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.

Abstract: The present invention provides a system for controlling an endoscope, comprising a. an endoscope adapted to provide real time images of FOV within a body cavity; said FOV defines FOVx-axis, FOVy-axis and FOVz-axis, b. a maneuvering system for maneuvering said endoscope; said maneuvering system defines an X-axis, a y-axis; and, a z-axis; c. control means adapted to receive commands of motions from a user to maneuver said endoscope; and d. a data processing system in communication with said control means, adapted to instruct said maneuvering system to maneuver said endoscope according to said commands of motions; wherein said data control means instructs said maneuvering system to maneuver said endoscope according to said commands of motions relative to said FOVx-axis, said FOVy-axis and said FOVz-axis, regardless of said X-axis, said y-axis and said z-axis as defined by said maneuvering system.

Abstract: A surgical system comprising: a surgical mechanical arm comprising a plurality of surgical arm sections sequentially coupled by surgical arm joints; an input arm comprising: a plurality of input arm sections sequentially coupled by input arm joints; and an elongate handle: sized and shaped to be held between a human adult's thumb and one or more finger, coupled to a distal end of said input arm by a flexion joint; and extending proximally with respect to a most distal input arm section so a user grasping said handle bends said flexion joint to hold said handle above other portions of the input arm; 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: Some embodiments of the invention relate to a mechanism for actuating a shaft having two degrees of freedom, comprising: a first actuator configured to rotate the shaft around the shaft axis, and a second actuator configured to bend the shaft using one or more elongated elements attached to the shaft, wherein actuation of the first actuator indirectly manipulates the elongated elements controlled by the second actuator, thereby affecting operation of the second actuator. Some embodiments relate to motorized actuation of a system comprising at least one surgical arm.

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: A surgical apparatus comprises a flexible and/or arm; a capsule-assembly that is distally connected to the arm, that comprises a liquid-tight shell defining a capsule-assembly-interior, and that has heat-producing imaging and/or electronic component(s) disposed within its interior, and a conduit-array, the conduit-army and a portion of the capsule-assembly-interior that is outside of the conduit-army collectively forming a liquid-sealed closed flow-loop for convective removal of heat from the capsule-assembly-interior, the closed flow-loop comprising arm-disposed section(s) of the conduit-army which are at least partly disposed along and/or within the arm and which collectively longitudinally span, twice and in-parallel, at least a majority of a lengthwise majority of the arm.

Abstract: A surgical system comprising: a surgical mechanical arm comprising a plurality of surgical arm sections sequentially coupled by surgical arm joints; an input arm comprising: a plurality of input arm sections sequentially coupled by input arm joints; and an elongate handle: sized and shaped to be held between a human adult's thumb and one or more finger, coupled to a distal end of said input arm by a flexion joint; and extending proximally with respect to a most distal input arm section so a user grasping said handle bends said flexion joint to hold said handle above other portions of the input arm; 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 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: Some embodiments of the invention relate to a mechanism for actuating a shaft having two degrees of freedom, comprising: a first actuator configured to rotate the shaft around the shaft axis, and a second actuator configured to bend the shaft using one or more elongated elements attached to the shaft, wherein actuation of the first actuator indirectly manipulates the elongated elements controlled by the second actuator, thereby affecting operation of the second actuator. Some embodiments relate to motorized actuation of a system comprising at least one surgical arm.

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 envelop, and providing the surgical controller with an indication of inap

Abstract: A surgical system comprises an articulated mechanical arm comprising arm segments connected serially by arm joints that flex and rotate, and first and second input-devices. The second input-device comprises a handle configurable to be oriented in any orientation in an x-y-z space, and the handle comprises segment members and joint members corresponding to the arm segments and arm joints of the arm. The arm joints can be actuatable by, and have the same degrees of freedom as, the handle joint member. A method of using the surgical system includes retroflecting the arm, transitioning control of the arm from the first input device to the second input device, and performing a surgical action, during which a displacement vector or a reorientation arc of the handle member through the x-y-z space is translated to a corresponding displacement vector or corresponding reorientation arc of the end effector in the same x-y-z space.

Abstract: A surgical system, comprising an articulated mechanical arm with a plurality of arm joints, first and second user-input devices for controlling the arm, and a surgical end effector at the distal end of the arm, is operated initially in a retroflexing mode with the first user-input device is active to direct flexion and rotation of only a single given arm joints, and with the second user-input device is disabled. While in the retroflexing mode, a distal portion of the arm is retroflected by flexion and rotation of the single given arm joint. With the arm retroflected, the system is transitioned to surgical-operation mode which enables the second user-input device to flex and rotate any or all of the arm joints, to move the surgical end-effector to perform one or more surgical actions.

Abstract: A surgical controlling system for controlling the 3D spatial position of at least one articulating surgical tool includes a controller configured to provide instructions to control movement of the surgical tool. The controller comprises a processor to determine a location of the surgical tool using at least one location estimating feature and to determine movement of the surgical tool using a database in communication with at least one movement detection feature. The location estimating feature is configured to real-time locate the 3D spatial position of the surgical tool at any given time t, and the movement detection feature is configured to detect movement of the surgical tool.

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: An apparatus for performing electrosurgical operations using an electrosurgical power generator comprises an articulated mechanical arm, an electrosurgical grasper connected to the mechanical arm at a distal end thereof, a flexible sleeve at least partly disposed in a bendable portion of the arm, an outer surface of the sleeve comprising a plurality of surface features that define a helical wire-path around a central longitudinal axis of the sleeve, an actuation-cable passing through an inner conduit of the sleeve and mechanically coupled to the grasper to open and shut the grasper, and an electrically conductive wire for providing electrical connectivity from the power generator to the grasper, the wire being disposed on the outside of the sleeve and engaged with one or more of the surface features so as to follow therethrough the helical wire-path.

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: 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.