Xact Robotics Ltd.

Ofer Arnold

Ben Galili

Daniel Glozman

Moran Shochat

Simon Sharon

Eduard Borodets

Shraga Nahum Goldberg

Eran Zur

Yoav Tikochinsky

A drape adaptor configured for coupling to a first component of a medical device and for receiving a medical tool. The first component of the medical device including a non-sterile portion of a driving mechanism. The drape adaptor comprises a sealing member configured for passing therethrough at least a portion of at least one component of a sterile portion of the driving mechanism. The drape adaptor is configured to enable transmission of torque from the first component of the medical device to the medical tool via direct engagement between the at least one component of the sterile portion of the driving mechanism and the non-sterile portion of the driving mechanism, through the sealing member, without compromising the sterility of the environment external to the drape adaptor.

Drape adaptor

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

A system and method for controlling the insertion of a medical tool, such as a needle, into a subject's body based on measurements of an interaction parameter associated with the interaction between the tool and a bodily tissue, such as the forces exerted on the tool during insertion. The system comprises an insertion device, at least one sensor configured to measure the interaction parameter and at least one processor configured to receive sensor measurements, detect one or more predefined patterns in the sensor measurements and control an operation of at least one of the insertion device and an imaging device, upon detecting the predefined patterns. The processor may be configured to compare the actual correlation between the sensor measurements and an insertion parameter, such as insertion depth, with an expected correlation, and determine if the medical tool is following its pre-planned trajectory based on the result of that comparison.

Systems and methods for guiding the insertion of a medical tool

A device for insertion of a medical tool held in an end effector, the device comprising moveable platforms providing motion in two generally orthogonal directions, and two piston mechanisms operating within cylinders, coupled to the moveable platforms, and being attached at their distal end to the end effector by means of a common joint. The pistons may be linear actuators. The end effector is manipulated by driving mechanisms propelling the pistons linearly. The proximal ends of the cylinders may be coupled to a common shaft. The axes of the cylinders and the pistons, the line connecting the pistons axes through the common joint and the axis of the cylinders' common shaft may all be located substantially in a single plane. Coordinated motion of the moveable platforms and the piston mechanisms enables the maintenance of a virtual remote center of motion of the medical tool as its orientation changes.

Automated insertion device

An apparatus for attaching a medical device to a subject's body, either directly to the subject's body or to an intermediary element on the subject's body. The apparatus prevents substantially any relative movement between the medical device and the subject's body. Such an apparatus comprises: (i) a back base positioned between the subject's body and a surface that the subject lies thereon, (ii) at least one set of straps connected to the back base and to at least one of the medical device and the intermediary element, and (iii) at least one set of connectors providing a connection between the at least one set of straps and one or more of the medical device, the intermediary element and the back base. The apparatus may further comprise any of pivoting connectors, a respiration sensor, and straps with a stretchable section. The apparatus may be used in combination with a sterile drape.

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Ma'ale Tzvia, Israel

Ofer Arnold