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 method for positioning a robotic device connector relative to a body access point in a patient, including: coupling a robotic device to a movable base located at a distal end of an adjustable arm; manipulating the adjustable arm to align a connector of the robotic device with an elongate surgical tool extending from a body access point; linearly moving the movable base coupled to the robotic device towards the body access point to position the connector of the robotic device in proximity to a proximal end of the elongate surgical tool; connecting the proximal end of the elongate surgical tool to the connector of the robotic device

Abstract: An assembly for driving linear movement and roll movement of an elongate surgical tool, comprising: an elongate shaft comprising a central lumen extending along the shaft long axis; the elongate shaft comprising a plurality of apertures extending across walls of the elongate shaft and into the central lumen; a set of wheels positioned opposing each other and aligned on two sides of the central lumen, the set of wheels at least partially extending through the apertures beyond the walls of the elongate shaft and into the central lumen to contact an elongate surgical tool received therein; the set of wheels being coupled to the elongate shaft and configured to rotate with the elongate shaft as a single unit when the elongate shaft is rotated about the shaft long axis.

Abstract: A robotic device for manipulation of an arrangement of a plurality of elongate surgical tools, comprising: a first unit and a second unit, each unit configured to receive at least one elongate surgical tool of the arrangement, where an elongate surgical tool received by the first unit is different from an elongate surgical tool received by the second unit; each unit comprising a driving assembly and motors configured for actuation of the driving assembly to move the at least one elongate surgical tool; and a coupler attached to the first unit and to the second unit, the coupler configured so that movement of the two or more portions relative to each other allows movement of at least one of the first and second units relative to the other unit, while in each of the first and second units the elongate surgical tool remains in operable engagement with the driving assembly.

Abstract: An assembly for driving linear movement and roll movement of an elongate surgical tool, comprising: an elongate shaft comprising a central lumen extending along the shaft long axis; the elongate shaft comprising a plurality of apertures extending across walls of the elongate shaft and into the central lumen; a set of wheels positioned opposing each other and aligned on two sides of the central lumen, the set of wheels at least partially extending through the apertures beyond the walls of the elongate shaft and into the central lumen to contact an elongate surgical tool received therein; the set of wheels being coupled to the elongate shaft and configured to rotate with the elongate shaft as a single unit when the elongate shaft is rotated about the shaft long axis.

Abstract: An assembly for driving movement of an elongate surgical tool, comprising: a plurality of adjacent pairs of driving wheels, each pair of driving wheels having a space therebetween such that spaces of the plurality of pairs of driving wheels are axially aligned to form a channel for the elongate surgical tool to extend through; wherein at least one pair of driving wheels out of the plurality of pairs is arranged to lie on a plane different than a plane on which at least one other pair of driving wheels lies.

Abstract: An assembly for driving movement of an elongate surgical tool, comprising: a plurality of adjacent pairs of driving wheels, each pair of driving wheels having a space therebetween such that spaces of the plurality of pairs of driving wheels are axially aligned to form a channel for the elongate surgical tool to extend through; wherein at least one pair of driving wheels out of the plurality of pairs is arranged to lie on a plane different than a plane on which at least one other pair of driving wheels lies.

Abstract: An adaptor for coupling a proximal portion of an elongate surgical tool to a motorized robotic surgical device, the adaptor comprising: a recess shaped and sized for receiving a proximal portion of an elongate surgical tool; one or more movers positioned to contact and move a control component of the proximal portion; and transmission coupling which couples the one or more movers to motorized transmission of the robotic surgical device.

Abstract: A modular robotic surgical system comprising: a base; a plurality of tool-receivers arranged as separate units, each tool-receiver unit operable to move an elongate surgical tool received therein; a plurality of interface coupling pairs, each coupling pair comprising a first coupler as part of the base and a second coupler as part of each of the tool-receiver units; wherein each of the tool-receiver units is independently and interchangeably attachable to the base via the coupling pair.

Abstract: A device for securing an ablation tool may have a backbone and a securing portion including a body and a cover, the body slides along the backbone to a lower position and then the cover affixedly receives a head member of the ablation tool. In another version, a leg portion is removably attachable to the securing portion and an upper portion projects out of the opening in the body portion from above and removably attaches to the leg portion that fits into the opening from below. In another version, a rotatable securing portion has a first portion pivotably connected to the leg portion, a second portion affixedly receive the head member when the securing portion rotates closed and a third portion affixedly attaches to the leg portion when the securing portion rotates closed. If the head member does not fit with the cover, a one-piece or two-piece adaptor is used.

Abstract: A compact robotic device for driving movement of two or more elongate surgical tools configured for a telescopic arrangement when said two or more elongate surgical tools are at least partially received within said device, the device comprising: a housing comprising walls which define an inner volume including at least two inner pathways for accommodating the two or more elongate surgical tools; the housing encasing: a plurality of motors, and two or more tool actuation assemblies configured at a position of each of the two or more inner pathways; the actuation assemblies driven by the plurality of motors and configured to operably contact an elongate surgical tool at least partially received in the inner pathway to at least one of advance, retract and/or roll said elongate surgical tool.

Abstract: A holder apparatus for enabling secure coupling of a variety of medical tool types, having different head member configurations, to a medical device. The apparatus has at least two housing portions that open and close to receive the head member, and an adjustment mechanism that adjusts to the height and/or shape of the head member, such that there is no relative movement between the housing portions and the head member. The adjustment mechanism may be a ratchet mechanism, a semi-flexible fastener, or a moldable material disposed on one or more of the housing portions. There may be a locking mechanism to lock together the housing portions, and a tightening mechanism to secure the grip of the housing portions on the head member. The housing portions may be configured to allow removal of at least a portion of the medical tool from the device.

Abstract: A holder apparatus for enabling secure coupling of a variety of medical tool types, having different head member configurations, to a medical device. The apparatus has at least two housing portions that open and close to receive the head member, and an adjustment mechanism that adjusts to the height and/or shape of the head member, such that there is no relative movement between the housing portions and the head member. The adjustment mechanism may be a ratchet mechanism, a semi-flexible fastener, or a moldable material disposed on one or more of the housing portions. There may be a locking mechanism to lock together the housing portions, and a tightening mechanism to secure the grip of the housing portions on the head member. The housing portions may be configured to allow removal of at least a portion of the medical tool from the device.

Abstract: A compact robotic device for driving movement of two or more elongate surgical tools configured for a telescopic arrangement when said two or more elongate surgical tools are at least partially received within said device, the device comprising: a housing comprising walls which define an inner volume including at least two inner pathways for accommodating the two or more elongate surgical tools; the housing encasing: a plurality of motors, and two or more tool actuation assemblies configured at a position of each of the two or more inner pathways; the actuation assemblies driven by the plurality of motors and configured to operably contact an elongate surgical tool at least partially received in the inner pathway to at least one of advance, retract and/or roll said elongate surgical tool.

Abstract: An assembly for driving linear movement and roll movement of an elongate surgical tool, comprising: an elongate shaft comprising a central lumen extending along the shaft long axis; the elongate shaft comprising a plurality of apertures extending across walls of the elongate shaft and into the central lumen; a set of wheels positioned opposing each other and aligned on two sides of the central lumen, the set of wheels at least partially extending through the apertures beyond the walls of the elongate shaft and into the central lumen to contact an elongate surgical tool received therein; the set of wheels being coupled to the elongate shaft and configured to rotate with the elongate shaft as a single unit when the elongate shaft is rotated about the shaft long axis.

Abstract: A modular robotic surgical system includes one or more tool-receiver units arranged as separate units, each tool-receiver unit operable to move a first elongate surgical tool received therein. The device also includes a base comprising one or more motors, the base operable to move a second elongate surgical tool attached to the base or received therein, the base serving as a mounting for the one or more tool-receiver units, each of the tool-receiver units is independently and interchangeably attachable to the base via a mechanical coupling interface which transfers one or more of: driving force for driving movement of the first elongate surgical tool received within the unit; electrical power supply to one or more components of the unit which drive movement of the first elongate surgical tool received within the unit; and data for controlling movement of the first elongate surgical tool received within the unit.

Abstract: An assembly for driving linear movement and roll movement of an elongate surgical tool, comprising: an elongate shaft comprising a central lumen extending along the shaft long axis; the elongate shaft comprising a plurality of apertures extending across walls of the elongate shaft and into the central lumen; a set of wheels positioned opposing each other and aligned on two sides of the central lumen, the set of wheels at least partially extending through the apertures beyond the walls of the elongate shaft and into the central lumen to contact an elongate surgical tool received therein; the set of wheels being coupled to the elongate shaft and configured to rotate with the elongate shaft as a single unit when the elongate shaft is rotated about the shaft long axis.

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.