US 12,102,290 B2
Device for automatically inserting and manipulating a medical tool into and within a bodily lumen
Simon Sharon, Zichron Yaacov (IL); Idan Boader, Carmiel (IL); Moshe Shoham, Hoshaya (IL); Eran Cohen, Kiryat-Tivon (IL); and Eyal Morag, Tel Aviv (IL)
Assigned to Microbot Medical Ltd., Yokneam Illit (IL); and Technion Research & Development Foundation Limited, Haifa (IL)
Filed by Microbot Medical Ltd., Yokneam Illit (IL); and Technion Research & Development Foundation Limited, Haifa (IL)
Filed on Nov. 15, 2021, as Appl. No. 17/526,060.
Application 17/526,060 is a continuation of application No. 17/187,936, filed on Mar. 1, 2021, granted, now 11,213,362.
Application 17/187,936 is a continuation in part of application No. PCT/IL2020/051226, filed on Nov. 26, 2020.
Claims priority of provisional application 63/082,508, filed on Sep. 24, 2020.
Claims priority of provisional application 62/941,842, filed on Nov. 28, 2019.
Prior Publication US 2022/0071723 A1, Mar. 10, 2022
Int. Cl. A61B 1/00 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 34/35 (2016.01); A61B 34/37 (2016.01); A61M 25/01 (2006.01); A61M 25/09 (2006.01); B25J 9/00 (2006.01); B25J 9/10 (2006.01); A61B 17/00 (2006.01); A61M 25/00 (2006.01); A61M 25/02 (2006.01)
CPC A61B 1/00147 (2013.01) [A61B 34/30 (2016.02); A61B 34/35 (2016.02); A61B 34/37 (2016.02); A61B 34/70 (2016.02); A61M 25/0113 (2013.01); A61M 25/09041 (2013.01); B25J 9/0021 (2013.01); B25J 9/102 (2013.01); A61B 2017/00477 (2013.01); A61B 2034/301 (2016.02); A61M 2025/0042 (2013.01); A61M 2025/0253 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A compact robotic device for driving and manipulating movement of at least two elongate surgical tools, comprising:
a device housing defining an inner volume including:
at least two assemblies, each assembly configured for linearly moving and/or rolling of one of said at least two elongate surgical tools placed in direct contact with the at least two assemblies;
one or more motors positioned and configured to actuate said at least two assemblies;
wherein no sterility-maintaining separation exists between said one or more motors and said at least two assemblies such that at least a segment of said at least two elongate surgical tools contacted by said at least two assemblies lies within said same inner volume as said one or more motors;
wherein said at least two assemblies are aligned side by side within said device housing;
wherein said each assembly comprises a plurality of wheels positioned and configured to contact a first elongate surgical tool from the at least two elongate surgical tools when at least a segment of the first elongate surgical tool is received within the inner volume; and
wherein said each assembly comprises an elongate shaft comprising a central lumen extending along the shaft long axis, wherein said at least a segment of said first elongate surgical tool is received within said central lumen of said shaft, and wherein said plurality of wheels at least partially protrude into said shaft to contact said first elongate surgical tool.