公开(公告)号：US12213744B2

公开(公告)日：2025-02-04

申请号：US17376493

申请日：2021-07-15

Applicant: Mazor Robotics Ltd.

Inventor： Dany Junio ,  Moshe Shoham

IPC: A61B34/30 ,  A61B17/02 ,  A61B34/20

Abstract: Systems, methods, and devices for planning a path are provided. A work volume and one or more no-fly zones may be mapped. The work volume may define a volume in which a robot may access and each of the one or more no-fly zones may define at least one volume in which a robot is restricted from accessing. Information may be received about a position of at least one instrument and a void volume may be calculated based on the position of the at least one instrument. The work volume may be updated to include the void volume to yield an updated work volume. A path may be calculated for a robotic arm of a robot from outside a patient anatomy to within the patient anatomy that is within the updated work volume and avoids the one or more no-fly zones.

公开(公告)号：US11918297B2

公开(公告)日：2024-03-05

申请号：US16244369

申请日：2019-01-10

Applicant: MAZOR ROBOTICS LTD.

Inventor： Victor D. Snyder ,  Matthew F. Dicorleto ,  Joseph Moctezuma ,  David E. Macht ,  Jeremiah R. Beers ,  Katherine M. Puckett ,  Katharine E. Darling ,  Leonid Kleyman ,  Dany Junio ,  Dana Gazit-Ankori ,  Eliyahu Zehavi ,  Elad Ratzabi ,  Aviv Ellman ,  Timothy M. Conkin

IPC: A61B34/20 ,  A61B5/06 ,  A61B34/30 ,  G06T7/32

CPC classification number: A61B34/20 ,  A61B5/061 ,  A61B34/30 ,  G06T7/32 ,  A61B2034/2051 ,  A61B2034/2059 ,  G05B2219/39401

Abstract: Disclosed is a system for assisting in guiding and performing a procedure on a subject. The subject may be any appropriate subject such as inanimate object and/or an animate object. The guide and system may include various manipulable or movable members, such as robotic systems, and may be registered to selected coordinate systems.

公开(公告)号：US20230005619A1

公开(公告)日：2023-01-05

申请号：US17939629

申请日：2022-09-07

Applicant: Mazor Robotics Ltd.

Inventor： Dany Junio

IPC: G16H50/20 ,  G16H30/20 ,  G16H30/40 ,  G16H50/50 ,  G16H50/70 ,  A61B5/00 ,  G06T7/00 ,  G16H20/30

Abstract: A method and system for detecting spinal stenosis is provided. The method may receive image data corresponding to a spine region of a patient. The method may also identify a spinal cord in the image data. The method may determine at least one compression of the spinal cord and may mark an anatomical element proximate to a location of the determined at least one compression to yield at least one marking. The method may generate a decompression plan based on the at least one marking.

公开(公告)号：US20220354584A1

公开(公告)日：2022-11-10

申请号：US17697799

申请日：2022-03-17

Applicant: Mazor Robotics Ltd.

Inventor： Dany Junio

IPC: A61B34/20 ,  A61B34/32 ,  A61B90/00

Abstract: Systems and methods for generating multiple registrations is provided. An image depicting a portion of a patient's anatomy and a tracking device affixed to an accurate robot may be received. A first registration of a patient coordinate space to a robotic coordinate space may be generated based on the image. A second registration of the patient coordinate space to a navigation coordinate space based at least in part on a position of second markers on the tracking device detected by a navigation system may be generated. The first registration and the second registration may be independent of each other.

公开(公告)号：US20220241033A1

公开(公告)日：2022-08-04

申请号：US17580298

申请日：2022-01-20

Applicant: Mazor Robotics Ltd.

Inventor： Adi Sandelson ,  Dor Kopito ,  Nimrod Dori ,  Gal Eshed ,  Elad Ratzabi ,  Amir Keret ,  Ziv Seemann ,  Yvan Paitel ,  Nicholas J. Rawluk ,  Dany Junio

IPC: A61B34/30

Abstract: A robotic navigation system includes a robot base; a robotic arm with a proximal end secured to the robot base, a distal end movable relative to the proximal end, and one or more arm segments between the proximal end and the distal end; a base set of tracking markers secured to the robot base; and at least one additional set of tracking markers secured to the robotic arm.

公开(公告)号：US20220117664A1

公开(公告)日：2022-04-21

申请号：US17491014

申请日：2021-09-30

Applicant: Mazor Robotics Ltd.

Inventor： Dany Junio

IPC: A61B34/10 ,  A61B17/70 ,  G06T7/70 ,  G16H30/20 ,  G16H30/40 ,  G16H20/40 ,  G16H50/50 ,  G16H50/20

Abstract: A method and system for improving spinal alignment parameters of a subject, by planning the shape of an intervertebral rod for attaching to previously implanted hardware whose positions and orientations are known from intraoperative images. Once the planned shape of the rod has been prepared, determining if, when attached to the inserted hardware, a spine configuration is achieved having acceptable values of selected spinal alignment parameters. If not, the shape of the rod is amended iteratively, until the selected spinal alignment parameters have acceptable values with attachability to the implanted hardware. If, after a predetermined number of iterations, the amended shape of the rod still does not achieve acceptable values of spinal alignment parameters, while maintaining attachability to the implanted hardware, performing a spinal manipulation procedure on at least one vertebra of the spine to increase the attachability of the rod to the implanted hardware.

公开(公告)号：US20210313062A1

公开(公告)日：2021-10-07

申请号：US16842380

申请日：2020-04-07

Applicant: MAZOR ROBOTICS LTD.

Inventor： Dany Junio

IPC: G16H50/20 ,  G16H30/20 ,  G16H30/40 ,  G16H50/50 ,  G16H20/30 ,  G16H50/70 ,  A61B5/00 ,  G06T7/00

Abstract: A method and system for detecting spinal stenosis is provided. The method may receive image data corresponding to a spine region of a patient. The method may also identify a spinal cord in the image data. The method may determine at least one compression of the spinal cord and may mark an anatomical element proximate to a location of the determined at least one compression to yield at least one marking. The method may generate a decompression plan based on the at least one marking.

公开(公告)号：US20250082373A1

公开(公告)日：2025-03-13

申请号：US18957288

申请日：2024-11-22

Applicant: Mazor Robotics Ltd.

Inventor： Eli Zehavi ,  Yonatan Ushpizin ,  Aviv Ellman ,  Dany Junio ,  Elad Ratzabi ,  Yair Schwartz ,  Yuval Chen

IPC: A61B17/70 ,  A61B34/20 ,  A61B90/00 ,  A61B90/57

Abstract: A spinal stabilization system includes a plurality of anchors and at least one bridge. Each anchor includes a clamp configured to engage an anatomical element, the clamp movable between a fully open position and a fully closed position; a locking screw configured to selectively prevent the clamp from being moved into the fully open position; and a bridge interface. The at least one bridge is a rigid member having a first end and a second end opposite the first end, each of the first end and the second end having an anchor interface. The bridge interface is configured to receive the anchor interface.

公开(公告)号：US20240122560A1

公开(公告)日：2024-04-18

申请号：US18393365

申请日：2023-12-21

Applicant: Mazor Robotics Ltd.

Inventor： Dany Junio ,  Eli Zehavi

IPC: A61B6/12 ,  A61B34/10 ,  A61B90/00 ,  G06V10/75

CPC classification number: A61B6/12 ,  A61B34/10 ,  A61B90/03 ,  G06V10/7515 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2090/363 ,  A61B2090/364 ,  A61B2090/374 ,  A61B2090/3762 ,  A61B2090/3966

Abstract: A low radiation, intra-operative method using two-dimensional imaging to register the positions of surgical implants relative to their pre-operative planned positions. Intraoperatively, a pair of two-dimensional fluoroscope images in different planes or a single three-dimensional image is acquired and compared to a set of three-dimensional preoperative images, to allow registration of the implant region anatomy. A second set of intraoperative fluoroscope images is acquired of the surgical area with implants in place. The second set of images is compared with the first set of intraoperative images to ascertain alignment of the implants. Registration between first and second intraoperative image sets is accomplished using the implants themselves as fiducial markers, and the process repeated until an acceptable configuration of the implants is obtained. The method is particularly advantageous for spinal surgery.

公开(公告)号：US20230277402A1

公开(公告)日：2023-09-07

申请号：US18003144

申请日：2021-06-24

Applicant: Mazor Robotics Ltd.

Inventor： Elad Ratzabi ,  Yonatan Ushpizin ,  Yuval Chen ,  Dany Junio

IPC: A61G13/12 ,  A61G13/00

CPC classification number: A61G13/1285 ,  A61G13/0054 ,  A61G13/1295

Abstract: A rotatable fixation bridge as described herein may include a first end fixedly connectable to a reference and defining at least a portion of a first joint; a second end fixedly connectable to an anchor and defining at least a portion of a second joint; and a bridge member extending between and rotatably secured to the first end and the second end, the bridge member rotatable relative to an axis and comprising a central portion offset from the axis.