Magenta Medical Ltd.

Technion Research & Development Foundation Ltd

Moskowitz Family LLC

Medtronic, Inc.

Forsight Robotics Ltd.

Other

Xact Robotics Ltd.

Medtronic Vascular, Inc.

Medtronic Vascular Galway Limited

Spi Surgical, Inc.

Diagnostic Robotics Ltd.

Daniel Glozman

Yosi Tuval

Ehud Schwammenthal

Moshe Shoham

Mosheh T Moskowitz

Nathan C Moskowitz

Noam Hassidov

Gad Lubinsky

Igor Kovalsky

Jason L Quill

Yossi Tuval

Michael Arad

Yoav Pinsky

Gonen Daskal

Nadav Yellin

Ilia Hariton

Simon Sharon

Ariel Gil

Niall F Duffy

Zev Sohn

Tom Shtendel

Gad Lubinksy

Ofer Arnold

Ben Galili

Blake Hannaford

Gerry Oliver McCaffrey

Thomas Sean Lendvay

Noam Miller

Laligam Sekhar

Aylin Kim

Kristen S Moe

Louis Kim

Jacob Rosen

James S Pridgeon

Diana C W Friedman

Saar Golan

Tal Gollan

Oshri Vaknin

Gerry Mccaffrey

Illia Hariton

Jesse A Dosher

Yonatan Amir

Euhd Schwammenthal

Yosi Tuva

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.

Kinematic structures and sterile drapes for robotic microsurgical procedures

Apparatus and methods are described for performing a procedure on a portion of a first side of a body of a patient using one or more tools. An imaging device images the portion of the first side of the patient's body. A display displays a mirror image of the portion of the first side of the patient's body to an operator. One or more control components are be operated by the operator. One or more robotic units hold the one or more tools, each of the one or more robotic units corresponding to a respective control component and mirroring a position of the corresponding control component. A computer processor processes inputs into the each of the control components such as to generate mirrored outputs at the corresponding robotic unit. Other applications are also described.

One-sided robotic surgical procedure

Apparatus and methods are described including an impeller configured, in a radially-expanded configuration thereof, to pump a fluid by rotating. A radially expandable cage is disposed around the impeller, such that, in radially-expanded configurations of the impeller and the cage, the impeller is separated from an inner surface of the cage. The impeller is disposed within the cage such that, in response to the cage becoming radially contracted and axially elongated, the impeller radially contracts and axially elongates. Other applications are also described.

Impeller and cage

Apparatus () for use with a motion source that generates reciprocating linear motion. The apparatus includes a cutting ring () comprising a sharp cutting edge shaped and sized to engage an anterior lens capsule of the eye () and a longitudinal-motion member () coupled to the cutting ring, and that is configured to be coupled to the motion source, such that the motion source imparts reciprocating linear motion to the longitudinal motion member. The apparatus additionally includes a motion-conversion mechanism coupled to the longitudinal-motion member and to the cutting ring and configured to convert the reciprocating linear motion of the longitudinal-motion member into back-and-forth rotational motion of the cutting ring to create a circular aperture in the anterior capsule of the eye by the cutting ring. Other applications are also described.

Capsulorhexis apparatus and method

Apparatus and methods are described including an impeller for use in a blood pump. An impeller frame includes proximal and distal end portions and at least one helical elongate element that winds from the proximal end portion to the distal end portion. A material is coupled to the helical elongate element, such that the helical elongate element with the material coupled thereto defines a blade of the impeller. A mediator is coupled to the helical elongate element. The helical elongate element has a first stiffness, the material has a lower stiffness than the first stiffness, and the mediator is configured to enhance bonding between the helical elongate element and the material. Other applications are also described.

Impeller for blood pump

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.

Kinematic structures for robotic microsurgical procedures

Apparatus and methods are described including a blood pump that includes at least one motor configured to be disposed outside a body of a subject, a catheter, a proximal impeller disposed on the catheter and configured to pump blood by rotating, and a distal impeller disposed on the catheter. The distal impeller is configured to pump blood by rotating and is disposed on the catheter distally to the proximal impeller such that longitudinal centers of the proximal and distal impellers are separated from each other by at least 3 cm. Other applications are also described.

Blood pump

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.

Insertion guide

Apparatus and methods are described including a catheter, and first and second impellers configured to be inserted into a subject's body via the catheter, the first and second impellers being disposed in series with each other. A first impeller cage is disposed around the first impeller, and a second impeller cage is disposed around the second impeller. A sleeve extends longitudinally along more than 50 percent of a distance between the first and second impellers. Other applications are also described.

Blood pumps

Apparatus and methods are described including a tube configured to traverse an aortic valve of a subject. A frame is disposed within at least a portion of the tube. An impeller rotates such as to pump blood from the subject's left ventricle to the subject's aorta. The impeller is disposed inside the tube such that, when the impeller and the tube are deployed inside the subject, and prior to rotation of the impeller, a gap between an outer edge of the impeller and an inner surface of the tube is less than 1 mm. A rigid stabilizing element stabilizes the impeller with respect to the tube, such that during rotation of the impeller, a gap between the outer edge of the impeller and the inner surface of the tube is maintained. Other applications are also described.

Ventricular assist device

A system and method for ensuring safe and tolerable insertion of a needle into a subject's body according to a preplanned or continuously monitored sequence of insertion steps. The system comprises a gripping device for gripping the needle in order to perform robotic insertion steps, yet for releasing the grip between such insertion steps, until the next insertion step is initiated. Thereby, the robot has full control of the needle during insertion steps, but does not constrain the needle between insertions, such that movement of the subject can cause neither damage nor discomfort. The gripping and insertion steps may be coordinated to keep in synchronization with the subject's breathing cycles, such that the insertion steps may be performed in the same segment of each cycle of motion of the subject's chest. The gripper can either fully disconnect from the needle, or can partially disconnect but constrain motion within limits.

Gripper for robotic image guided needle insertion

Apparatus and methods are described for improving renal function of a patient, including mechanically occluding the patient's inferior vena cava downstream of the renal vein ostium to form an upstream region and a downstream region of the inferior vena cava, and mechanically pumping blood through the inferior vena cava from the upstream region to a discharge location in the downstream region while the inferior vena cava is occluded, wherein the blood remains in the inferior vena cava while being mechanically pumped. Other applications are also described.

Vena-caval blood pump

Apparatus and methods are described including a blood pump that includes a catheter, a first impeller disposed on the catheter, and a second impeller disposed on the catheter, proximally to the first impeller. A motor drives the first and second impellers to pump blood of a subject, by driving the first and second impellers to rotate. The blood pumps is configured such that (a) the first and second impellers are shaped differently from each other when the first and second impellers are in non-radially-constrained configurations, (b) the first and second impellers are sized differently from each other when the first and second impellers are in non-radially-constrained configurations, and/or (c) the first and second impellers are driven by the motor to rotate under respective rotation conditions that are different from each other. Other applications are also described.

Apparatus and methods are described including a tube configured to traverse a subject's aortic valve. A frame is disposed within a portion of the tube, and a plurality of winged projections are coupled to the frame. An impeller is disposed inside the tube, the impeller including proximal and distal bushings, a helical elongate element, and a spring disposed inside of the helical elongate element, the spring defining a lumen therethrough. A film of material is supported between the helical elongate element and the spring. A rigid shaft extends from the proximal bushing to the distal bushing via the lumen defined by the spring. The impeller is rotated, such as to pump blood from the subject's left ventricle to the subject's aorta. Other applications are also described.

In some embodiments, a valve prosthesis includes an inlet portion that is substantially s-shaped and configured to engage the floor of the outflow tract of the native heart atrium. In some embodiments, a valve prosthesis includes a chordae guiding element configured to reduce bending of the chordae to reduce stress on the chordae during the cardiac cycle. In some embodiments, a valve prosthesis includes a central portion having an hourglass shape configured to pinch a native annulus in order to provide axial fixation of the valve prosthesis within a valve site. In some embodiments, a valve prosthesis includes a frame having an outflow end that is flared to provide a gap between an outflow end of the frame and an outflow end of prosthetic leaflets when the prosthetic leaflets are fully opened.

Valve prosthesis and method for delivery

Growing community of inventors

Kefar Adummim, Israel

Daniel Glozman