Memic Innovative Surgery Ltd.

Momentis Surgical Ltd

Memie Innovative Surgery Ltd.

Memic Innovative Surgey Ltd.

Momentis Surgrical Ltd.

Dvir Cohen

Yaron Levinson

Eli Shapira

Eyal Maimon

Idan Rotem

Yiftah Neta

Gal Nachshony

Surgical drape

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.

Dual control of a mechanical surgical arm

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 inappropriate manipulation according to the analysis.

Systems and methods for guiding manipulation of endoscopic tools for endoscopic surgery

A surgical system including: a surgical mechanical arm including a plurality of sequentially coupled independently bendable flexible portions and terminating in a laser tool; a waveguide supplying laser light to the laser tool, where the waveguide follows a contour of the surgical mechanical arm; circuitry configured to: receive data regarding curvature of one or both of: the waveguide; one or more of the plurality of sequentially coupled independently bendable flexible portions; and perform one or more action based on the received data.

Laser surgical device

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.

Orientation of user-input devices for controlling surgical arms

A method of initializing the layout of one or more robotic arms controllable by an input object, comprising: entering a paused mode, in which control of movement of the robotic arms by the input object is paused; measuring an input object initialization layout, defined by the layout of at least one segment of the input object; actuating at least a portion of the robotic arms to match the input object initialization layout; and entering a controlled mode, in which movements of the input object control the robotic arms.

Control of device including mechanical arms

An articulated arm including: a tubular structure comprising a plurality of coupled longitudinal sections including: at least one rigid portion; and at least one flexible portion comprising a plurality of connected annular portions; wherein the tubular structure includes: a trench formed along a long axis of the tubular structure and extending along the plurality of coupled longitudinal sections; and a cover attached to the tubular structure and covering at least a portion of the trench.

Surgical articulated arm

An access port for sealing an opening of a natural orifice and supplying access to a body cavity through the natural orifice including: a sealing unit; an unobstructed single lumen cannula extending to the body cavity; a connector connecting the cannula to the sealing unit; an access opening through the sealing unit to the single lumen; a cap including a plurality of cap openings configured to seal between medical instruments inserted into the openings and the access opening.

Tools and methods for vaginal access

A surgical mechanical arm comprising: an electrosurgical tool comprising: a first tool portion comprising a first surface; a second tool portion comprising a second surface, where said tool portions are mechanically coupled and configured to move relative to each other to change a separation between said first and second surfaces; a first elongated element electrically coupled to at least a part of said first tool portion which is electrically isolated from said second tool portion; and a second elongated element electrically coupled to at least a part of said first tool portion and mechanically coupled to and configured to actuate one or both of said tool portions to change said separation between said first and second surfaces.

Electrosurgery device

A control console for control of a medical surgical device comprising at least one surgical mechanical arm, which control console comprising: a control console base; at least one user support coupled to said control console base; a processor configured to receive data regarding a selected surgical configuration of said at least one surgical mechanical arm and at least one camera; an input arm support coupled to said control console base; at least one input arm comprising a plurality of sections sequentially coupled by joints, coupled to and extending from said input arm support where a direction of extension of said input arm, with respect to said at least one user support is adjustable to match an input arm configuration to said selected surgical configuration, a camera view of said at least one surgical mechanical arm thereby corresponding to a user view of said input arm.

Control console for surgical device with mechanical arms

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.

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.

Modular device comprising mechanical arms

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.

Control console including an input arm for control of a surgical mechanical arm

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.

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.

Growing community of inventors

Ramot-Menashe, Israel

Dvir Cohen