Robotic manipulation of a surgical tool handle

1 . An adaptor for coupling a proximal portion of an elongate surgical tool to a motorized robotic surgical device, said elongate surgical tool comprising a distal end and a proximal portion, said proximal portion comprising one or more control components, the adaptor comprising:

a recess shaped and sized for receiving said proximal portion of said elongate surgical tool;

one or more movers positioned to contact and move said one or more control components to affect said distal end of said elongate surgical tool; and

transmission coupling which couples said one or more movers to motorized transmission of the robotic surgical device;

wherein at least an inner portion of said adaptor in which said recess is defined is configured to rotate along with the proximal portion of the tool.

2 . The adaptor according to claim 1 , wherein said proximal portion is a handle of said elongate surgical tool.

3 . The adaptor according to claim 1 , wherein said affect on said distal end comprises one or more of affecting a stiffness of said distal end, affecting a deflection of said distal end, affecting a rotation of said distal end, affecting expansion of said elongate surgical tool and affecting a deployment of a structure in said elongate surgical tool.

4 . The adaptor according to claim 1 , wherein manipulation of said proximal portion is coordinated with other manipulations, comprising one or more of linear movement and rotational movement, carried out by said motorized robotic surgical device on said elongate surgical tool.

5 . The adaptor according to claim 1 , wherein each of said one or more movers is independently actuated via said transmission coupling.

6 . The adaptor according to claim 1 , wherein said recess is shaped and sized to provide for rotation of said proximal portion about the long axis, while preventing an axial movement and/or lateral movement of said proximal portion within said recess.

7 . The adaptor according to claim 1 , wherein said one or more movers include an indentation formed in said recess, the indentation shaped and sized to fit onto a control component of the proximal portion of the tool.

8 . The adaptor according to claim 1 , wherein said one or more control components are from the group of: an axial slider, a lock, a rotatable knob.

9 . The adaptor according to claim 1 , wherein said recess and said one or more movers are configured to rotate while said transmission coupling remains stationary.

10 . The adaptor according to claim 1 , comprising at least one sensor configured for indicating a relative position of said one or movers.

11 . The adaptor according to claim 1 , comprising a housing in which said recess is defined and which includes said one or more movers and said transmission coupling.

12 . The adaptor according to claim 11 , wherein inner walls of said housing which define said recess are located to prevent movement of a body of said proximal portion within said recess while force is applied to said control elements by said movers of said adaptor.

13 . The adaptor according to claim 11 , wherein said housing comprises one or more motors which actuate said one or more movers.

14 . The adaptor according to claim 11 , wherein said housing is configured to be rotated as single unit about a long axis of said recess.

15 . The adaptor according to claim 11 , wherein said housing comprises mechanical and/or electrical connections positioned and configured to attach to a housing of the robotic surgical device.

16 . An adaptor for coupling a proximal portion of an elongate surgical tool to a motorized robotic surgical device, said elongate surgical tool comprising a distal end and a proximal portion, said proximal portion comprising one or more control components, the adaptor comprising:

a recess shaped and sized for receiving said proximal portion of said elongate surgical tool;

one or more movers positioned to contact and move said one or more control components to affect said distal end of said elongate surgical tool;

transmission coupling which couples said one or more movers to motorized transmission of the robotic surgical device;

a housing in which said recess is defined and which includes said one or more movers and said transmission coupling;

wherein said housing is configured to be rotated as single unit about a long axis of said recess.

17 . An adaptor for coupling a proximal portion of an elongate surgical tool to a motorized robotic surgical device, said elongate surgical tool comprising a distal end and a proximal portion, said proximal portion comprising one or more control components, the adaptor comprising:

a recess shaped and sized for receiving said proximal portion of said elongate surgical tool;

one or more movers positioned to contact and move said one or more control components to affect said distal end of said elongate surgical tool;

transmission coupling which couples said one or more movers to motorized transmission of the robotic surgical device;

wherein said recess and said one or more movers are configured to rotate while said transmission coupling remains stationary.

18 . An adaptor for coupling a proximal portion of an elongate surgical tool to a motorized robotic surgical device, said elongate surgical tool comprising a distal end and a proximal portion, said proximal portion comprising one or more control components, the adaptor comprising:

a recess shaped and sized for receiving said proximal portion of said elongate surgical tool;

one or more movers positioned to contact and move said one or more control components to affect said distal end of said elongate surgical tool;

transmission coupling which couples said one or more movers to motorized transmission of the robotic surgical device;

a housing in which said recess is defined and which includes said one or more movers and said transmission coupling;

wherein said housing comprises mechanical and/or electrical connections positioned and configured to attach to a housing of the robotic surgical device.