Medical devices robotically manipulated by a medical robotic system for performing a medical procedure on a patient are bundled together as a bundled unit and inserted into the patient through a single entry port. Bracing of the bundled unit at the surgical site so as to be constrained in one or more degrees of freedom of movement may be performed using an anchor secured to an anatomic structure at the surgical site and physically coupled to the bundled unit, or using a tool extending out of a distal end of the bundled unit that extends out to an anatomic structure at the surgical site.

A device for removing a thrombus from a retinal vessel has a grip held by the user of the device, a tubular portion to be inserted into the eye, the tubular portion being provided at an end of the grip, a microtube to be inserted into a retinal vessel, the microtube being provided at an end of the tubular portion, a linear pusher axially slidably held in the microtube and the tubular portion, and an operating portion provided at the grip. The linear pusher is adapted to protrude to a desired position from an end of the microtube by axially sliding the linear pusher by means of the operating portion, thereby the linear pusher physically pushes a thrombus out of the retinal vessel.

The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism. In specific embodiments, the actuator mechanism includes a plurality of small radius holes or grooves for receiving the medial cables and a plurality of large radius holes or grooves for receiving the distal cables. The holes or grooves restrain the medial cables to a small radius of motion and the distal cables to a large radius of motion, so that the medial cables to the medial vertebra move only a fraction of the amount as the distal cables to the distal vertebra, so as to achieve precise control and manipulation of the vertebrae.

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.

A propelling device and methods of use thereof. The device is configured to propel through a medium, using external magnetic stimuli applied thereon; the device comprises: a propelling-element and a magnet in communication with the propelling element. The magnet is configured to respond to the applied magnetic stimuli and to rotate the propelling-element; the propelling-element is configured to convert rotary motion thereof into translation motion, and thereby to propel the device through the medium.

An integrated robotic system and methods for delivery and on-demand tasks of magnetic devices in a body for different clinical applications are provided. The integrated robotic system includes a magnetic actuation device, a plurality of imaging devices, a delivery device, and at least one magnetic device. The magnetic actuation device includes a permanent magnet or an electromagnetic coil system, and a controller for controlling the magnetic device. The plurality of imaging devices include two or more imaging modalities for capturing images of the magnetic device and tracking locations of the magnetic device in the body. The magnetic device includes one or more selected from a millimeter-sized robot, a microrobot, a nanorobot, a microrobotic swarm, and particles or drugs that respond to a magnetic field and small enough to be delivered by the delivery device.

A micro robot that is moveable in a body includes first quantum dots.

A medical instrument for surgery includes at least one frame and at least one jointed device. The jointed device includes at least one first joint member, or first link, adapted to connect to at least one portion of the frame and at least one second joint member, or second link. The first joint member is connected by a rotational joint to the second joint member. The medical instrument includes at least a pair of tendons, adapted to move the second joint member with respect to the first joint member. Each of the first joint member and the second joint member includes a main structural body made in a single piece with one or more convex contact surfaces. Each of the convex contact surfaces is a ruled surface formed by straight line portions all parallel to each other and substantially parallel to a joint movement axis.

A miniature bone mounted robot configured to perform minimally invasive orthopedic surgery coupled with regenerative three-dimensional bio-printing technology to restore cartilage and affected bone. The robot uses a sensor device attached to a holder affixed to the robot activated arm, to map the three-dimensional surface of the bone surface to be treated. The sensor may be a touch sensor, an optical imaging device, or another tool for mapping the bone surface. The robot shapes and prepares the bone surface and subsequently deposits a bio-ink implant in a three-dimensional pattern mimicking the original shape and depth of the articular cartilage. Because the entire procedure is conducted through the robotic platform rigidly mounted on the patients bone, there is no need for registration to preoperative three dimensional images, or for intraoperative tracking. Cell deposition based on mapping of the actual three dimensional anatomy, ensures an optimal outcome.

A manipulation device (14) for a microinvasive medical instrument (10) comprises a first grip member (22) and a second grip member (40), that are movable relative to each other, an irrigation port (90) for receiving an irrigation liquid for cleaning the manipulation device (14) between two uses, and an irrigation channel (92, 94, 96, 98) that connects the irrigation port (90) to one or more outlets (93, 95, 33, 65). The irrigation channel (92, 94, 96, 98) is arranged in the first grip member (22).