Tools for microsurgical procedures

Apparatus for performing robotic microsurgery on a portion of a body of a patient, the apparatus comprising:

• a plurality of tools having different functions from each other, each of the tools defining a mount-engagement portion that has a common shape:
• an end effector that comprises a tool mount that is configured to securely hold each of the plurality of tools by engaging with the mount-engagement portion of each of the tools:
• the end effector comprising a linear tool-actuation arm that is configured to actuate the tools by moving linearly,
• wherein at least one of the tools comprises a motion-conversion mechanism for converting the linear motion to a different mechanical motion such as to actuate the tool.

Apparatus for performing a procedure on a portion of a body of a patient, the apparatus comprising:

• a plurality of tools having different functions from each other:
• a robotic unit comprising an end effector that is couplable to each of the plurality of tools and that is configured to move each of the plurality of tools;
• the end effector comprising one or more actuation components that are configured to actuate the plurality of tools to perform their respective functions;
• a control joystick that is configured to be moved by an operator such as to cause the end effector to move a tool that is coupled to the end effector in a corresponding manner,
• the control joystick comprising an actuation mechanism disposed toward a tip of the joystick such that the operator can actuate the actuation mechanism without requiring movement of a hand of the operator after moving the joystick with the hand;
• and
• a computer processor configured to:
• receive an input that is indicative of a tool that is coupled to the end effector;
• and
• in response to the operator actuating the actuation mechanism, to control the one or more actuation components in a manner that is such as to actuate the tool that is coupled to the end effector to perform its function.