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  "abstract": "Apparatus and methods are described for performing a procedure using a robotic unit. A sterile drape is placed around a drape plate, such that the sterile drape is sealed with respect to the drape plate and forms an interface between a non-sterile zone and a sterile zone, a tool mount being disposed within the sterile zone, and one or more robotic arms and a tool motor being disposed within the non-sterile zone. A tool-actuation arm, disposed within the non-sterile zone, is driven to move, to thereby move at least the portion of the tool linearly with respect to the end effector. Other applications are also described.",
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  "title": "Kinematic structures and sterile drapes for robotic microsurgical procedures",
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