Kinematic structures and sterile drapes for robotic microsurgical procedures

A method for performing a procedure on a portion of a body of a patient using a robotic unit that includes an end-effector, a tool motor configured to roll the tool with respect to the end effector, and one or more robotic arms that are configured to move the end effector, the method comprising:

• placing a sterile drape, such that the sterile drape forms an interface between a non-sterile zone on a first side of the sterile drape and a sterile zone on a second side of the sterile drape, with the tool disposed within the sterile zone, and the one or more robotic arms and the tool motor disposed within the non-sterile zone;
• and
• driving the tool to roll with respect to the end effector via at least one gear wheel disposed within the sterile zone, and a shaft configured to transmit motion from the tool motor to the at least one gear wheel, while maintaining a seal between the sterile zone and the non-sterile zone, the method being performed using apparatus comprising:
• the sterile drape configured to form an interface between the non-sterile zone on the first side of the sterile drape and the sterile zone on the second side of the sterile drape, such that the tool is disposed within the sterile zone, and the one or more robotic arms and the tool motor are disposed within the non-sterile zone;
• the at least one gear wheel configured to be disposed within the sterile zone and configured to drive the tool to roll with respect to the end effector;
• and
• the shaft configured to transmit motion from the tool motor to the at least one gear wheel;
• and
• a seal coupled to the shaft and configured to maintain the seal between the sterile zone and the non-sterile zone.