Dual operational surgical robotic device

Abstract

The invention discloses a compact robotic surgical device having capabilities to perform more than one type of surgical procedure. The compact surgical device comprises at least two modes, where, in a first mode, the compact surgical device is configured to perform over-the-wire procedures, while, in a second mode, the compact surgical device is configured to perform rapid exchange-like procedures.

Description

[0001] DUAL OPERATIONAL SURGICAL ROBOTIC DEVICE

[0002] RELATED APPLICATION / S

[0003] This application claims the benefit of priority of U.S. Provisional Patent Application No. 63 / 676,389 filed on July 28, 2024, the contents of which are incorporated herein by reference in their entirety.

[0004] FIELD AND BACKGROUND OF THE INVENTION

[0005] The present invention, in some embodiments thereof, relates to a surgical robotic device and, more particularly, but not exclusively, to a dual operational surgical device.

[0006] Additional background art includes U.S. Patent No. US11241291B2 disclosing a modular robotic surgical system that includes one or more tool-receiver units arranged as separate units, each tool-receiver unit operable to move a first elongate surgical tool received therein. The device also includes a base comprising one or more motors, the base operable to move a second elongate surgical tool attached to the base or received therein, the base serving as a mounting for the one or more tool-receiver units, each of the tool-receiver units is independently and interchangeably attachable to the base via a mechanical coupling interface which transfers one or more of: driving force for driving movement of the first elongate surgical tool received within the unit; electrical power supply to one or more components of the unit which drive movement of the first elongate surgical tool received within the unit; and data for controlling movement of the first elongate surgical tool received within the unit.

[0007] SUMMARY OF THE INVENTION

[0008] Following is a non-exclusive list including some examples of embodiments of the invention. The invention also includes embodiments which include fewer than all the features in an example and embodiments using features from multiple examples, also if not expressly listed below.

[0009] In some embodiments, a compact dual operational robotic surgical device 300 configured to actuate a second elongated surgical tool 120 / 202 along a second direction of movement 132 and configured to concomitantly actuate a first elongated surgical tool 110 along either a first direction of movement 130 said first direction of movement 130 being opposite to said second direction of movement 132, or along a third direction of movement 306, said third direction of movement 306 being aligned to said second direction of movement 132. In some embodiments, actuation of said second elongated surgical tool 120 / 202 along said second direction of movement 132 moves said second elongated surgical tool 120 / 202 towards a target 111 located outside said robotic surgical device 300, and wherein said first 130 and third 306 direction of movement are configured to concomitantly move said first elongated surgical tool 110 towards said target 111.

[0010] In some embodiments, the compact dual operational robotic surgical device further comprising a housing 102 enclosing a plurality of mechanical and electronic mechanisms.

[0011] In some embodiments, the housing 102 is divided in two areas, wherein a first area 104 is configured for receiving said first elongated surgical tool 110 and a second area 106 is configured for receiving said second elongated surgical tool 120 / 202.

[0012] In some embodiments, the compact dual operational robotic surgical device further comprising one or more first motors 114 / 116 configured for manipulating said first elongated surgical tool 110; and one or more second motors 126 configured for manipulating said second elongated surgical tool 120 / 202.

[0013] In some embodiments, the manipulating comprises linear movement and / or rotation motion.

[0014] In some embodiments, the compact dual operational robotic surgical device further comprising a controller 113 configured to actuate said one or more first motors 114 / 116 and said one or more second motors 126.

[0015] In some embodiments, the controller 113 comprises instructions for synchronizing the movement of said second elongated surgical tool 120 / 202 and said first elongated surgical tool 110 when moving towards a target 111 or away from said target 111; and wherein said first elongated surgical tool 110 moves in said first direction 130 and said second elongated surgical tool 120 / 202 moves in said second direction 132.

[0016] In some embodiments, the controller comprises instructions for not synchronizing the movement of said second elongated surgical tool 120 / 202 and said first elongated surgical tool 110 when said first elongated surgical tool 110 is actuated along said third direction of movement 306.

[0017] In some embodiments, a direction of said actuate of said first elongated surgical tool 110 is selected by a user according to a type of said second elongated surgical tool 120 / 202.

[0018] In some embodiments, selecting a type of said second elongated surgical tool 120 / 202 controls a direction of said actuate of said first elongated surgical tool 110.

[0019] In some embodiments, the second elongated surgical tool 120 / 202 is either an over the wire catheter 120 or a rapid exchange catheter 202. In some embodiments, when the second elongated surgical tool 120 / 202 is an over the wire catheter 120, then said first elongated surgical tool 110 is actuated along said first direction of movement 130

[0020] In some embodiments, when the second elongated surgical tool 120 / 202 is a rapid exchange catheter 202, then said first elongated surgical tool 110 is actuated along said third direction of movement 306.

[0021] In another embodiment, a compact dual operational robotic surgical device 300 comprising one or more motors 114 / 116 / 126 in a housing 102 for manipulating a second elongate surgical tool 120 / 202 and a first elongate surgical tool 110; wherein at least one motor 126 of the one or more motors is configured for actuating said second elongated surgical tool 120 / 202 in a second direction of movement 132; wherein at least two motors 114 / 116 of the one or more motors are configured for actuating said first elongate surgical tool 110 in either a first direction of movement 130 or a third direction of movement 306; and wherein upon receiving of a signal, said actuating of said at least two motors 114 / 116 changes a direction of movement of said first elongated surgical tool 110 from said first direction of movement 130 to said third direction of movement 306, and vice versa.

[0022] In some embodiments, the compact dual operational robotic surgical device further comprising a controller 113 configured for providing said signal.

[0023] In another embodiment, a method for actuating at least two elongate surgical tools by a compact dual operational robotic device 300, the method comprising: a. signaling 512 said compact dual operational robotic device 300 of a change in a second elongate surgical tool 120 / 202 of said at least two elongate surgical tools; b. amending a direction of actuation 412 of a first elongate surgical tool of said at least two elongate surgical tools.

[0024] In another embodiment, a method of operation of a dual operational robotic surgical device 300, comprising: a. inserting 402 a dedicated catheter 202 and a guidewire 110 into respective dedicated openings 124 / 118 within a housing 102 of said dual operational robotic surgical device 300, from a first side 105 of said housing; b. taking out 404 said dedicated catheter 202 and said guidewire 110 from openings 128 / 112 on an opposite side 103 of said housing 102; c. inserting 408 said guidewire 110 into said dedicated catheter 202; d. actuating said dual operational robotic surgical device to actuate 412 said guidewire 110 until reaching a desired location 111; e. actuating said dual operational robotic surgical device to actuate 414 said dedicated catheter 202 until reaching said desired location 111 by riding over said guidewire.

[0025] In some embodiments, the method further comprising inserting 406 said guidewire 110 into an additional tube 304.

[0026] In some embodiments, the method, further comprising placing 410 said dedicated catheter 202 and said guidewire 110 within a holder 302.

[0027] In some embodiments, the method further comprising actuating 416 an interventional tool 212 of said dedicated catheter 202 at said desired location 111.

[0028] In some embodiments, the method further comprising retracting 418 said dedicated catheter 202.

[0029] In some embodiments, the method further comprising retracting 420 said guidewire 110.

[0030] In another embodiment, a method of transitioning from an over-the-wire procedure to a rapid exchange-like procedure when operating a dual operational robotic surgical device 300, the method comprising: a. taking out 502 a guidewire 110 and a catheter completely from said dual operational robotic device; b. inserting 507 a dedicated catheter into the device; c. inserting 509 a guidewire into the device; d. inserting 511 the guidewire into an aperture within the dedicated catheter; e. beginning 513 the rapid exchange procedure with the device.

[0031] In another embodiment, a method of transitioning from a rapid exchange-like procedure to an over- the-wire procedure when operating a dual operational robotic surgical device 300, the method comprising: a. taking out 502 a guidewire 110 and a dedicated catheter 202 completely from said dual operational robotic device 300; b. signaling 512 said dual operational robotic surgical device 300 a change in type of procedure; c. connecting 514 a proximal end 121 of a regular catheter 120 into a holder 122 on a second surface 105 of a housing 102 of said dual operational robotic surgical device 300; d. inserting 516 a regular catheter 120 into an opening 124 placed on a second wall 105 of said housing 102 by bending said regular catheter 120 and causing a U-shape curve; e. inserting 518 said guidewire 110 into an opening 112 placed on a first surface 103 of said housing 102 and into a proximal end 121 of said regular catheter 120; f. beginning 520 said over the wire procedure with said dual operational robotic surgical device 300.

[0032] In another embodiment, a method for actuating at least two elongated surgical tools by a compact dual operational robotic surgical device, the method comprising: a. actuating one or more of a motors within the compact dual operational robotic surgical device to move a first elongated surgical tool of the at least two elongated surgical tools into a lumen outside the device, said move is performed in a first direction that is opposite to a direction where the lumen is positioned, and b. signaling the compact dual operational robotic surgical device a change in a second elongated surgical tool of the at least two elongated surgical tools configured to actuate of the first elongated surgical tool is a second direction opposite to the first direction.

[0033] In another embodiment, a compact dual operational robotic surgical device 300 comprising a housing 102 and one or more motors 114,116,126; wherein a first elongate surgical tool 110 is configured to enter said housing 102 at a first opening 112 located on a first surface 103 of the housing and exit through a second opening 118 on a second surface 105 of the housing; said second surface 105 positioned opposite said first surface 103, said first elongate surgical tool 110 further configured to be actuated by said one or more motors 114,116 to a first direction of movement 130 to a target 111 when a second elongated surgical tool 120 is actuated by a motor 126 of the one or more motors to a second direction of movement 132, and wherein the one or more motors 114,116 engaging the first elongate surgical tool 110 configured to actuate the first tool 110 along a third direction of movement 306 to the target 111 when the first tool 110 is configured to enter the housing 102 into the second opening 118 located on the second surface 105 of the housing and exit through opening 112 on the first surface 103 and a dedicated catheter 202 is actuated by one motor 126 of the one or more motors at the second direction 132.

[0034] In another embodiment, a compact dual operational robotic surgical device 300 comprising a. a housing 102, and b. one or more motors 114,116,126 ; wherein two motors 114,116 of the one or more motors 114,116,126 configured to actuate a first elongated surgical tool 110 in a first 130 and a third 306 directions of movement to a target 111 when a second elongated surgical tool 120 / 202 is concomitantly actuated by a motor 126 of the one or more motors 114,116,126 in a second direction of movement 132 to the target 111 ; wherein the direction of actuation of said two motors 114,116 of the first elongated surgical tool 110 is selected by a type of the second elongated surgical tool 120 / 202.

[0035] Unless otherwise defined, all technical and / or scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the invention pertains. Although methods and materials similar or equivalent to those described herein can be used in the practice or testing of embodiments of the invention, exemplary methods and / or materials are described below. In case of conflict, the patent specification, including definitions, will control. In addition, the materials, methods, and examples are illustrative only and are not intended to be necessarily limiting.

[0036] Some embodiments of the present invention may be described below with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems) according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0037] These computer program instructions may also be stored in a computer readable medium that can direct a computer, other programmable data processing apparatus, or other devices to function in a particular manner, such that the instructions stored in the computer readable medium produce an article of manufacture including instructions which implement the function / act specified in the flowchart and / or block diagram block or blocks.

[0038] The computer program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

[0039] Some embodiments of the invention are herein described, by way of example only, with reference to the accompanying drawings. With specific reference now to the drawings in detail, it is stressed that the particulars shown are by way of example and for purposes of illustrative discussion of embodiments of the invention. In this regard, the description taken with the drawings makes apparent to those skilled in the art how embodiments of the invention may be practiced.

[0040] In the drawings:

[0041] Figure 1 is a robotic surgical device configured for an over-the-wire medical procedure;

[0042] Figures 2a- 2b are schematic representations of a dedicated elongated surgical tool used by a dual operational surgical robotic device, according to some embodiments of the invention;

[0043] Figure 3a is a schematic representation of a dual operational robotic surgical device, according to some embodiments of the invention;

[0044] Figure 3b is a schematic representation of an optional holder, as shown on figure 3 a, according to some embodiments of the invention;

[0045] Figure 3c-3d are schematic representations of another optional holder for the dual operational robotic surgical device as shown in Figure 3 a, according to some embodiments of the invention.

[0046] Figure 4a is a flowchart of a method of operation of a dual operational robotic surgical device in rapid exchange-like procedures, according to some embodiments of the invention;

[0047] Figure 4b is a flowchart of a method of replacing a dedicated elongated surgical tool used by a dual operational surgical robotic device in rapid exchange-like procedures, as shown in figure 4a, according to some embodiments of the invention;

[0048] Figure 5 is a flowchart of a method of transitioning from a rapid exchange-like procedure to an over-the-wire procedure when operating a dual operational robotic surgical device, according to some embodiments of the invention; and

[0049] Figure 6 is a flowchart of a method of transitioning from an over-the-wire procedure to a rapid exchange-like procedure when operating a dual operational robotic device, according to some embodiments of the invention.

[0050] DETAILED DESCRIPTION

[0051] The principles, uses, and implementations of the teachings herein may be better understood with reference to the accompanying description and figures, it is to be understood that the teachings herein is not necessarily limited in its application to the details of construction and the arrangement of the components and / or methods set forth in the following description and / or illustrated in the drawings and / or the Examples. The invention is capable of other embodiments or of being practiced or carried out in various ways. Upon perusal of the description and figures present herein, one skilled in the art will be able to implement the teachings herein without undue effort or experimentation. In the figures, same reference numerals refer to same parts throughout.

[0052] An aspect of some embodiments of the invention relates to a compact robotic surgical device having capabilities to perform more than one type of surgical procedure. In some embodiments, the compact surgical device comprises at least two modes, where, in a first mode, the compact surgical device is configured to perform over-the-wire procedures, while, in a second mode, the compact surgical device is configured to perform rapid exchange-like procedures.

[0053] As used herein, the term / phrase “over-the-wire procedures” means procedures where a guidewire extends along the full length of a catheter from the catheter proximal end to the distal end of the catheter, while the term / phrase “rapid exchange-like procedures” means procedures where a guidewire enters a catheter at a location distally from the proximal end of the catheter. In a “rapid exchange-like procedure” a user can manipulate the guidewire and / or the catheter without the need to forcibly manipulate both the catheter and the guidewire.

[0054] Reference is first made to the construction and operation of a robotic surgical device configured for an over-the-wire medical procedure as schematically shown in Figure 1. A robotic surgical device 100 comprises a housing 102 enclosing a plurality of mechanical and electronic mechanisms configured for actively manipulating elongated devices such as elongate surgical tools, for example guidewires, catheters, etc. For example, robotic surgical device 100 comprises two areas 104 and 106, schematically divided by dotted line 108. Area 104 is configured, for example, for receiving a first elongate surgical tool 110, for example, a guidewire 110 from opening / aperture 112 located on a surface 103 in the housing 102. The first elongated surgical tool 110 then passes through area 104 where one or more motors, for example motor 1114 and / or motor II 116 engage the first elongate surgical tool 110 in order to manipulate it, manipulation may include moving the first elongated surgical tool 110 forwards / backwards / rotation relative to the first elongated surgical tool 110 longitudinal axis 107. In some embodiments, at least a segment of first elongated surgical tool 110 is located in a space / pathway within area 104 and is configured for linearly moving and / or rotation movement / rolling moving by motor 1 114 and / or motor II 116. The first elongate surgical tool 110 then exits the housing 102 via opening / aperture 118, located opposite to opening 112, on a second surface 105 in the housing 102. The robotic surgical device 100 is further configured for receiving a second elongated device, for example, a second elongate surgical tool 120, for example, a catheter 120. A proximal end 121 of the second elongate surgical tool 120 is connected to a holder 122 located adjacent to opening 118. This configuration allows a first elongate surgical tool distal end 115 exiting through opening 118 to directly enter a lumen of the second elongate surgical tool 120. The second elongate surgical tool 120 enters the housing 102 through opening / aperture 124, which is located on the second surface 105 of the housing 102, into area 106 of the robotic surgical device 100. The configuration of the second elongate surgical tool 120 being connected to holder 122 and entering through opening 124 causes the second elongate surgical tool 120 to bend, thereby generating a U shape curve. The second elongate surgical tool 120 then passes through area 106 where one or more motors, in this case only one motor shown - motor III 126, engage the second elongate surgical tool 120 in order to manipulate it. Manipulation may include moving the second elongated surgical tool 120 forwards / backwards / rotation relative to the second elongated surgical tool 120 longitudinal axis 109. The second elongate surgical tool 120 then exists the housing 102 via opening / aperture 128 located on the surface 103 of the housing 102. In some embodiments, at least a segment of second elongated surgical tool 120 is located in a space / pathway within area 106 and configured for linearly moving and / or rotation movement / rolling moving by the one or more motors, for example motor III 126.

[0055] In some embodiments, walls of housing 102 define at least two entry openings / apertures and at least two exit openings / apertures for the elongate surgical tools such that one entry opening 112 of the at least two entry openings and one exit opening 128 of the at least two exit openings are located on a first wall of the walls of the housing, surface 103, and the second enter opening 124 of the at least two entry openings and the second exit opening 118 of the at least two exit openings are located on a second wall, surface 105, opposite the first wall.

[0056] Following this configuration of the first elongated surgical tool 110 and the second elongated surgical tool 120, in order for the robotic surgical device 100 to cause the first elongated surgical tool 110 to move into a target 111, located outside the robotic surgical device 100, the robotic surgical device 100 must actuate one or more of the motors I-II 114 / 116 located within area 104 to move the first elongated surgical tool 110 in a direction shown by arrow 130, the direction shown by arrow 130 may be also referred as a first direction of movement 130, which is a direction that is opposite to the direction where the target 111 is positioned. In addition to actuate of the one or more of the motors I-II 114 / 116 in direction 130 (first direction of movement 130), in the area 106 of housing 102, in order for the robotic surgical device 100 to cause the second elongated surgical tool 120 to move into the target 111, the robotic surgical device 100 must actuate one or more motors located within area 106 for example motor III 126 to move the second elongated surgical tool 120 in a direction shown by arrow 132, the direction shown by arrow 132 may be also referred as a second direction of movement 132, which is a direction that is towards the direction where the target 111 is positioned and opposite to the direction of movement of arrow 130 (first direction of movement 130) of the first elongated surgical tool 110.

[0057] In some embodiments, the robotic surgical device 100 comprises a controller 113 typically and optionally placed within housing 102, configured to actuate the motors 114, 116, 126 according to needs, for example, type of medical procedure, type of elongated surgical tools, user requests and the like.

[0058] The actuation of the motors 114 / 116 / 126 is performed by a control unit, optionally a remote control unit (not shown in Figure 1). The control unit comprises instructions to actuate the controller 113 and such motors 114 / 116 / 126 according to the needs. For example, when the first elongated surgical tool 110 needs to move into the target 111, then the motors 114 / 116 are actuated so as to move the first elongated surgical tool 110 in the direction of arrow 130 (first direction of movement 130), which is in the opposite direction of the actuation of motor III 126 (arrow 132 - second direction of movement 132), that moves the second elongated surgical tool 120 also into the target 111.

[0059] In some embodiments, the robotic surgical device 100 comprises a compensation mechanism configured for limiting the movement of one tool when the other tool is being moved. For example, the controller 113 comprises instructions for synchronizing the movement of both tools, one tool in the direction 130 (first direction of movement 130) and the other tool in the direction 132 (second direction of movement 132), when moving towards the target 111 or away from the target 111.

[0060] In some embodiments, the robotic surgical device 100 comprises one or more toolmovement mechanisms (not shown) arranged along the space / pathway within area 104 of housing 102. For example at least one set of wheels, configured to be controlled by motor I 114 and / or motor II 116 and configured for linearly moving and / or rotation movement / rolling moving of guidewire 110. In some embodiments, the robotic surgical device 100 comprises one or more additional tool-movement mechanisms (not shown) arranged along the space / pathway within area 106 of housing 102 for actuating linear translation of the catheter 120. For example at least one set of wheels, configured to be controlled by motor III 126.

[0061] In some embodiments, the housing is sealed. In some embodiments, optionally, the housing is sealed except for locations for attachment of elongated surgical tools, for example openings / apertures 112, 118, 124 and 128. In some embodiments, the housing 102 includes a removable or moveable cover or lid (not shown) providing access to at least one elongated surgical tool 110, 120 residing within the housing 102. In some embodiments, all components which engage the elongated surgical tool 110, 120 to manipulate it and / or to drive its movement are fully encased inside the inner volume of the housing 102 and at least some of these components are positioned along the pathway defined for the elongated surgical tool 110, 120.

[0062] Exemplary dual operational surgical robotic device

[0063] Before explaining an exemplary dual operational surgical robotic device, referring now to Figures 2a- 2b, showing a schematic representation of an exemplary dedicated elongated surgical tool used by an exemplary dual operational surgical robotic device, according to some embodiments of the invention.

[0064] In some embodiments, one or more dedicated elongated surgical tools are used with an exemplary dual operational surgical robotic device. In some embodiments, the dedicated elongated surgical tool, for example a dedicated catheter such as rapid exchange catheter 202, comprises an elongated tube\elongated shaft, 204 having a proximal end 206 and a distal end 208. In some embodiments, the dedicated catheter 202 comprises an interventional tool 212 at the distal end 208 or at proximity to the distal end 208, for example but not limited to, a balloon and / or a stent (schematically shown). In some embodiments, the dedicated catheter 202 comprises an aperture 210 along the dedicated catheter shaft 204. In some embodiments, the aperture 210 is configured to be between the interventional tool 212 and the proximal end 206 of the catheter elongated tube 204. In some embodiments, an elongated surgical tool, for example a guidewire 110, is inserted through the aperture 210, into elongated tube 204 and parallel to interventional tool 212 and exit catheter elongated tube 204 at distal end 208, this allows the dedicated catheter 202 to be guided along the guidewire 110 to a target (not shown) (see below exemplary methods). In some embodiments, the aperture 210 is configured to allow introducing of an elongated surgical tool distal end 115 as shown in Figure 2a, and to advance and / or withdrawn the elongated surgical tool distal end 115, and the elongated surgical tool 110, through the elongated tube 204 of the dedicated catheter 202, as shown in Figure 2b.

[0065] According to some embodiments, the elongated surgical tool 110, is inserted into the dedicated catheter 202 through the distal end 208. In some embodiments, a proximal end 117 of the guidewire 110 is inserted into distal end 208 of the dedicated catheter 202 to exit through aperture 210, this allows the dedicated catheter 202 to be guided along the guidewire 110 to the target (not shown).

[0066] Referring now to Figure 3 a, showing a schematic representation of an exemplary dual operational robotic surgical device 300, according to some embodiments of the invention.

[0067] In some embodiments, an exemplary dual operational robotic surgical device 300 is similar to the robotic surgical device as shown in Figure 1, but with a few differences. In some embodiments, the differences allow the operation of the dual operational robotic surgical device 300 for rapid exchange-like procedures as well as for over-the-wire procedures.

[0068] In some embodiments, a dedicated catheter 202, as shown for example in Figures 2a-b, is used in rapid exchange-like procedures. In some embodiments, the dual operational robotic surgical device 300, as the robotic surgical device 100 shown for example in Figure 1, comprises a housing 102 enclosing a plurality of mechanical and electronic mechanisms configured for actively manipulating elongated devices such as elongate surgical tools, for example various types of guidewires, various types of catheters, etc. A motor III 126 of one or more motors located within area 106 of the housing 102 of the dual operational robotic surgical device 300 is configured to receive through opening 124 an elongated shaft 204 of the dedicated catheter 202 and actuate it, for example as shown by arrow 132 (second direction of movement 132), where the direction shown is towards a target (not shown), the direction shown by arrow 132 may be also referred as a second direction of movement 132. In some embodiments, as stated above, the motor III 126 is configured to actuate the elongated shaft 204 forwards and backwards along the elongated shaft 204 longitudinal axis according to the needs. In some embodiments, at least a segment of elongated shaft 204 of dedicated catheter 202 is located in a space / pathway within area 106 and configured for linearly moving and / or rotation movement / rolling moving by the one or more motors, for example motor III 126. In some embodiments, one difference between the robotic surgical device 100 shown in Figure 1 and the dual operational robotic surgical device 300 shown in Figure 3 a, is that a proximal end 206 of the dedicated catheter 202 is not connected to a connector 122 located on the second surface 105 of the housing 102. In some embodiments, this allows to manipulate the dedicated catheter 202 without the need to manipulate a guidewire 110, and vice versa, the guidewire 110 can be actuated without the need to actuate the dedicated catheter 202.

[0069] In some embodiments, an optional holder 302 is used with the dual operational robotic surgical device 300 during rapid exchange-like procedures. In some embodiments, the optional holder 302 has a Y-shape and is used to facilitate holding and or securing together the guidewire 110 and the dedicated catheter 202 during the medical procedure. In some embodiments, the optional holder 302 comprises one or more compartments configured to receive the elongated tools. In some embodiments, each elongated tool comprises its own compartment. In some embodiments, the dedicated catheter 202 is placed within the optional holder 302 before being actuated to the direction of the target. In some embodiments, the guidewire 110 is placed within the optional holder 302 after being inserted into the dedicated catheter 202. In some embodiments, as mentioned above, the optional holder 302 is configured to receive and hold the shaft 204 of the dedicated catheter 202. In some embodiments, the optional holder 302 also receives and holds either the guidewire 110 or an additional tube 304 (see below) on which the guidewire 110 passes. In some embodiments, the optional holder 302 is sized and shaped so the position where the guidewire 110 meets the shaft 204 of the dedicated catheter 202 coincides with the aperture 210 into which the guidewire 110 enters the shaft 204, as schematically shown for example in Figure 3b.

[0070] In some embodiments, the optional holder 302 is shaped in a shell structure having an upper clamp and a lower clamp (the clamp is schematically shown for example in Figure 3b) which may be hingedly attached at one another for example in area 312 of the holder 302, to pivot between an open position and closed position. In some embodiments the upper clamp and the lower clamp are attached by fasteners such as but not limited to clips, latches, hooks, snap-fitted one to the other in various locations along the holder shown for example as 312, 312’ and 312”. Once the dedicated catheter 202 and the guidewire 110 are engaged within the holder 302, the dedicated catheter 202 may be engaging and connecting to a guide catheter (not shown) via a connector, for example a connecting luer (not shown).

[0071] In some embodiments, another difference between the robotic surgical device 100 shown in Figure 1 and the dual operational robotic surgical device 300 shown in Figure 3 a, is that actuation of the guidewire 110 is now at the same direction as the direction of the actuation of the dedicated catheter 202. In some embodiments, a distal end 115 of the guidewire 110 is inserted into the dual operational robotic surgical device 300 via opening 118, passed within area 104 of the housing 102 where one or more motors, for example motor 1114 and motor II 116 are configured to engage and manipulate the guidewire 110, and exits area 104 of the housing 102 through opening 112. In some embodiments, at least a segment of guidewire 110 is located in a space / pathway within area 104 and configured for linearly moving and / or rotation movement / rolling moving by motor 1114 and / or motor II 116. In some embodiments, in area 104 of housing 102 of dual operational robotic surgical device 300, the direction of the movement (caused by the operation of the motors VII 114 / 116) that actuate the guidewire 110 to the direction of the target follows a direction of arrow 306, the direction shown by arrow 306 may also be referred to as a third direction of movement 306.

[0072] In some embodiments, optionally, the additional tube 304 is connected, on one side, to opening 112 of the housing 102 and, on the other side, to the optional holder 302 where guidewire 110 is placed. In some embodiments, optionally, the additional tube 304 is an open like tube comprising an elongated groove (not shown) configured to be placed around the guidewire 110 after guidewire 110 exit opening 112 and placed within the optional holder 302, such in some embodiments, additional tube 304 may hold the guidewire 110 from opening 112 to optional holder 302, in some embodiments additional tube 304 may hold the guidewire 110 only partially. In some embodiments, the additional tube 304 is used to protect and direct the guidewire 110, as exit the housing 102 and placed within the optional holder 302. In some embodiments, the additional tube 304 prevents the guidewire 110 from buckled and or bend during the linearly movement and / or rotation movement / rolling movement and during the medical procedure.

[0073] In some embodiments, as shown in Figures 3c-3d, the optional holder 302 may be configured as a shell structure 320 having an upper clamp and a lower clamp. The interior of each of the clamps can be specially adapted to receive the guidewire 110 and the dedicated catheter 202. The interior of each of the clamps may have two grooves aligned with contour of the guidewire 110 and the dedicated catheter 202, with the guidewire 110 align with groove 324, and the dedicated catheter 202 align with grove 326. When the shell is in an open state the dedicated catheter 202 is configured to be placed inside the shell structure 320 without the guidewire inserted therein and or after the guidewire 110 is inserted therein. The shell structure 320 of the optional holder 302 may have an upper clamp and lower clamp (internal grooves 324 and 326 are shown schematically in Figures. 3c-3d), when closing the clamps fasteners may be engaged. The clamps may be hingedly attached at one another for example in area 322 of the holder 302, to pivot between an open position and closed position. In some embodiments the upper clamp and the lower clamp are attached by fasteners such as but not limited to clips, latches, hooks, snap-fitted one to the other in various locations along the holder shown for example as 322, 322’ and 322”.

[0074] In some embodiments as shown in Figure 3c, the shell 320 may further comprise at least one fastener 328 configured to be connected and or fastened to the surface 103 of the housing 102, to thereby cause no movement between the robotic device 300 and the holder 302 and prevents the guidewire 110 from buckled and or bend during the linearly movement and / or rotation movement / rolling movement and during the medical procedure. In some embodiments, as shown in Figure 3d, the shell 320 is placed in close proximity to the housing 102 of the robotic device 300 either connected to the robotic device 300 by fasteners 330 or not, allowing movement of the holder 302 relatively to the robotic device 300 yet prevents the guidewire 110 from buckled and or bend during the linearly movement and / or rotation movement / rolling movement and during the medical procedure.

[0075] Once the dedicated catheter 202 and the guidewire 110 are engaged within the holder 302, the dedicated catheter 202 may be engaging and connecting to a guide catheter (not shown) via a connecting luer (not shown).

[0076] In some embodiments, the dual operational robotic surgical device 300 comprises a controller 113 typically and optionally placed within housing 102, configured to actuate the motors 114, 116, 126 according to the needs for example, type of medical procedure, type of elongated surgical tools, user requests and the like. In some embodiments, a remote control unit includes or is in communication with the controller 113. The actuation of the controller 113 and such motors 114 / 116 / 126 is performed by the remote control unit (not shown in Figure 3 a). The control unit comprises instructions to actuate the motors 114 / 116 / 126 via the controller 113 according to the needs. For example, when the first elongated surgical tool 110 needs to move into the target, then the motors 114 / 116 are actuated so as to move the first elongated surgical tool 110 in the direction of arrow 306, which is in the direction of the actuation of motor III 126 (second direction of movement 132), that moves the second elongated surgical tool 120 also into the target.

[0077] In some embodiments, the robotic surgical device 100 comprises one or more toolmovement mechanisms (not shown) arranged along the space / pathway within area 104 of housing 102. For example at least one set of wheels, configured to be controlled by motor I 114 and / or motor II 116 and configured for linearly moving and / or rotation movement / rolling moving of guidewire 110. In some embodiments, the robotic surgical device 100 comprises one or more additional tool-movement mechanisms (not shown) arranged along the space / pathway within area 106 of housing 102 for actuating linear translation of the catheter 120. For example at least one set of wheels, configured to be controlled by motor III 126.

[0078] In some embodiments, the housing is sealed. In some embodiments, optionally, the housing is sealed except for locations for attachment of elongated surgical tools, for example openings / apertures 112, 118, 124 and 128. In some embodiments, the housing 102 includes a removable or moveable cover or lid (not shown) providing access to at least one elongated surgical tool 110, 120 residing within the housing 102. In some embodiments, all components which engage the elongated surgical tool 110, 120 to manipulate it and / or to drive its movement are fully encased inside the inner volume of the housing 102 and at least some of these components are positioned along the pathway defined for the elongated surgical tool 110, 120.

[0079] In some embodiments, walls of housing 102 of dual operational robotic surgical device 300 define at least two entry openings / apertures and at least two exit openings / apertures for the elongate surgical tools such that both entry openings 118, 124 of the at least two entry openings are located on a second wall / surface 105 of the housing 102 and both exit openings 112, 128 of the at least two exit openings are located on a first wall / surface 103 of the housing 102 wherein first wall 103 is opposite second wall 105. Exemplary dual operation of the exemplary dual operational robotic device

[0080] In some embodiments, the dual operational robotic surgical device 300, as can be seen for example in Figures 3a-b, can be operated to perform rapid exchange-like procedures and, when necessary, to perform over-the-wire procedures as illustrated in Figure 1.

[0081] In some embodiments, the passage from one type of procedure to the other type of procedure comprises performing changes at two levels: at a mechanical / installation level, for example, the way the two elongated tools are placed / inserted into the device and the direction of movement of the two elongated tools relative to the target and to one another; and at a software / application level, which includes for example providing commands to the device (typically given by the user), for changing from one mode of operation, for example inserting over- the-wire catheter to a different mode and such inserting rapid exchange dedicated catheter, or vice versa.

[0082] In some embodiments, at the mechanical level, the user rearranges the first elongated surgical tool, for example the guidewire and the second elongated surgical tool, for example the dedicated rapid exchange catheter to a configuration as shown in the robotic device shown in Figures 3a-b, in an alternative option, the user rearranges the first elongated surgical tool, for example the guidewire and the second elongated surgical tool, for example the regular over the wire catheter to a configuration as shown in the robotic device shown in Figure 1.

[0083] In some embodiments, at the software level, the user actively provides a signal to a controller of the dual operational robotic surgical device 300 of the type of procedure that is being performed. In some embodiments, as mentioned before, when the user provides a signal that rapid exchange-like procedures are being performed, then, in order to bring the guidewire 110 into the targeted location, the controller will actuate motors 1 114 and II 116 to move the guidewire 110 in the direction of arrow 306 (third direction of movement, as shown in Figure 3a). In some embodiments, motors I 114 and II 116 are configured to move the guidewire 110 forwards (as shown by arrow 306), backwards (opposite to arrow 306) and rotate it along guidewire 110 longitudinal axis 107. In some embodiments, motor III 126 is configured to move the dedicated catheter forwards (as shown by arrow 132, second direction of movement) and backwards (opposite to arrow 132). In some embodiments, the guidewire 110 and the dedicated catheter 202 are each independently manipulated. In some embodiments, this allows to manipulate the dedicated catheter 202 without the need to manipulate the guidewire 110, and vice versa, the guidewire 110 can be actuated without the need to actuate the dedicated catheter 202. In some embodiments, contrary to what was explained for the robotic surgical device 100 that the controller 113 comprises instructions for synchronizing the movement of both tools, one tool in the direction 130 (first direction of movement 130) and the other tool in the direction 132 (second direction of movement 132), when moving towards the target 111 or away from the target 111, in the dual operational robotic surgical device 300, the controller 113 does not comprise such synchronizing instructions.

[0084] In some embodiments, at the software level, when the user provides a signal that over-the- wire procedures are being performed, then the controller will actuate motors I 114 and II 116 to move the guidewire 110 in the direction of arrow 130 (first direction of movement 130 as shown in Figure 1), such the guidewire 110 may be manipulated for linear movement, forward and backward in the direction indicated by arrow 130 (first direction of movement 130), see Figure 1, and regular catheter 120 may be manipulated for linear movement, forward and backward, in the direction indicated by arrow 132, see Figure 1 second direction of movement 132, which is a direction that is opposite to the direction of movement 130 (first direction of movement 130) of guidewire 110.

[0085] In some embodiments, the signal can be provided to the dual operational robotic surgical device 300 by actuating the dual operational robotic surgical device 300 using for example one or more of a dedicated command button, voice control and a remote control.

[0086] Exemplary methods

[0087] Referring now to Figure 4a, showing a flowchart of an exemplary method of operation of an exemplary dual operational robotic surgical device 300, as shown for example in Figures 3a, 3c, and 3d, in rapid exchange-like procedures, according to some embodiments of the invention.

[0088] In some embodiments, a user inserts 402 a dedicated catheter 202 and a guidewire 110 into a dual operational robotic surgical device 300 housing 102, at required dedicated locations for each within the housing 102, for example, the dedicated catheter 202 enters through opening 124 into area 106 of housing 102 and the guidewire 110 enters through opening 118 into area 104 of housing 102, both openings 124 and 118 located on the same side / wall 105 of housing 102 (as shown in Figure 3a, 3c, and 3d).

[0089] In some embodiments, the insertion is performed at a same side / wall 105 of the housing

[0090] 102 of the dual operational robotic device 300, but at different locations on that same side / wall 105, for example opening 118 and opening 124 (shown in Figure 3a, 3c, and 3d).

[0091] In some embodiments, the dedicated catheter 202 and the guidewire 110 are taken out 404 from the housing 102 of the dual operational robotic surgical device 300 from an opposite side / wall

[0092] 103 of the dual operational robotic surgical device 300 from where they were inserted, thereby leaving part of the dedicated catheter 202 and the guidewire 110 within the housing 102 of the dual operational robotic surgical device 300. for example, the dedicated catheter 202 exits through opening 128 and the guidewire 110 exits through opening 112 both located on the same side / wall 103 of housing 102 and opposite to opening 124 and 118, respectively (as shown in Figure 3a, 3c, and 3d).

[0093] In some embodiments, guidewire 110 is inserted into a path to passes through area 104 between opening 118 and 112, located on opposite sides of housing 102 where one or more motors, for example a tool-movement mechanism (not shown) controlled by motor 1 114 and motor II 116 (shown in Figure 3a, 3c, and 3d) engaged the guidewire 110 in order to manipulate it, manipulation may include moving and rolling the guidewire 110 forwards / backwards / rotation relative to the guidewire 110 longitudinal axis.

[0094] In some embodiments, dedicated catheter 202 is inserted into a path to passes through area 106 between opening 124 and 128, located on opposite sides 105 and 103, respectively, of housing 102 where one or more motors, for example motor III 126 (shown in Figure 3a, 3c, and 3d) control a tool-movement mechanism (not shown) engaged the dedicated catheter 202 in order to manipulate it, manipulation may include moving and rolling the dedicated catheter 202 forwards / backwards / rotation relative to the dedicated catheter 202 longitudinal axis.

[0095] In some embodiments, optionally, when the guidewire 110 exits the housing 102 through opening 112, it is inserted 406 within an additional tube 304 (Optionally comprising a mesh structure). In some embodiments, the additional tube 304 is configured to hold the guidewire 110 after exiting through opening 112. In some embodiments, the additional tube 304 may only partially hold the guidewire 110. In some embodiments, the additional tube 304 is used to protect and direct the guidewire 110, as it exits the housing 102. In some embodiments, the additional tube 304 prevents the guidewire 110 from getting buckled and or bent during linearly movement and / or rotation movement / rolling movement and during a medical procedure.

[0096] In some embodiments, the guidewire 110 is inserted 408 through an aperture 210 (shown in Figures 2a-2b and 3a-3d) into an elongated tube 204 and parallel to an interventional tool 212 of the dedicated catheter 202 and exit the catheter elongated shaft 204 at a distal end 208. In some embodiments, this allows the dedicated catheter 202 to be inserted and guided along the guidewire 110 to a target (not shown). In some embodiments, the elongated surgical tool 110, is inserted into the dedicated catheter 202 through distal end 208 of the dedicated catheter 202 (shown in Figures 3a, 3c and 3d). In some embodiments, a proximal end 117 of the guidewire 110 is inserted into distal end 208 along elongated tube 204 to exit the dedicated catheter 202 through aperture 210, this allows the dedicated catheter 202 to be inserted and guided along the guidewire 110 to the target. In some embodiments, optionally, the dedicated catheter 202 and the guidewire 110 are placed 410 within an optional holder 302. Optional holder 302 is used to facilitate holding and / or securing together the guidewire 110 and the dedicated catheter 202 during the linearly movement and / or rotation movement / rolling movement and during the medical procedure. In some embodiments, the dedicated catheter 202 is placed within the optional holder 302 before being inserted into the patient. In some embodiments, the guidewire 110 is placed within the optional holder 302 after being inserted into the dedicated catheter 202.

[0097] In some embodiments, optional action 410 may be performed before action 408, such that the dedicated catheter 202 may be placed within the optional holder 302 following the insertion of the guidewire 110 within the dedicated catheter 202 and placing guidewire 110 within the optional holder 302. In some embodiments, the dedicated catheter 202 may be placed within optional holder 302 following the placement of the guidewire 110 within the optional holder 302 then the guidewire 110 is inserted within the aperture 210 of the dedicated catheter 202.

[0098] In some embodiments, the guidewire 110 is actuated 412 by the dual operational robotic surgical device 300 until reaching a desired location.

[0099] In some embodiments, the dedicate catheter 202 is actuated 414 by the dual operational robotic surgical device 300 until reaching the desired location by riding the guidewire 110.

[0100] In some embodiments, action 414 may be performed before action 412, depending and according to the needs of the medical procedure, the user, the patient and the like.

[0101] In some embodiments, an interventional tool 212 of the dedicated catheter 202 is actuated 416 at the desired location.

[0102] In some embodiments, the dedicated catheter 202 is configured to be retracted 418 from the optional holder 302 by using the dual operational robotic surgical device 300.

[0103] In some embodiments, the guidewire 110 is configured to be retracted 420 using the dual operational robotic surgical device 300. In some embodiments, the guidewire 110 is retracted from optional holder 302 and from the dual operational robotic surgical device 300, in other embodiments, the guidewire 110 is retracted from optional holder 302 but not from the housing 102 of the dual operational robotic device 300, using the dual operational robotic surgical device 300.

[0104] In some embodiments, after actuating the dedicated catheter 202 (at stage 416) the user may decide to continue with the medical procedure and use a new dedicated catheter either having the same interventional tool or a different interventional tool, as shown for example in Figure 4b. In some embodiments, at this stage, the user has two options 430 according to the needs of the medical procedure, the user, the patient and the like: either keep using 432 the dedicated catheter and follow steps 418-420 as shown in Figure 4a or replacing 434 the dedicated catheter with a new dedicated catheter either having the same interventional tool or a different interventional tool as required for continue with the medical procedure. Replacing the dedicated catheter may be performed several times depending and according to the needs of the medical procedure, the user, the patient and the like. Following the flowchart shown in Figure 4b, in some embodiments, as the user chooses to replace 434 the dedicated catheter, the dedicated catheter is retracted 418, and taken out 428 completely from the dual operational robotic surgical device 300. In some embodiments, the user inserts 402’ the new dedicated catheter into the dual operational robotic surgical device 300 housing 102, at a required dedicated locations within the housing 102. In some embodiments, the guidewire 110, which is still at the desired location, is inserted 408 through its proximal end 117 into the new dedicated catheter distal end. In some embodiments, optionally, the new dedicated catheter is placed 410’ within an optional holder 302. In some embodiments, as mentioned above, optional action 410’ may be performed before action 408, such that the new dedicated catheter may be placed within the optional holder 302 following the insertion of the guidewire 110 within the new dedicated catheter. In some embodiments, the new dedicated catheter is actuated 414 by the dual operational robotic surgical device 300 until reaching the desired location by riding the guidewire 110. In some embodiments, the interventional tool of the new dedicated catheter is actuated 416 at the desired location.

[0105] In some embodiments, after retracting the dedicated catheter (at stage 418) the user may decide to continue with the medical procedure but to update the desire location, such the method may be repeated.

[0106] In some embodiments, after retracting the guidewire 110 for the dual operational robotic surgical device 300, a new guidewire may be used and actions 402 to 420 may be repeated with the second dedicated catheter.

[0107] Referring now to Figure 5, showing a flowchart of an exemplary method of transitioning from a rapid exchange-like procedure to an over-the-wire procedure when operating an exemplary dual operational robotic surgical device 300, according to some embodiments of the invention.

[0108] In some embodiments, the following actions are performed when a user wants to transition from a rapid exchange-like procedure to an over-the-wire procedure, when using a dual operational robotic surgical device 300. The following actions begin taking as point of start that the dual operational robotic surgical device 300 has been arranged for a rapid exchange-like procedure, as disclosed in Figures 3a-b and as explained in the flowchart in Figures 4a-b.

[0109] In some embodiments, the user takes out 502 a guidewire 110 and a dedicated catheter 202 completely from the dual operational robotic surgical device 300. In some embodiments, at this stage, the user has two options 504: either keep using a dedicated catheter 202 (shown in Figures 2a-b and 3a-b) configured for rapid exchange procedures or replacing the dedicated catheter 202 with a regular catheter 120 (shown in Figure 1) configured for over-the-wire procedures. In the following paragraphs both options will be explained. In some embodiments, a rapid exchange catheter cannot act like a regular catheter as such step 518 is not an option, due to for example the structure of rapid exchange catheter 202 having an aperture 210 in a rapid exchange catheter elongated shaft 204, where a guidewire 110 is inserted into the aperture 210, while in over the wire catheter the guidewire 110 is inserted into the catheter through a proximal end 121 of the regular catheter 120.

[0110] When the user decides to keep 506 a rapid exchange procedure and such to use a dedicated catheter 202:

[0111] In some embodiments, the user inserts 507 a distal end 208 of a dedicated catheter 202 into an opening 124 of a housing 102 of the dual operational robotic surgical device 300, it passes along a pathway through the device and then exits from an opening 128 of the housing 102 as disclosed in Figure 3a, 3c-3d.

[0112] In some embodiments, the user inserts 509 a guidewire 110 into the housing 102 of the dual operational robotic surgical device 300, it passes along a pathway through the device and then exits from an opening 112 of the housing 102 as disclosed in Figure 3a, 3c and 3d.

[0113] In some embodiments, the user inserts 511 the guidewire 110 into the dedicated catheter 202 as disclosed above and in Figures 2a-b and 3a-d.

[0114] In some embodiments, action 511 may be performed before action 509 or at any action before actuating the guidewire 110 and / or the dedicated catheter 202.

[0115] In some embodiments, the user may begin 513 the rapid exchange procedure using the dual operational robotic surgical device 300.

[0116] When the user decides to change 510 a rapid exchange procedure with an over-the-wire procedure:

[0117] In some embodiments, the user sends a signal 512 to the dual operational robotic surgical device 300 about the change in the type of procedure. Once the signal is provided, a controller of the dual operational robotic surgical device 300 receives the signal and control motors such as motor 1 114 and motor II 116 to move guidewire 110 in a direction shown by arrow 130 in Figure 1, first direction 130. The signal initiated at step 512 actuates the motors (I and II) at area 104 of housing 102 for movement of guidewire 110 in the direction 130 (first direction of movement 130) which is opposite direction of movement of motor III 126, at area 106 of housing 102 (movements performed on a regular catheter 120). The movements indicated by direction 132, second direction of movement 132.

[0118] In some embodiments, action 512 is performed at any action before actuating the guidewire and the catheter, for example the regular catheter 120.

[0119] In some embodiments, the user connects 514 a proximal end 121 (shown in Figure 1) of the regular catheter 120 into the holder 122 located adjacent to opening 118 of the dual operational robotic device 300.

[0120] In some embodiments, the user inserts 516 the distal end 123 of the regular catheter 120 (shown in Figure 1) into the opening 124 of the dual operational robotic device 300 in a same wall 105 of housing 102 location where the dedicated catheter 202 was inserted, opening 124, thereby causing the regular catheter 120 to bend, generating a U shape curve between holder 122 and opening 124. In some embodiments, passing the regular catheter 120 through area 106 between opening 124 and 128 (which are optionally located on opposite sides / walls of housing 102) enables for example motor III 126 to engage the regular catheter 120 in order to manipulate it. In some embodiments, manipulation may include moving the regular catheter 120 forwards / backwards / rotation relative to the regular catheter 120 longitudinal axis.

[0121] In some embodiments, the user inserts 518 the distal end 115 of the guidewire 110 into a path (not shown) within area 104 of housing 102 of the dual operational robotic surgical device 300 using opening 112. In some embodiments, the guidewire 110 then exits the housing 102 via opening 118, located opposite to opening 112, such opening 112 located on wall 103 of housing 102 and opening 118 located on an opposite wall 105 of housing 102. In some embodiments, one or more motors, for example motor 1114, and motor II 116 are configured to engage the guidewire 110 in order to manipulate it. In some embodiments, manipulation may include moving the guidewire 110 forwards / backwards / rotation relative to the guidewire 110 longitudinal axis. The guidewire 110, exiting through opening 118, directly enters into a lumen of the regular catheter 120 placed within the holder 122. In some embodiments, the user may actuate the dual operational robotic surgical device 300 to advance guidewire 110 distal end 115 to exit regular catheter distal end 123 before beginning of the over-the-wire procedure.

[0122] In some embodiments, action 518 is performed before action 514.

[0123] In some embodiments, then the user may begin 520 the over-the-wire procedure using the dual operational robotic surgical device 300.

[0124] In some embodiments, the actions disclosed in Figure 5 may start at action 504, a user may use dual operational robotic surgical device 300 for either a rapid exchange-like procedure or for an over the wire procedure. The point of start for a new procedure when using the dual operational robotic surgical device 300 is that the device has been arranged for a rapid exchange-like procedure, as disclosed in Figures 3a-b and as explained in the flowchart in Figures 4a-b, and the user when starting the procedure should signal the device at step 512 otherwise.

[0125] Referring now to Figure 6, showing a flowchart of an exemplary method of transitioning from an over-the-wire procedure to a rapid exchange-like procedure when operating a dual operational robotic device 300, according to some embodiments of the invention.

[0126] In some embodiments, the following actions are performed when a user wants to transition from an over-the-wire procedure using a regular catheter to a rapid exchange-like procedure using a rapid exchange catheter as disclosed in Figures 2a-b, when using a dual operational robotic surgical device 300. The following actions begin taking as point of start that the dual operational robotic surgical device 300 has been arranged for over-the-wire procedure, as disclosed in Figure 1.

[0127] In some embodiments, a user takes out 602 a guidewire 110 completely from the dual operational robotic device 300.

[0128] In some embodiments, the user disconnects 604 a proximal end 121 of a regular catheter 120.

[0129] In some embodiments, the user takes out 606 the regular catheter 120 from the dual operational robotic device 300.

[0130] In some embodiments, the user sends 608 a signal to the dual operational robotic device 300 about the change in the type of procedure, from an over the wire mode as disclosed in Figure 1 and as explained in the flowchart in Figure 5 steps 514-520 to a rapid exchange mode as disclosed in Figures 3a-b and as explained in the flowchart in Figures 4a-b.

[0131] In some embodiments, the user performs 610 the exemplary method as disclosed in Figures 4a-b.

[0132] It should be noted that motors of device 100 and device 300, such as motor 1 114, motor II 116 and motor III 126 are configured to perform a linear movement and / or a rotating movement for each of elongated surgical tool is introduced therein. Linear movement may refer to the movement along longitudinal axis of the elongated surgical tool and rotating movement may refer to rotation movement perpendicular to the longitudinal axis of the elongated surgical tool.

[0133] As used herein, according to some embodiments, “opening” and “aperture” are used interchangeably. Similarly, according to some embodiments, “elongate surgical tool” and “elongated surgical tool” are interchangeable. According to some embodiments, “elongated tube” and “elongated shaft” are interchangeable. According to some embodiments, “arrow” and “direction” are interchangeable. As used herein with reference to quantity or value, the term “about” means “within ± 20 % of’.

[0134] The terms “comprises”, “comprising”, “includes”, “including”, “has”, “having” and their conjugates mean “including but not limited to”.

[0135] The term “consisting of’ means “including and limited to”.

[0136] The term “consisting essentially of’ means that the composition, method or structure may include additional ingredients, steps and / or parts, but only if the additional ingredients, steps and / or parts do not materially alter the basic and novel characteristics of the claimed composition, method or structure.

[0137] As used herein, the singular forms “a”, “an” and “the” include plural references unless the context clearly dictates otherwise. For example, the term “a compound” or “at least one compound” may include a plurality of compounds, including mixtures thereof.

[0138] Throughout this application, embodiments of this invention may be presented with reference to a range format. It should be understood that the description in range format is merely for convenience and brevity and should not be construed as an inflexible limitation on the scope of the invention. Accordingly, the description of a range should be considered to have specifically disclosed all the possible subranges as well as individual numerical values within that range. For example, description of a range such as “from 1 to 6” should be considered to have specifically disclosed subranges such as “from 1 to 3”, “from 1 to 4”, “from 1 to 5”, “from 2 to 4”, “from 2 to 6”, “from 3 to 6”, etc.; as well as individual numbers within that range, for example, 1, 2, 3, 4, 5, and 6. This applies regardless of the breadth of the range.

[0139] Whenever a numerical range is indicated herein (for example “10-15”, “10 to 15”, or any pair of numbers linked by these another such range indication), it is meant to include any number (fractional or integral) within the indicated range limits, including the range limits, unless the context clearly dictates otherwise. The phrases “range / ranging / ranges between” a first indicate number and a second indicate number and “range / ranging / ranges from” a first indicate number “to”, “up to”, “until” or “through” (or another such range-indicating term) a second indicate number are used herein interchangeably and are meant to include the first and second indicated numbers and all the fractional and integral numbers therebetween.

[0140] Unless otherwise indicated, numbers used herein and any number ranges based thereon are approximations within the accuracy of reasonable measurement and rounding errors as understood by persons skilled in the art.

[0141] It is appreciated that certain features of the invention, which are, for clarity, described in the context of separate embodiments, may also be provided in combination in a single embodiment. Conversely, various features of the invention, which are, for brevity, described in the context of a single embodiment, may also be provided separately or in any suitable subcombination or as suitable in any other described embodiment of the invention. Certain features described in the context of various embodiments are not to be considered essential features of those embodiments, unless the embodiment is inoperative without those elements.

[0142] Although the invention has been described in conjunction with specific embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art. Accordingly, it is intended to embrace all such alternatives, modifications and variations that fall within the spirit and broad scope of the appended claims. It is the intent of the applicant(s) that all publications, patents and patent applications referred to in this specification are to be incorporated in their entirety by reference into the specification, as if each individual publication, patent or patent application was specifically and individually noted when referenced that it is to be incorporated herein by reference. In addition, citation or identification of any reference in this application shall not be construed as an admission that such reference is available as prior art to the present invention. To the extent that section headings are used, they should not be construed as necessarily limiting. In addition, any priority document(s) of this application is / are hereby incorporated herein by reference in its / their entirety.

Claims

WHAT IS CLAIMED IS:

1. A compact dual operational robotic surgical device 300 configured to actuate a second elongated surgical tool 120 / 202 along a second direction of movement 132 and configured to concomitantly actuate a first elongated surgical tool 110 along either a first direction of movement 130 said first direction of movement 130 being opposite to said second direction of movement 132, or along a third direction of movement 306, said third direction of movement 306 being aligned to said second direction of movement 132.

2. The compact dual operational robotic surgical device according to claim 1, wherein actuation of said second elongated surgical tool 120 / 202 along said second direction of movement 132 moves said second elongated surgical tool 120 / 202 towards a target 111 located outside said robotic surgical device 300, and wherein said first 130 and third 306 direction of movement are configured to concomitantly move said first elongated surgical tool 110 towards said target 111.

3. The compact dual operational robotic surgical device according to claim 1 or claim 2, further comprising a housing 102 enclosing a plurality of mechanical and electronic mechanisms.

4. The compact dual operational robotic surgical device according to any one of claims 1-3, wherein said housing 102 is divided in two areas, wherein a first area 104 is configured for receiving said first elongated surgical tool 110 and a second area 106 is configured for receiving said second elongated surgical tool 120 / 202.

5. The compact dual operational robotic surgical device according to any one of claims 1-4, further comprising one or more first motors 114 / 116 configured for manipulating said first elongated surgical tool 110; and one or more second motors 126 configured for manipulating said second elongated surgical tool 120 / 202.

6. The compact dual operational robotic surgical device according to any one of claims 1-5, wherein said manipulating comprises linear movement and / or rotation movement / rolling.

7. The compact dual operational robotic surgical device according to any one of claims 1-6, further comprising a controller 113 configured to actuate said one or more first motors 114 / 116 and said one or more second motors 126.

8. The compact dual operational robotic surgical device according to any one of claims 1-7, wherein said controller 113 comprises instructions for synchronizing the movement of said second elongated surgical tool 120 / 202 and said first elongated surgical tool 110 when moving towards a target 111 or away from said target 111; and wherein said first elongated surgical tool 110 moves in said first direction 130 and said second elongated surgical tool 120 / 202 moves in said second direction 132.

9. The compact dual operational robotic surgical device according to any one of claims 1-8, wherein said controller comprises instructions for not synchronizing the movement of said second elongated surgical tool 120 / 202 and said first elongated surgical tool 110 when said first elongated surgical tool 110 is actuated along said third direction of movement 306.

10. The compact dual operational robotic surgical device according to any one of claims 1-9, wherein a direction of said actuate of said first elongated surgical tool 110 is selected by a user according to a type of said second elongated surgical tool 120 / 202.

11. The compact dual operational robotic surgical device according to any one of claims 1-10, wherein selecting a type of said second elongated surgical tool 120 / 202 controls a direction of said actuate of said first elongated surgical tool 110.

12. The compact dual operational robotic surgical device according to any one of claims 1-11, wherein said second elongated surgical tool 120 / 202 is either an over the wire catheter 120 or a rapid exchange catheter 202.

13. The compact dual operational robotic surgical device according to any one of claims 1-12, wherein when said second elongated surgical tool 120 / 202 is an over the wire catheter 120, then said first elongated surgical tool 110 is actuated along said first direction of movement 130.

14. The compact dual operational robotic surgical device according to any one of claims 1-13, wherein when said second elongated surgical tool 120 / 202 is a rapid exchange catheter 202, then said first elongated surgical tool 110 is actuated along said third direction of movement 306.

15. A compact dual operational robotic surgical device 300 comprising one or more motors 114 / 116 / 126 in a housing 102 for manipulating a second elongate surgical tool 120 / 202 and a first elongate surgical tool 110; wherein at least one motor 126 of the one or more motors is configured for actuating said second elongated surgical tool 120 / 202 in a second direction of movement 132; wherein at least two motors 114 / 116 of the one or more motors are configured for actuating said first elongate surgical tool 110 in either a first direction of movement 130 or a third direction of movement 306; and wherein upon receiving of a signal, said actuating of said at least two motors 114 / 116 changes a direction of movement of said first elongated surgical tool 110 from said first direction of movement 130 to said third direction of movement 306, and vice versa.

16. The compact dual operational robotic surgical device according to claim 15, further comprising a controller 113 configured for providing said signal.

17. A method for actuating at least two elongate surgical tools by a compact dual operational robotic device 300, the method comprising: a. signaling 512 said compact dual operational robotic device 300 of a change in a second elongate surgical tool 120 / 202 of said at least two elongate surgical tools; b. amending a direction of actuation 412 of a first elongate surgical tool of said at least two elongate surgical tools.

18. A method of operation of a dual operational robotic surgical device 300, comprising: a. inserting 402 a dedicated catheter 202 and a guidewire 110 into respective dedicated openings 124 / 118 within a housing 102 of said dual operational robotic surgical device 300, from a first side 105 of said housing; b. taking out 404 said dedicated catheter 202 and said guidewire 110 from openings 128 / 112 on an opposite side 103 of said housing 102; c. inserting 408 said guidewire 110 into said dedicated catheter 202; d. actuating said dual operational robotic surgical device to actuate 412 said guidewire 110 until reaching a desired location 111; e. actuating said dual operational robotic surgical device to actuate 414 said dedicated catheter 202 until reaching said desired location 111 by riding over said guidewire.

19. The method according to claim 18, further comprising inserting 406 said guidewire 110 into an additional tube 304.

20. The method according to claim 18 or claim 19, further comprising placing 410 said dedicated catheter 202 and said guidewire 110 within a holder 302.

21. The method according to any one of claims 18-20, further comprising actuating 416 an interventional tool 212 of said dedicated catheter 202 at said desired location 111.

22. The method according to any one of claims 18-21, further comprising retracting 418 said dedicated catheter 202.

23. The method according to any one of claims 18-22, further comprising retracting 420 said guidewire 110.

24. A method of transitioning from an over-the-wire procedure to a rapid exchange-like procedure when operating a dual operational robotic surgical device 300, the method comprising: a. taking out 502 a guidewire 110 and a catheter completely from said dual operational robotic device; b. inserting 507 a dedicated catheter into the device; c. inserting 509 a guidewire into the device; d. inserting 511 the guidewire into an aperture within the dedicated catheter; e. beginning 513 the rapid exchange procedure with the device.

25. A method of transitioning from a rapid exchange-like procedure to an over-the-wire procedure when operating a dual operational robotic surgical device 300, the method comprising: a. taking out 502 a guidewire 110 and a dedicated catheter 202 completely from said dual operational robotic device 300; b. signaling 512 said dual operational robotic surgical device 300 a change in type of procedure; c. connecting 514 a proximal end 121 of a regular catheter 120 into a holder 122 on a second surface 105 of a housing 102 of said dual operational robotic surgical device 300; d. inserting 516 a regular catheter 120 into an opening 124 placed on a second wall 105 of said housing 102 by bending said regular catheter 120 and causing a U-shape curve;e. inserting 518 said guidewire 110 into an opening 112 placed on a first surface 103 of said housing 102 and into a proximal end 121 of said regular catheter 120; f. beginning 520 said over the wire procedure with said dual operational robotic surgical device 300.

26. A method for actuating at least two elongated surgical tools by a compact dual operational robotic surgical device, the method comprising: a. actuating one or more of a motors within the compact dual operational robotic surgical device to move a first elongated surgical tool of the at least two elongated surgical tools into a lumen outside the device, said move is performed in a first direction that is opposite to a direction where the lumen is positioned, and b. signaling the compact dual operational robotic surgical device a change in a second elongated surgical tool of the at least two elongated surgical tools configured to actuate of the first elongated surgical tool is a second direction opposite to the first direction.

27. A compact dual operational robotic surgical device 300 comprising a housing 102 and one or more motors 114,116,126, wherein a first elongate surgical tool 110 is configured to enter said housing 102 at a first opening 112 located on a first surface 103 of the housing and exit through a second opening 118 on a second surface 105 of the housing; said second surface 105 positioned opposite said first surface 103, said first elongate surgical tool 110 further configured to be actuated by said one or more motors 114,116 to a first direction of movement 130 to a target 111 when a second elongated surgical tool 120 is actuated by a motor 126 of the one or more motors to a second direction of movement 132, and wherein the one or more motors 114,116 engaging the first elongate surgical tool 110 configured to actuate the first tool 110 along a third direction of movement 306 to the target 111 when the first tool 110 is configured to enter the housing 102 into the second opening 118 located on the second surface 105 of the housing and exit through opening 112 on the first surface 103 and a dedicated catheter 202 is actuated by one motor 126 of the one or more motors at the second direction 132.

28. A compact dual operational robotic surgical device 300 comprising a. a housing 102, and b. one or more motors 114,116,126;wherein two motors 114,116 of the one or more motors 114,116,126 configured to actuate a first elongated surgical tool 110 in a first 130 and a third 306 directions of movement to a target 111 when a second elongated surgical tool 120 / 202 is concomitantly actuated by a motor 126 of the one or more motors 114,116,126 in a second direction of movement 132 to the target 111; wherein the direction of actuation of said two motors 114,116 of the first elongated surgical tool 110 is selected by a type of the second elongated surgical tool 120 / 202.

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