Abstract: Apparatus and methods are described including a robotic unit (20) that includes an end effector (35) and a tool mount (34) configured to securely hold tools (21). Robotic arms (120) rotate the tools through pitch and yaw rotations. An XYZ platform (110) moves the robotic unit (20) along X and Y directions within an XY plane, and along a Z direction that is perpendicular to the XY plane. The XYZ platform (110) includes a first slidable shutter (122) that is configured to cover an interior of the XYZ platform (110) by sliding along the X direction as the robotic unit (20) is moved along the X direction, and a second slidable shutter (123) that is configured to cover an interior of the XYZ platform (110) by sliding along the Y direction as the robotic unit (20) moved along the Y direction. 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.

Abstract: A kit for assembling an incision closing trocar comprising a cannula having a lumen, a proximal side, and a distal side is provided, the kit comprises an obturator comprising: a shaft having a distal end and a proximal end; at least two anchor recesses are provided near the distal end of the shaft, wherein each anchor recess retains a corresponding anchor; a handle provided at the proximal end of the obturator, is configured to actuate at least two pushers so as to push the corresponding anchors from the anchor recesses; and at least two holders, removably attached to the distal end of the obturator wherein each of the at least two holders holds a coiled or folded suture having a length and one end, wherein the one end of the suture is attached to the corresponding anchor, wherein the length of the suture can be pulled from the holders by removing and pulling away the holder from the obturator, wherein the obturator is sized to be inserted into the lumen of the cannula from the proximal side, together with th

Abstract: Apparatus and methods are described for performing a procedure on a portion of a patient's body. A robotic unit holds a tool at a given orientation with respect to the portion of the patient's body. A display displays a virtual tool overlaid upon the image of the portion of the patient's body, such that at least a portion of the virtual tool coincides with a corresponding portion of the tool. In response to an input from an operator indicating that the portion of the virtual tool should be moved in a given manner, the tool is driven to move such that the corresponding portion of the tool moves with respect to the portion of the patient's body in a corresponding manner to the movement of the portion of the virtual tool. Other applications are also described.

Abstract: A device for insertion of a medical tool held in an end effector, the device comprising moveable platforms providing motion in two generally orthogonal directions, and two piston mechanisms operating within cylinders, coupled to the moveable platforms, and being attached at their distal end to the end effector by means of a common joint. The pistons may be linear actuators. The end effector is manipulated by driving mechanisms propelling the pistons linearly. The proximal ends of the cylinders may be coupled to a common shaft. The axes of the cylinders and the pistons, the line connecting the pistons axes through the common joint and the axis of the cylinders' common shaft may all be located substantially in a single plane. Coordinated motion of the moveable platforms and the piston mechanisms enables the maintenance of a virtual remote center of motion of the medical tool as its orientation changes.

Abstract: A device for insertion of a medical tool held in an end effector, the device comprising moveable platforms providing motion in two generally orthogonal directions, and two piston mechanisms operating within cylinders, coupled to the moveable platforms, and being attached at their distal end to the end effector by means of a common joint. The pistons may be linear actuators. The end effector is manipulated by driving mechanisms propelling the pistons linearly. The proximal ends of the cylinders may be coupled to a common shaft. The axes of the cylinders and the pistons, the line connecting the pistons axes through the common joint and the axis of the cylinders' common shaft may all be located substantially in a single plane. Coordinated motion of the moveable platforms and the piston mechanisms enables the maintenance of a virtual remote center of motion of the medical tool as its orientation changes.

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 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 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 intraocular surgery on a patient using a tool. A robotic unit includes a tool mount configured to securely hold the tool thereupon and configured to insert the tool into the patient's eye such that entry of the tool into the patient's eye is via an incision point, and the tip of the tool is disposed within the patient's eye. One or more multi-jointed arms are disposed on a single side of the tool mount and moveably support the tool mount. A computer processor drives the robotic unit to perform at least a portion of a procedure by moving the tip of the tool in a desired manner with respect to the eye, while entry of the tool into the patient's eye is maintained fixed at the incision point. Other applications are also described.

Abstract: Apparatus and methods are described including a robotic system configured for performing intraocular surgery. During a training stage, a computer processor receives programming instructions for performing one or more steps of cataract surgery in an automated manner, based upon standard ranges of dimensions of respective portions of a human eye. During a subsequent stage, the computer processor drives the robotic system to perform the one or more steps of cataract surgery on an eye of a given patient, by receiving at least one image of the eye, determining one or more dimensions of the eye from the at least one image, and performing the one or more steps of cataract surgery based upon the programming instructions and the determined dimensions of the eye. Other applications are also described.

Abstract: A kit for assembling an incision closing trocar comprising a cannula having a lumen, a proximal side, and a distal side is provided, the kit comprises an obturator comprising: a shaft having a distal end and a proximal end; at least two anchor recesses are provided near the distal end of the shaft, wherein each anchor recess retains a corresponding anchor; a handle provided at the proximal end of the obturator, is configured to actuate at least two pushers so as to push the corresponding anchors from the anchor recesses; and at least two holders, removably attached to the distal end of the obturator wherein each of the at least two holders holds a coiled or folded suture having a length and one end, wherein the one end of the suture is attached to the corresponding anchor, wherein the length of the suture can be pulled from the holders by removing and pulling away the holder from the obturator, wherein the obturator is sized to be inserted into the lumen of the cannula from the proximal side, together with th

Abstract: Apparatus and methods are described including a robotic unit configured to move the tool through six degrees-of-freedom, and a control component that comprises at least one control-component arm configured to be moved by a user, The control-component arm includes three rotary encoders, each of the three rotary encoders coupled to a respective joint and configured to detect movement of the respective joint and to generate rotary-encoder data indicative of an XYZ location of a tip of the control-component tool, in response thereto, and an inertial measurement unit comprising at least one of a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer, the inertial measurement unit being configured to generate inertial-measurement-unit data indicative of an orientation of the tip of control-component tool. Other applications are also described.

Abstract: A device for insertion of a medical tool held in an end effector, the device comprising moveable platforms providing motion in two generally orthogonal directions, and two piston mechanisms operating within cylinders, coupled to the moveable platforms, and being attached at their distal end to the end effector by means of a common joint. The pistons may be linear actuators. The end effector is manipulated by driving mechanisms propelling the pistons linearly. The proximal ends of the cylinders may be coupled to a common shaft. The axes of the cylinders and the pistons, the line connecting the pistons axes through the common joint and the axis of the cylinders' common shaft may all be located substantially in a single plane. Coordinated motion of the moveable platforms and the piston mechanisms enables the maintenance of a virtual remote center of motion of the medical tool as its orientation changes.

Abstract: An apparatus for attaching a medical device to a subject's body, either directly to the subject's body or to an intermediary element on the subject's body. The apparatus prevents substantially any relative movement between the medical device and the subject's body. Such an apparatus comprises: (i) a back base positioned between the subjects body and a surface that the subject lies thereon, (ii) at least one set of straps connected to the back base and to at least one of the medical device and the intermediary element, and (iii) at least one set of connectors providing a connection between the at least one set of straps and one or more of the medical device, the intermediary element and the back base. The apparatus may further comprise any of pivoting connectors, a respiration sensor, and straps with a stretchable section. The apparatus may be used in combination with a sterile drape.

Abstract: A device for insertion of a medical tool held in an end effector, the device comprising moveable platforms providing motion in two generally orthogonal directions, and two piston mechanisms operating within cylinders, coupled to the moveable platforms, and being attached at their distal end to the end effector by means of a common joint. The pistons may be linear actuators. The end effector is manipulated by driving mechanisms propelling the pistons linearly. The proximal ends of the cylinders may be coupled to a common shaft. The axes of the cylinders and the pistons, the line connecting the pistons axes through the common joint and the axis of the cylinders' common shaft may all be located substantially in a single plane. Coordinated motion of the moveable platforms and the piston mechanisms enables the maintenance of a virtual remote center of motion of the medical tool as its orientation changes.

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: A system and method for controlling the insertion of a medical tool, such as a needle, into a subject's body based on measurements of an interaction parameter associated with the interaction between the tool and a bodily tissue, such as the forces exerted on the tool during insertion. The system comprises an insertion device, at least one sensor configured to measure the interaction parameter and at least one processor configured to receive sensor measurements, detect one or more predefined patterns in the sensor measurements and control an operation of at least one of the insertion device and an imaging device, upon detecting the predefined patterns. The processor may be configured to compare the actual correlation between the sensor measurements and an insertion parameter, such as insertion depth, with an expected correlation, and determine if the medical tool is following its pre-planned trajectory based on the result of that comparison.

Abstract: An apparatus for attaching a medical device to a subject's body, either directly to the subject's body or to an intermediary element on the subject's body. The apparatus prevents substantially any relative movement between the medical device and the subject's body. Such an apparatus comprises: (i) a back base positioned between the subject's body and a surface that the subject lies thereon, (ii) at least one set of straps connected to the back base and to at least one of the medical device and the intermediary element, and (iii) at least one set of connectors providing a connection between the at least one set of straps and one or more of the medical device, the intermediary element and the back base. The apparatus may further comprise any of pivoting connectors, a respiration sensor, and straps with a stretchable section. The apparatus may be used in combination with a sterile drape.

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.