---
publication_id: "OT-2026-000000562"
title: "Kinematic structures and sterile drapes for robotic microsurgical procedures"
published_at: "2026-09-15T19:03:04.939934Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000000562"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1628"
  - "a61b17/072"
  - "a61b2017/00398"
  - "a61b34/30"
  - "a61b34/37"
  - "a61b46/10"
---

# Kinematic structures and sterile drapes for robotic microsurgical procedures

## 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.