Abstract: Sterile barriers and sensor configurations for a medical device are described. The sterile barriers isolate internal components such as a battery pack or a sensor pack from the environment and the patient.

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 methods are described including a control-component tool that includes a handle and an input-receiving component disposed on the handle. The input-receiving component includes one or more light sources disposed on a first radial wall, one or more light detectors disposed on a second radial wall that faces the first radial wall, and a deformable sleeve extending axially between the first and second radial walls and configured to attenuate light that is directed from the one or more light sources toward the one or more light detectors, in response to being pressed. A computer processor receives a signal from the one or more light detectors that is indicative of the light attenuation and controls a surgical tool in response thereto. 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: Scanning Tele cameras (STCs) based on two optical path folding element (OPFE) field-of-view scanning and mobile devices including such STCs. A STC may comprise a first OPFE (O-OPFE) for folding a first optical path OP1 to a second optical path OP2, an O-OPFE actuator, a second OPFE (I-OPFE) for folding OP2 to a third optical path OP3, an I-OPFE actuator, a lens, a lens actuator and an image sensor, wherein the STC has a STC native field-of-view (n-FOVT), wherein the O-OPFE actuator is configured to rotate the O-OPFE around a first axis and the I-OPFE actuator rotates the I-OPFE around a second axis for scanning a scene with the n-FOVT, wherein the lens actuator is configured to move the lens for focusing along a third axis, and wherein the first axis is perpendicular to the second axis and parallel to the third axis.

Abstract: Position sensing units, comprising a magnetic assembly (MA) having a width W measured along a first direction and a height H measured along a second direction and including at least three magnets having respective magnetic polarizations that define along the first direction at least a left MA domain, a middle MA domain and a right MA domain, wherein the magnetic polarizations of each MA domain are different, and a magnetic flux measuring device (MFMD) for measuring a magnetic flux B, wherein the MA moves relative to the MFMD along the first direction within a stroke L that fulfils 1 mm?L?100 mm, stroke L beginning at a first point x0 and ending at a final point xmax, and wherein a minimum value Dmin of an orthogonal distance D, measured along the second direction between a particular MA domain and the MFMD, fulfills L/Dmin>10.

Abstract: Digital cameras comprising a lens assembly comprising N lens elements L1-LN starting with L1 on an object side, wherein N is ?4, an image sensor having a sensor diagonal SD, and a pop-out mechanism that controls a largest air-gap d between two consecutive lens elements within lens elements L1 and LN to bring the camera to an operative pop-out state and a collapsed state, wherein the lens assembly has a total track length TTL in the operative pop-out state and a collapsed total track length cTTL in the collapsed state, wherein SD is in the range of 7-20 mm and wherein cTTL/SD<0.6.

Abstract: Scanning Tele cameras (STCs) based on two optical path folding element (OPFE) field-of-view scanning and mobile devices including such STCs. A STC may comprise a first OPFE (O-OPFE) for folding a first optical path OP1 to a second optical path OP2, an O-OPFE actuator, a second OPFE (I-OPFE) for folding OP2 to a third optical path OP3, an I-OPFE actuator, a lens, a lens actuator and an image sensor, wherein the STC has a STC native field-of-view (n-FOVT), wherein the O-OPFE actuator is configured to rotate the O-OPFE around a first axis and the I-OPFE actuator rotates the I-OPFE around a second axis for scanning a scene with the n-FOVT, wherein the lens actuator is configured to move the lens for focusing along a third axis, and wherein the first axis is perpendicular to the second axis and parallel to the third axis.

Abstract: Position sensing units, comprising a magnetic assembly (MA) having a width W measured along a first direction and a height H measured along a second direction and including at least three magnets having respective magnetic polarizations that define along the first direction at least a left MA domain, a middle MA domain and a right MA domain, wherein the magnetic polarizations of each MA domain are different, and a magnetic flux measuring device (MFMD) for measuring a magnetic flux B, wherein the MA moves relative to the MFMD along the first direction within a stroke L that fulfils 1 mm?L?100 mm, stroke L beginning at a first point x0 and ending at a final point xmax, and wherein a minimum value Dmin of an orthogonal distance D, measured along the second direction between a particular MA domain and the MFMD, fulfills L/Dmin>10.

Abstract: Digital cameras comprising a lens assembly comprising N lens elements L1-LN starting with L1 on an object side, wherein N is ?4, an image sensor having a sensor diagonal SD, and a pop-out mechanism that controls a largest air-gap d between two consecutive lens elements within lens elements L1 and LN to bring the camera to an operative pop-out state and a collapsed state, wherein the lens assembly has a total track length TTL in the operative pop-out state and a collapsed total track length cTTL in the collapsed state, wherein SD is in the range of 7-20 mm and wherein cTTL/SD<0.6.

Abstract: Digital cameras comprising a lens assembly comprising N lens elements L1-LN starting with L1 on an object side, wherein N is ?4, an image sensor having a sensor diagonal SD, and a pop-out mechanism that controls a largest air-gap d between two consecutive lens elements within lens elements L1 and LN to bring the camera to an operative pop-out state and a collapsed state, wherein the lens assembly has a total track length TTL in the operative pop-out state and a collapsed total track length cTTL in the collapsed state, wherein SD is in the range of 7-20 mm and wherein cTTL/SD<0.6.

Abstract: Scanning Tele cameras (STCs) based on two optical path folding element (OPFE) field-of-view scanning and mobile devices including such STCs. A STC may comprise a first OPFE (O-OPFE) for folding a first optical path OP1 to a second optical path OP2, an O-OPFE actuator, a second OPFE (I-OPFE) for folding OP2 to a third optical path OP3, an I-OPFE actuator, a lens, a lens actuator and an image sensor, wherein the STC has a STC native field-of-view (n-FOVT), wherein the O-OPFE actuator is configured to rotate the O-OPFE around a first axis and the I-OPFE actuator rotates the I-OPFE around a second axis for scanning a scene with the n-FOVT, wherein the lens actuator is configured to move the lens for focusing along a third axis, and wherein the first axis is perpendicular to the second axis and parallel to the third axis.

Abstract: Scanning Tele cameras (STCs) based on two optical path folding element (OPFE) field-of-view scanning and mobile devices including such STCs. A STC may comprise a first OPFE (O-OPFE) for folding a first optical path OP1 to a second optical path OP2, an O-OPFE actuator, a second OPFE (I-OPFE) for folding OP2 to a third optical path OP3, an I-OPFE actuator, a lens, a lens actuator and an image sensor, wherein the STC has a STC native field-of-view (n-FOVT), wherein the O-OPFE actuator is configured to rotate the O-OPFE around a first axis and the I-OPFE actuator rotates the I-OPFE around a second axis for scanning a scene with the n-FOVT, wherein the lens actuator is configured to move the lens for focusing along a third axis, and wherein the first axis is perpendicular to the second axis and parallel to the third axis.

Abstract: Position sensing units, comprising a magnetic assembly (MA) having a width W measured along a first direction and a height H measured along a second direction and including at least three magnets having respective magnetic polarizations that define along the first direction at least a left MA domain, a middle MA domain and a right MA domain, wherein the magnetic polarizations of each MA domain are different, and a magnetic flux measuring device (MFMD) for measuring a magnetic flux B, wherein the MA moves relative to the MFMD along the first direction within a stroke L that fulfils 1 mm?L?100 mm, stroke L beginning at a first point x0 and ending at a final point xmax, and wherein a minimum value Dmin of an orthogonal distance D, measured along the second direction between a particular MA domain and the MFMD, fulfills L/Dmin>10.

Abstract: A system for performing robotic surgery at a surgical site on a patient includes a control tool configured for manipulation by an operator, one or more displays, and a processor configured to cause a robotic arm, which holds a surgical tool, to manipulate the surgical tool correspondingly to the manipulation of the control tool, such that the operator controls the surgical tool via the control tool, to cause the displays to display a real-time video of the surgical site, in which the surgical site is magnified, to the operator while the operator controls the surgical tool, and to cause the displays to display at least one three-dimensional (3D) image of the surgical site, in which the surgical site is shown with less magnification relative to the video. Other embodiments 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: 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: Scanning Tele cameras (STCs) based on two optical path folding element (OPFE) field-of-view scanning and mobile devices including such STCs. A STC may comprise a first OPFE (O-OPFE) for folding a first optical path OP1 to a second optical path OP2, an O-OPFE actuator, a second OPFE (I-OPFE) for folding OP2 to a third optical path OP3, an I-OPFE actuator, a lens, a lens actuator and an image sensor, wherein the STC has a STC native field-of-view (n-FOVT), wherein the O-OPFE actuator is configured to rotate the O-OPFE around a first axis and the I-OPFE actuator rotates the I-OPFE around a second axis for scanning a scene with the n-FOVT, wherein the lens actuator is configured to move the lens for focusing along a third axis, and wherein the first axis is perpendicular to the second axis and parallel to the third axis.

Abstract: Digital cameras comprising a lens assembly comprising N lens elements L1-LN starting with L1 on an object side, wherein N is ?4, an image sensor having a sensor diagonal SD, and a pop-out mechanism that controls a largest air-gap d between two consecutive lens elements within lens elements L1 and LN to bring the camera to an operative pop-out state and a collapsed state, wherein the lens assembly has a total track length TTL in the operative pop-out state and a collapsed total track length cTTL in the collapsed state, wherein SD is in the range of 7-20 mm and wherein cTTL/SD<0.6.

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.