CPC A61B 34/32 (2016.02) [A61B 34/00 (2016.02); A61M 5/31501 (2013.01); A61M 5/46 (2013.01); A61B 34/30 (2016.02); A61B 90/11 (2016.02); A61B 2017/3409 (2013.01); A61B 2034/301 (2016.02); A61B 2090/064 (2016.02)] | 20 Claims |
1. An automated device for inserting a medical tool into a body of a subject, comprising:
a first movable platform;
a second movable platform operatively coupled to the first movable platform;
a first driving mechanism comprising at least a first motor and configured to move the first movable platform in a first linear direction;
a second driving mechanism comprising at least a second motor and configured to move the second movable platform in a second linear direction substantially perpendicular to the first linear direction;
first and second piston mechanisms coupled to the second movable platform;
a common joint to which distal ends of the first and second piston mechanisms are coupled;
an end effector; and
at least a first portion of an insertion mechanism, the insertion mechanism being configured to impart movement to the medical tool in the direction of the body of the subject.
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