US 11,751,956 B2
Automated insertion device
Ofer Arnold, Ma'ale Tzvia (IL); and Eduard Borodets, Nazereth Illit (IL)
Assigned to XACT ROBOTICS LTD., Caesarea (IL)
Filed by XACT ROBOTICS LTD., Caesarea (IL)
Filed on Oct. 7, 2021, as Appl. No. 17/496,446.
Application 17/496,446 is a continuation of application No. 16/303,536, granted, now 11,202,684, previously published as PCT/IL2017/050584, filed on May 25, 2017.
Claims priority of provisional application 62/341,097, filed on May 25, 2016.
Prior Publication US 2022/0022983 A1, Jan. 27, 2022
Int. Cl. A61B 34/32 (2016.01); A61B 34/00 (2016.01); A61M 5/46 (2006.01); A61M 5/315 (2006.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01); A61B 90/11 (2016.01); A61B 17/34 (2006.01)
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
OG exemplary drawing
 
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.