公开(公告)号：US20230285095A1

公开(公告)日：2023-09-14

申请号：US18001838

申请日：2021-05-13

Applicant: MAZOR ROBOTICS LTD.

Inventor： Noam WEISS ,  Yizhaq SHMAYAHU

IPC: A61B34/32 ,  G06T7/10 ,  G06T7/70

CPC classification number: A61B34/32 ,  G06T7/10 ,  G06T7/70 ,  A61B2034/107

Abstract: A method for performing at least one ablation comprising receiving image data of a mass to be ablated; segmenting a volume of the mass to yield a plurality of sub-volumes, each of the plurality of sub-volumes corresponding to one of a plurality of ablation steps; identifying, for each of the plurality of ablation steps and based on the corresponding sub-volume, an ablation center; calculating, for each of the plurality of ablation steps, an ablation tool position and an imaging device position, the imaging device position being independent of the ablation tool position; causing both an ablation tool to be positioned based on the calculated ablation tool position and an imaging device to be positioned based on the calculated imaging device position for one ablation step of the plurality of ablation steps; and causing an ablation tool to activate based on the one ablation step.