Abstract: A surgical mechanical arm comprising: an electrosurgical tool comprising: a first tool portion comprising a first surface; a second tool portion comprising a second surface, where said tool portions are mechanically coupled and configured to move relative to each other to change a separation between said first and second surfaces; a first elongated element electrically coupled to at least a part of said first tool portion which is electrically isolated from said second tool portion; and a second elongated element electrically coupled to at least a part of said first tool portion and mechanically coupled to and configured to actuate one or both of said tool portions to change said separation between said first and second surfaces.

Abstract: There is provided a computer implemented method of providing a surgical controller with instructions to restrict a manipulation of an endoscopic tool during an endoscopic medical procedure in an intrabody cavity, comprising: inputting into classifier(s), indication(s) of instructions for manipulation of the endoscopic tool outputted by sensor(s), classifying by the classifier(s), the indication of instructions into an envelope defining a volume that restricts therein manipulation of the endoscopic tool, wherein the classifier(s) classifies the envelope based on previously obtained indications of instructions for manipulation of endoscopic tools during other endoscopic medical procedures performed in intrabody cavities of other patients, analyzing the indication of instructions for manipulation of the endoscopic tool according to the envelope to determine when the instructions are for manipulation of the endoscopic tool externally to the envelope, and providing the surgical controller with an indication of ina

Abstract: A surgical system comprising: a plurality of modular units, each unit comprising: a motor unit; and a surgical mechanical arm actuated by, connected to and supplied with electrosurgical power by the motor unit; and a memory configured to store a selected electrosurgical operational mode for each of the plurality of modular units.

Abstract: Trocar components and methods of use are described, wherein the trocar components are configured to provide access to intraperitoneal space via the rectouterine pouch to surgical tools, which optionally include one or more surgical robot members. The surgical tools are optionally 5 mm or more in diameter. In some embodiments, a cannula part has a lumen sized to provide to a plurality of the surgical tools simultaneous transvaginal access to the intraperitoneal space via the rectouterine pouch. In some embodiments, an incision sized to receive a distal aperture of the cannula is created, optionally using one or two dilators. The dilators are sized to create (optionally starting from a puncture by a needle 2 mm in diameter or less) an oblong aperture. In some embodiments, the oblong aperture is at least twice as wide across a long diameter as across a short diameter.

Abstract: Some embodiments relate to a two-portion drape for a surgical device, comprising: I. a first drape portion formed of a thin sheet of flexible material defining an elongated hollow sleeve, the first drape portion comprising: an open end on a first side of the sleeve; a partially closed end on a second, opposing side of the sleeve; an elongated sleeve body extending between the open end and the partially closed end; and an accessible opening which extends from the partially closed end to an adjacent portion of the sleeve body; II. a second drape portion configured for deployment over the first drape portion, the second drape portion formed of a thin sheet of flexible material, the second drape portion shaped and sized to cover the accessible opening at least in part.

Abstract: A method of initializing the layout of one or more robotic arms controllable by an input object, comprising: entering a paused mode, in which control of movement of the robotic arms by the input object is paused; measuring an input object initialization layout, defined by the layout of at least one segment of the input object; actuating at least a portion of the robotic arms to match the input object initialization layout; and entering a controlled mode, in which movements of the input object control the robotic arms.

Abstract: A surgical system for control of a surgical mechanical arm, which system comprises: at least one input arm comprising: a first section rotatable about a first section axis; a second section rotatable about a second section axis; a first bendable joint coupling said first and said second sections, where said first section axis and said second section axis are not collinear, for all angles of bending of said first bendable joint; at least one sensor configured to measure movement of one or more of said sections; and circuitry configured to receive a measurement signal from said at least one sensor and to generate a control signal, based on said measurement signal for control of movement of said surgical mechanical arm.

Abstract: A method of initializing the layout of one or more robotic arms controllable by an input object, comprising: entering a paused mode, in which control of movement of the robotic arms by the input object is paused; measuring an input object initialization layout, defined by the layout of at least one segment of the input object; actuating at least a portion of the robotic arms to match the input object initialization layout; and entering a controlled mode, in which movements of the input object control the robotic arms.

Abstract: A surgical system for control of a surgical mechanical arm, which system comprises: at least one input arm comprising: a first section rotatable about a first section axis; a second section rotatable about a second section axis; a first bendable joint coupling said first and said second sections, where said first section axis and said second section axis are not collinear, for all angles of bending of said first bendable joint; at least one sensor configured to measure movement of one or more of said sections; and circuitry configured to receive a measurement signal from said at least one sensor and to generate a control signal, based on said measurement signal for control of movement of said surgical mechanical arm.

Abstract: A device sized and shaped for insertion into a body includes at least one mechanical limb including a support segment, a first flexible section extending from the support segment and terminating in a coupling section, and a second flexible section extending from the coupling section and terminating in a tool or an connector for a tool. One or more of the flexible sections is bendable by at least 120°. A long axis length of the first flexible section is at least double a maximum extent of the first flexible section perpendicular to a flexible section long axis. A long axis length of the second flexible section is at least double a maximum extent of the second flexible section perpendicular to a flexible section long axis.

Abstract: A control console for control of a medical surgical device comprising at least one surgical mechanical arm, which control console comprising: a control console base; at least one user support coupled to said control console base; a processor configured to receive data regarding a selected surgical configuration of said at least one surgical mechanical arm and at least one camera; an input arm support coupled to said control console base; at least one input arm comprising a plurality of sections sequentially coupled by joints, coupled to and extending from said input arm support where a direction of extension of said input arm, with respect to said at least one user support is adjustable to match an input arm configuration to said selected surgical configuration, a camera view of said at least one surgical mechanical arm thereby corresponding to a user view of said input arm.

Abstract: An access port for sealing an opening of a natural orifice and supplying access to a body cavity through the natural orifice including: a sealing unit; an unobstructed single lumen cannula extending to the body cavity; a connector connecting the cannula to the sealing unit; an access opening through the sealing unit to the single lumen; a cap including a plurality of cap openings configured to seal between medical instruments inserted into the openings and the access opening.

Abstract: Trocar components and methods of use are described, wherein the trocar components are configured to provide access to intraperitoneal space via the rectouterine pouch to surgical tools, which optionally include one or more surgical robot members. The surgical tools are optionally 5 mm or more in diameter. In some embodiments, a cannula part has a lumen sized to provide to a plurality of the surgical tools simultaneous transvaginal access to the intraperitoneal space via the rectouterine pouch. In some embodiments, an incision sized to receive a distal aperture of the cannula is created, optionally using one or two dilators. The dilators are sized to create (optionally starting from a puncture by a needle 2 mm in diameter or less) an oblong aperture. In some embodiments, the oblong aperture is at least twice as wide across a long diameter as across a short diameter.

Abstract: An access port for sealing an opening of a natural orifice and supplying access to a body cavity through the natural orifice including: a sealing unit; an unobstructed single lumen cannula extending to the body cavity; a connector connecting the cannula to the sealing unit; an access opening through the sealing unit to the single lumen; a cap including a plurality of cap openings configured to seal between medical instruments inserted into the openings and the access opening.

Abstract: A method of constructing a system comprising one or more surgical arms, comprising: providing: a plurality of modular units, each modular unit comprising at least one surgical arm attached to at least one motor unit configured for actuating movement of the surgical arm; coupling one or more modular units to each other in an attachment configuration; displaying on a user interface one or both of an indication of the attachment configuration and a selection of an attachment configuration.

Abstract: An access channel for access to a body cavity through a natural orifice including: a variable length unobstructed channel including: a rigid cannula having a distal opening configured to fit through an incision in a wall of the orifice; a rigid tubular extension for the cannula; a distal opening of the extension fitting to a proximal opening of the cannula and joining a lumen of the cannula to a lumen of the extension to form the variable length channel between the distal opening of the cannula and a proximal opening of the extension; the extension sliding longitudinally with respect to the cannula to extend and contract a length of the variable length channel by at least 25% of a maximal length of the channel; wherein a cross section of the channel has a long dimension at least twice a short dimension of the cross section.

Abstract: A surgical system comprising: at least two modular units, the modular units each comprising: a surgical arm; and a motor unit configured for actuating movement of the surgical arm, the motor unit configured to be operably attached to the surgical arm, where a first face of a motor unit housing generally defines a plane which is at an angle of 60-120° to a long axis of the surgical arm; wherein the motor unit is configured to be aligned adjacent a motor unit of at least one second modular unit; wherein a second face of a housing of the motor unit generally defines a plane which is at an angle to the first face and which comprises a connection geometry suitable for connecting the housing of the motor unit to a housing of the motor unit of the second modular unit.