Abstract: Apparatus and methods are described for performing a procedure using a robotic unit. A sterile drape is placed around a drape plate, such that the sterile drape forms an interface between a non-sterile zone and a sterile zone, such that the tool mount is disposed within the sterile zone, and one or more robotic arms and a tool motor are disposed within the non-sterile zone. The tool is driven to roll with respect to the end effector via at least one gear mechanism disposed within the sterile zone, and a motion-transmission portion configured to transmit motion from the tool motor to the at least one gear mechanism, while maintaining a seal between the sterile zone and the non-sterile zone. Other applications are also described.

Abstract: Apparatus and methods are described for performing a procedure using a robotic unit. A sterile drape is placed around a drape plate, such that the sterile drape is sealed with respect to the drape plate and forms an interface between a non-sterile zone and a sterile zone, a tool mount being disposed within the sterile zone, and one or more robotic arms and a linear tool motor being disposed within the non-sterile zone. A tool-actuation arm, disposed within the non-sterile zone, is driven to move linearly to thereby move at least the portion of the tool linearly with respect to the end effector. A portion of the sterile drape that is configured to be disposed at an interface between the tool-actuation arm and the portion of the tool that is pushed has greater rigidity and/or wearability than other portions of the drape. Other applications are also described.

Abstract: Apparatus and methods are described for performing a procedure on a portion of a first side of a body of a patient using one or more tools. An imaging device images the portion of the first side of the patient's body. A display displays a mirror image of the portion of the first side of the patient's body to an operator. One or more control components are be operated by the operator. One or more robotic units hold the one or more tools, each of the one or more robotic units corresponding to a respective control component and mirroring a position of the corresponding control component. A computer processor processes inputs into the each of the control components such as to generate mirrored outputs at the corresponding robotic unit. Other applications are also described.

Abstract: Apparatus (100) for use with a motion source that generates reciprocating linear motion. The apparatus includes a cutting ring (120) comprising a sharp cutting edge shaped and sized to engage an anterior lens capsule of the eye (20) and a longitudinal-motion member (150) coupled to the cutting ring, and that is configured to be coupled to the motion source, such that the motion source imparts reciprocating linear motion to the longitudinal motion member. The apparatus additionally includes a motion-conversion mechanism coupled to the longitudinal-motion member and to the cutting ring and configured to convert the reciprocating linear motion of the longitudinal-motion member into back-and-forth rotational motion of the cutting ring to create a circular aperture in the anterior capsule of the eye by the cutting ring. Other applications are also described.

Abstract: Apparatus and methods are described for performing a procedure using a robotic unit. A tool-actuation arm is driven to move linearly, to thereby move at least the portion of the tool linearly with respect to the end effector. The tool-actuation arm is driven to become retracted to a given distance from the tool mount, thereby causing the tool-actuation arm to fold automatically by actuating an automatic tool-actuation arm folding mechanism. Other applications are also described.