Abstract: Apparatus and methods are described including a blood pump that includes an impeller having proximal and distal end portions, a frame disposed around the impeller, and a shaft member that passes through the proximal and distal end portions of the impeller and that is configured to impart rotational motion to the impeller. The impeller defines a radially-constrained configuration in which the impeller is introduced into a subject's body and a non-radially-constrained configuration in which the impeller is configured to pump blood within the subject's body. The distal end portion of the impeller is configured to slide over the shaft member as the impeller changes from its radially-constrained configuration to its non-radially-constrained configuration. 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 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 tool motor being disposed within the non-sterile zone. A tool-actuation arm, disposed within the non-sterile zone, is driven to move, to thereby move at least the portion of the tool linearly with respect to the end effector. Other applications are also described.

Abstract: Apparatus and methods are described including using an occluding element that is placed in a vein of the patient at a downstream location that is downstream of a tributary vessel that supplies the vein, at least partially mechanically occluding the vein of the patient at the downstream location, such as to form a compartment within the vein that is isolated from a downstream region of the vein that is downstream of the tributary vessel. Using a blood pump that is placed in the compartment, blood is mechanically pumping through the vein from the compartment to a discharge location in the downstream region while the vein is at least partially occluded, wherein the blood remains in the vein throughout the mechanical pumping of the blood from the compartment to the discharge location. Other applications are also described.

Abstract: Apparatus and methods are described including reducing cardiac preload of a subject by partially occluding a vena cava of the subject at an infra-renal location. One or more physiological parameters of the subject are monitored, the one or more physiological parameters including lower body venous pressure, central venous pressure, central venous blood flow, renal venous pressure, cardiac diameter, cardiac volume, arterial pressure, and/or arterial blood flow. An extent to which the vena cava is occluded at the infra-renal location is modulated, responsively to the one or more physiological parameters. Other applications are also described.

Abstract: Apparatus and methods are described including a control-component unit that includes a plurality of links that are coupled to each other via a plurality of axes. A control-component tool is coupled to the links and configured to be moved by an operator such that as the operator moves the control-component tool along linear X, Y, and Z directions, the links rotate around the linear-movement-related. An X-direction link through which X-direction linear motion is effected, is aligned with a Z-movement-related axis about which movement in the Z-direction is effected, such that the X-direction link does not exert any torque about the Z-movement-related axis. Other applications are also described.

Abstract: Apparatus and method are described for operating a tool and for use with a robotic arm. A tool holder is configured to hold the tool. An end effector is configured to mount onto the robotic arm and to couple to the tool holder while mounted onto the robotic arm. The end effector includes a lock, configured to transition between a locked state, in which the lock locks the tool holder to the end effector, and an unlocked state, in which the lock does not lock the tool holder to the end effector, and comprising a magnet that produces a magnetic field. A magnetic sensor is configured to output a signal indicative of changes in the magnetic field, as sensed by the magnetic sensor, resulting from the lock transitioning between the locked state and the unlocked state. 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 and methods are described including an impeller configured, in a radially-expanded configuration thereof, to pump a fluid by rotating. A radially expandable cage is disposed around the impeller, such that, in radially-expanded configurations of the impeller and the cage, the impeller is separated from an inner surface of the cage. The impeller is disposed within the cage such that, in response to the cage becoming radially contracted and axially elongated, the impeller radially contracts and axially elongates. 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 including at least one light source (22) configured to direct light toward an eye of a patient. Two or more cameras (28) detect light from the light source that is reflected from a surface (24) of the patient's eye (26). A computer processor (30) receives data from the two or more cameras (28), derives the curvature of the surface (24) of the patient's eye (26) from the received data, and derives intraocular pressure of the patient's eye (26) and/or a change in intraocular pressure of the patient's eye (26) from the derived curvature. 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.

Abstract: Apparatus and methods are described including an impeller for use in a blood pump. An impeller frame includes proximal and distal end portions and at least one helical elongate element that winds from the proximal end portion to the distal end portion. A material is coupled to the helical elongate element, such that the helical elongate element with the material coupled thereto defines a blade of the impeller. A mediator is coupled to the helical elongate element. The helical elongate element has a first stiffness, the material has a lower stiffness than the first stiffness, and the mediator is configured to enhance bonding between the helical elongate element and the material. Other applications are also described.

Abstract: Apparatus and methods are described including a blood pump that includes at least one motor configured to be disposed outside a body of a subject, a catheter, a proximal impeller disposed on the catheter and configured to pump blood by rotating, and a distal impeller disposed on the catheter. The distal impeller is configured to pump blood by rotating and is disposed on the catheter distally to the proximal impeller such that longitudinal centers of the proximal and distal impellers are separated from each other by at least 3 cm. Other applications are also described.

Abstract: Apparatus and methods are described for performing a capsulotomy procedure on a patient's eye. A diathermic capsulotomy tool includes a diathermic cutting element at its tip. An imaging system images the diathermic capsulotomy tool and the patient's eye. A computer processor drives a robotic unit to insert the diathermic capsulotomy tool into the patient's eye via an incision in a cornea of the patient's eye, such that the tip of the tool is disposed within the patient's eye and a remote center of motion location of the tool is disposed within the incision. The computer processor drives the robotic unit to move the cutting element in a circular motion while maintaining the remote center of motion location of the tool within the incision. Other applications are also described.

Abstract: Apparatus and methods are described including an impeller defining a proximal end and a distal end. The impeller includes an axial element extending from the proximal end to the distal end of the impeller, the axial element defining a lumen therethrough. An impeller blade includes a curved elongate element and material supported between the curved elongate element and the axial element. An axial shaft extends from the proximal end of the impeller to the distal end of the impeller via the lumen defined by the axial element. Other applications are also described.

Abstract: A device for insertion of a flexible needle or other such instrument into a tissue, incorporating a collapsible support guide which supports that part of the needle which has not yet penetrated the tissue, preventing it from buckling, and an arrangement which pulls the needle from its proximal end to provide sufficient force for the penetration process. The collapsible support guide can be a pair of flexible strips connected along their length and enclosing the needle along its uninserted length in order to support it, with a mechanism at the distal end of the device to peel the strips from the needle as it is inserted. Insertion can be achieved by a pair of rollers engaging and advancing the strips distally. Alternatively, a telescopic support tube can be used to support the needle, the tube collapsing telescopically as the needle is inserted, to maintain clearance above the needle.

Abstract: Apparatus and methods are described including an impeller that includes an impeller frame that comprises proximal and distal end portions and a plurality of blades. Each of the impeller blades includes a curved elongate element and at least one radial element extending radially from the curved elongate element toward a longitudinal axis of the impeller frame. Other applications are also described.

Abstract: Apparatus and methods are described for performing robotic microsurgery on a patient's body. Two or more tools (21) each include a mount-engagement portion (32) that defines a front recess (82) and a rear recess (84). A tool mount (34) defines a tool-receiving socket (86) securely holds the one or more tools. The tool-mount (34) includes a rear set of rollers (94) that are configured to be placed within the rear recess (84) and a front set of rollers (92) that are configured to be placed within the front recess (82). A tool-securement cover that is hingedly coupled to the tool-receiving socket (86) is configured to secure the tool (21) within the tool-receiving socket (86). A motor (93) rolls the tool (21) with respect to the tool mount (34), while the tool (21) is securely held within the tool mount (34). Other applications are also described.