possibility of parallel imaging, spectral OCT systems can operate essentially faster than sequential OCT systems. OCT systems of types (b) and (c) are sometimes called temporary OCT systems.

All types of OCT image forming units 458 may include a light source 410 for OCT, a reference mirror 413 for OCT, and a beam splitter 417. In serial OCT systems, such as a temporary OCT of type (a), the light source 410 for the OCT can be a narrow-band laser, and the reference mirror 413 can be movable for scanning along the z-axis. With a light source for OCT type (b), mobility is not required from the reference mirror, since the wavelength of the light source 410 is changed. In systems for parallel OCT type (c), a light source 410 for OCT can emit broadband imaging light.

The imaging OCT beam can be deflected by a two-axis (x-y) OCT beam scanner 459 for directing into the eye through the lens 454 and the docking unit 455. The two-coordinate (x-y) OCT scanner 459 can scan the OCT imaging beam inside the eye in x- and y-directions. In sequential OCT systems, the beam is scanned along the z-axis by moving either a reference mirror 413 or by tuning the wavelength of the light source 410 for the OCT. In parallel OCT systems, scanning along the z-axis is not performed, since different wavelengths carry information corresponding to different depth z, essentially simultaneously.

In all of the systems mentioned, the OCT imaging beam reflected from the eye can be combined with the reference beam reflected by the OCT reference mirror 413 in the beam splitter 417. Said combined beam contains information for forming an image in a complex interference pattern, which is recorded by an OCT camera 420.

For serial OCT systems, said OCT camera 420 may be simple, for example comprising a photodetector. For parallel OCT systems, the image forming OCT block 458 may include a spectrometer, for example, a prism or array (not shown directly) that decomposes the broadband imaging light into its components of different wavelengths and rejects components of different wavelengths at different spatial angles. In some parallel OCT systems, the OCT camera 420 may include a linear array of CCD receivers (based on charge-coupled devices) to receive said diverging beams with different wavelengths, each of which contains specific information regarding interference at its own wavelength of said receiver. In other systems, the use of a two-dimensional CCD matrix is possible. The amplitude of the spreading diverging beams can be recorded in individual pixels of the CCD matrix of the OCT camera 420. Some high-resolution OCT cameras 420 may contain hundreds or even thousands of pixels.

The imaging process may be controlled by an imaging synchronization unit 470, which may receive its synchronization signal from the output unit described below. Image data from the OCT camera 420 can be sent to the OCT analyzer 480, synchronized by the imaging synchronization unit 470. In parallel OCT systems, the OCT 480 analyzer may include a processor for performing fast Fourier transform (FFT). FFT converts information regarding the interference of components of different wavelengths into image information corresponding to different depths along the z axis. After the FFT, the transformed OCT image data represents image information corresponding to a depth range along the z axis. Said converted OCT image data may be transmitted to a processor 430, which may generate an OCT image and output the generated OCT image to a display 490.

The following is a description of the OCT scanning beam controller system, which eliminates the complexity of some existing OCT scanning beam controllers, which are described below.

In some OCT imaging systems, a processor 430 may operate with multiple tasks and perform at least two functions in an interleave, parallel, or overlap mode. To perform the above functions, the processor can perform an “interrupt” by switching from, for example, a beam scanning task to another task and vice versa. The interruptions mentioned, despite their short duration, can cause problems, since during the time when the scan is paused or fixed by interruption, the laser beam can remain directed in the same position. Said scan fixation may break the timing diagram of the scan in x-y coordinates, introducing errors and noise into the coordinates of the displayed location. The mentioned temporary error in the output scan data can lead to delays that can reach 50, 100 or more microseconds, a phenomenon sometimes called temporary jitter. In addition, prolonged exposure to the laser beam can cause damage to the sensitive tissue of the eye.

In addition, since the processor usually communicates with I / O agents via the system bus, the mentioned output mode provides only low data transfer rates, since several agents can simultaneously access the bus, each of which needs a part of its own cycle time. In addition, in order to cope with these competing requirements, the portion of the system bus cycle is usually selected by control signals. And if the OCT imaging system is capable of eliminating the aforementioned scan fixing performed by a processor outputting the scan data to the output unit in a single-task mode, for example, via a dedicated line, then the processor cannot perform other functions during the mentioned output stage, for example, calculating the next scan pattern . All the mentioned circuit solutions and limitations significantly reduce the performance of such systems.

The embodiments of the OCT scanning beam controller proposed in this application can cope with these problems through the use of an effective circuit solution. The OCT scanning beam controller may comprise a processor 430 and an analog I / O board 435. The processor 430 may calculate scan data for the scan pattern. Said scan data may comprise, for example, a sequence of x-y points where the imaging OCT beam will be directed to the target area during the scan. For sequential OCT systems with z-axis scanning, the scan data may contain x-y-z coordinates. As described above, OCT scan patterns can be a variety of patterns, including linear, arc, closed, circular, spiral, raster and mesh patterns.

The processor 430 may calculate scan data, as well as perform its other described functions in combination with a storage medium that stores machine code or a set of instructions to support said processor functions.

The analog I / O board 435 may comprise a local or dedicated memory controller 440, also referred to as a direct memory access mechanism 440 or a DMA 440 mechanism. A DMA mechanism / memory controller 440 may control the transmission of the computed scan data, either bypass or directly, from processor 430 to buffer 450 data. A data buffer 450 coupled to the local memory controller 440 may store the scan data and output the scan data to the output digital-to-analog converter 460 or the output DAC 460. The output DAC 460 may be coupled to the data buffer 450 and may (i) convert the selected output scan data to analog scanning signals; and (ii) outputting the scanning signals to a two-coordinate (xy) (or three-coordinate (xyz)) scanner 459 of the OCT beam.

In FIG. 11 illustrates an embodiment of a controller for a scanning OCT beam. The processor 430 ′ may be connected to a bus 432, such as a PCI bus 432. The OCT scanning beam controller may also include a memory processor 433. The processor 430 ′ may provide calculated scan data to the processor memory 433. The specialized DMA 440 ′ mechanism can transmit scan data from processor memory 433 to data buffer 450 ′, which may be, for example, a reverse store type (FIFO) memory. The FIFO 450 'buffer memory can store scan data and output the stored scan data to the output DAC 460' when instructed. In some embodiments, the processor may output scan data to the analog I / O board 435 via a dedicated memory bus or local bus instead of the PCI 432 bus. In other embodiments, even a direct connection is possible between the processor and the DMA 440 'mechanism.

In relation to the above-described problems with other systems, embodiments of the present OCT scanning beam controller offer a high-speed scanning operation since (i) the FIFO 450 'memory can output stored scan data without interruption; (ii) the output mode may be a high-speed data transmission mode, for example, packet-exclusive mode; and (iii) the output can be carried out without transmitting scan data on a shared bus 432, through processor memory 433 or processor 430 '.

For all these reasons, the output of the scan data will not be interrupted by competing tasks or slowed down by the low-speed data transfer characteristic of the common 432 bus.

In addition, since the FIFO 450 ′ memory controls the output of the scan data, the processor 430 ′ is freed up to perform other functions in parallel with the output of the data, for example, image processing or calculating new scan data corresponding to the scanning pattern, or to perform a control function.

In addition, the output of the scan data from the data buffer 450 ′ to the output DAC 460 ′ is not slowed down by the interrupt performed by the processor 430 or another system agent, also because the output is from the data buffer 450 ′ via a dedicated channel on the analog input / output board 435 instead common bus 432. Such embodiments can significantly reduce temporary jitter, for example, withstand it for less than 50, 40, or even 20 microseconds.

In some embodiments, the output DAC 460 ′ can convert the acquired digital scan data to analog scan signals and output the scan signals to the x- and y-axis galvanometer controllers 56a and 56b or some other types of scan controllers that control the x- axis deflection mirrors and y-axes or direction-changing elements to scan by the imaging OCT bundle in accordance with the scanning pattern encoded in the scanning data. Some embodiments may comprise a combined two-axis (x-y) galvanometer controller that controls a mirror capable of pivoting around two axes.

The output DAC 460 ′ may also provide clock signals to the imaging synchronization unit 470 ′ associated with the OCT imaging camera 420 to record a reflected OCT imaging beam in synchronization with scanning by an OCT imaging beam. The timing signals may be based on timing data inserted by the processor 430 'into the scan data.

In addition, the image forming step 120 may include calculating the casting data to the calculated point corresponding to the casting to the calculated point connecting the end point of the first image forming step with the starting point of the next second image forming step. Said step may be useful in embodiments in which the first step of imaging ends simply by stopping the output of the scan data, which leaves the scanning galvanometric controllers 56a-b along the x- and y-axes in a non-standard position and a visualizing beam directed to a non-standard target point. The mentioned non-standard point, usually differs from the starting point of the next second stage of image formation, because of which the scanning galvanometric controllers 56a-b along the x- and y-axes need to be “brought to the calculated point” by calculating and outputting the data of the reduction to the calculated point, so that the imaging beam can begin the next second stage of image formation from a clearly defined starting point.

For example, the first imaging step may comprise scanning the x- and y-axes with a visualizing beam along the first ring with the first radius. If the second stage of image formation comprises scanning along the second ring with a second radius, then the first stage of image formation may be followed by the calculation of casting data to the calculated point, which sets the path from the end point of the first ring scan with the first radius to the starting point of the second ring scan with the second radius .

In such embodiments, there may be no movement of the imaging beam back to the standard point, for example, to the center, the origin, or other unbiased point, which further saves time and further speeds up the scanning operation.

The step of calculating the alignment data may also be useful in embodiments in which, at the end of the first imaging step, the galvanometer controllers 56a and 56b are returned to the neutral position along the x- and y-axes, since such a return facilitates the calculation of the initial position the second stage of imaging relative to the neutral position.

In some embodiments, the output speed of the output DAC 460/460 'may be so high that the performance of the imaging system 457 may be limited by the integration time of the OCT camera 420.

In some embodiments, the output DAC 460/460 'can output scan signals at a speed within one of the following ranges: 1 Hz-1 MHz, 100 Hz-1 MHz, or 1 kHz-100 kHz.

In some embodiments, the implementation of the output speed of the scanning signals may be adjustable in accordance with the requirements of the task and pattern imaging.

After the imaging step 120 is completed, the alignment adjustment step 130 may comprise issuing an oral command to the patient based on the image of the internal structure of the eye, for example, the lens 5.

The alignment refinement step 130 may also include providing a fixing light beam, requiring the patient to look at the fixing light, and adjusting the fixing light based on the image provided in the image forming step 120. Fixing light can be supplied to the operated eye through the main optical path of the laser surgical system 50 or through a separate fixing light system. In some cases, fixative light can be applied to the non-operated eye.

The alignment refinement step 130 may begin (i) before the docking unit 55/200 comes into contact with the eye; (ii) after the 55/200 docking unit comes in contact with the eye, but before applying a vacuum; or (iii) after a partial vacuum has been applied to the 55/200 docking unit, which, however, is subject to some degree of alignment change.

Partial vacuum or vacuum can be applied, for example, by means of a vacuum ring or a vacuum guard, which can be part of the 55/200 docking unit. Depression can be applied after the docking unit is brought into physical contact with the eye.

Docking method 100 may be performed as part of a surgical process or a diagnostic process. In other embodiments, the docking method 100 may be performed as part of an imaging procedure that is not part of a surgical or diagnostic procedure, such as an identification process.

Steps 110-140 may comprise program codes or instruction sets that are stored in the imaging system 57. The code can be stored, for example, in dedicated memory or in memory that is part of another function block. Alignment step 110 may comprise code stored in memory related to video microscope 56. Image formation step 120 may comprise recording scan patterns or scan data generated by processor 430 in dedicated or integrated memory, or recording scan data in data buffer 450. The alignment refinement step 130 may comprise using a memory unit for storing the generated image to support alignment adjustment of the docking unit 55 with the lens of the eye 1 depending on the generated image. The docking step 140 may also use a stored program to direct and control the docking of the docking unit 200 to the eye.

In FIG. 12 shows that an embodiment of a method 500 of high speed imaging may comprise:

a step 510 for computing scan control data by a processor 430/430 ';

step 520 of storing the scan control data in processor memory 433 by processor 430;

a step 530 for setting up a dedicated memory controller 440/440 'for a scan operation by assigning operating parameters, for example, scan data output rate;

step 540 of transmitting scan control data from processor memory 433 to data buffer 450/450 ′, at least in part, under the control of a dedicated memory controller 440/440 ′;

step 550 of notifying the processor 430/430 'by the dedicated memory controller 440/440' / DMA mechanism that the transmission of the scan control data has been completed;

step 560 issuing to a specialized memory controller 440/440 'by the processor 430/430' a command to start high-speed output of scan control data;

the step 570 of transmitting the scan control data from the data buffer 450/450 'to the output DAC 460/460', at least partially, under the control of a specialized memory controller 440/440 ', while the output DAC 460/460' converts the digital scan control data to the analog scanning control signals, and the output DAC 460/460 'outputs the analog scanning control signals to the scanners 56a and 56b along the x- and y-axes, and to the synchronization unit 470;

a step 580 of notifying the processor 430/430 'by the specialized memory controller 440/440' that the output process has been completed.

At step 570, the transmission of the scan control data from the data buffer 450/450 ′ may be performed in a high-speed transmission mode, for example, packet-exclusive mode, or page mode, or any similar high-speed transmission modes.

At step 570, transmission of the scan control data from the data buffer 450/450 ′ can be performed without transmitting the scan control data via a bus 432 that connects the local memory controller 440, the processor 430, and the processor memory 433.

At step 570, the transmitting step may also include transmitting the scan control data in parallel with the processor 430 executing image processing or computing scan data corresponding to the scan pattern.

At step 570, the transfer step may also include transmitting the scan data without interruption by another system agent, which can withstand a temporary jitter of scan data of less than 50, 40, or 20 microseconds.

In an embodiment 600 of the above method 500, the above steps may be organized as the following steps:

a processor control data processing step 610 by the processor may comprise a step 510;

step 620 of storing the scan control data in the data buffer, in part, by the local memory controller, may comprise steps 520, 530, 540, and 550;

a step 630 for transmitting scan control data from a data buffer in a high speed transmission mode to a conversion-output module may comprise steps 560 and elements of step 570 and

a step 640 of outputting the scan signals to the scan controllers, wherein the scan signals are converted from the scan control data by the conversion-output unit, may comprise the elements of step 570.

Although the present description contains many specific details, the specific details given cannot be interpreted in the sense of limiting the scope of any invention or what may be claimed, but as descriptions of features specific to particular embodiments. Some features that are presented in the present description in the context of individual embodiments, can also be implemented in combination in one embodiment. Conversely, the various features that are described in the context of one embodiment may also be implemented in several embodiments individually or in any suitable sub-combination. In addition, although in the above description the features may be presented as functioning in some combinations and even initially claimed as such, at least one feature from the claimed combination may, in some cases, be excluded from the combination, and the claimed combination may be assigned to subcombinations or a variant of subcombination.

Claims (24)

1. An ophthalmic system containing:
a docking unit configured to combine the ophthalmic system and the eye;
an imaging system configured to image an internal structure of the eye;
an image forming controller comprising
a processor configured to calculate scan data for the scan pattern;
a local memory controller, configured to control the transfer of calculated scan data from the processor to the data buffer, wherein
a data buffer is configured to save scan data and output scan data; and
an output digital-to-analog converter associated with the data buffer, configured to convert the selected scan data into analog scan signals and output scan signals;
moreover, the ophthalmic system is configured to combine the docking unit with the internal structure of the eye, depending on the image formed and
docking unit docking with the eye. 2. The ophthalmic system according to claim 1, comprising a first imaging system configured to combine a target pattern of the ophthalmic system with a characteristic element of the eye. 3. The ophthalmic system according to claim 2, in which:
the first imaging system contains one of a microscope or a video microscope;
the target pattern of the ophthalmic system contains at least one of the center of the contact lens, the center of the docking unit, the docking ring or docking crosshairs and
a characteristic element of the eye is at least one of
the center of the iris, pupil, cornea, limb or lens, or
annular formation associated with the region of the iris, pupil, cornea, limb or lens. 4. The ophthalmic system according to claim 1, comprising:
a second imaging system configured to image, wherein
the second imaging system is some one of an imaging system using optical coherence tomography and an imaging system configured to form images of the internal structure of the eye. 5. The ophthalmic system according to claim 1, wherein:
ophthalmic system is configured to
to facilitate the allocation of positional information regarding the internal structure of the eye from the generated image and
contribute to adjusting the position of at least one of the eyes or the docking unit, depending on the selected positional information. 6. The ophthalmic system according to claim 1, wherein:
ophthalmic system is configured to
to contribute to the selection of orientation information regarding the internal structure of the eye from the generated image and
to help adjust the orientation of at least one of the eyes or the docking unit, depending on the selected orientation information. 7. The ophthalmic system according to claim 1, in which the processor is configured to implement a scanning pattern that comprises at least one of a linear pattern, an annular pattern, an oval pattern, a closed pattern, an arc pattern, a raster pattern, a two-coordinate pattern (xy) a pattern, a cross pattern, a star-shaped pattern, a spiral pattern, and a pattern with deleted dots. 8. The ophthalmic system according to claim 1, wherein the processor is configured to insert clock signals into the scan data by the processor. 9. The ophthalmological system according to claim 1, wherein the processor is configured to calculate the casting data to the calculated point corresponding to the casting to the calculated point connecting the starting point of the scanning pattern with a preset point. 10. The ophthalmic system according to claim 1, comprising:
processor memory configured to store scan data; and
a memory controller, configured to control the transfer of stored scan data from the processor memory to the data buffer. 11. The ophthalmic system according to claim 10, in which:
the memory controller contains a direct memory access mechanism and
the data buffer contains inverse store type memory. 12. The ophthalmic system according to claim 1, wherein the data buffer is configured to output scan data to the output module in high-speed data transmission mode. 13. The ophthalmic system according to claim 1, wherein the data buffer is configured to output scan data from the data buffer. 14. The ophthalmic system according to claim 1, in which:
the data buffer is configured to output scan data in parallel with the processor performing at least one of
image processing
computing scan data corresponding to the scan pattern, or
perform management functions. 15. The ophthalmic system according to claim 1, wherein the data buffer is configured to receive scan data with a temporary jitter of scan data of less than 40 μs by the output module. 16. The ophthalmic system according to claim 1, in which the output digital-to-analog Converter is configured to convert the scan data into analog scan signals. 17. The ophthalmic system according to claim 1, further comprising:
a scanning controller and an imaging synchronizer connected to the output digital-to-analog converter, configured to receive scanning signals output by the output digital-to-analog converter, wherein the scanning signals comprise synchronizing signals;
the scan controller is configured to re-adjust at least one scanner in accordance with the scanning signals to scan with an imaging beam; and
the imaging synchronizer is configured to re-synchronize the camera to form images in accordance with the synchronizing signals. 18. The ophthalmic system according to claim 17, in which:
the scan controller contains at least one galvanometric controller and
the imaging synchronizer comprises at least one camera controller for generating ophthalmic coherent images. 19. The ophthalmic system according to claim 1, further comprising an image recording apparatus attached to the image forming system, wherein the integration time of the image recording apparatus sets the speed of the image forming system. 20. The ophthalmic system according to claim 1, in which the scanning signals have frequencies of output of the scanning signals within one of the following ranges:
1 Hz-1 MHz, 100 Hz-1 MHz or 1 kHz-100 kHz. 21. The ophthalmic system according to claim 1, in which the output digital-to-analog Converter is configured to adjust the output speed of the output of the scanning signals. 22. The ophthalmic system according to claim 1, wherein the docking unit is movable by moving the gantry or articulated arm. 23. The ophthalmic system according to claim 1, wherein:
ophthalmic system is configured to
measuring the distance between the reference point of the docking unit and the outer layer of the eye and
lowering the docking unit in accordance with the measured distance. 24. The ophthalmic system according to claim 23, wherein the reference point is adjustable.

Images