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公开(公告)号：US12094128B2
公开(公告)日：2024-09-17
申请号：US17591769
申请日：2022-02-03
Applicant: Mazor Robotics Ltd.
Inventor： Itamar Eshel , Ziv Seemann , Adi Sandelson , Gal Barazani , Nir Ofer
CPC classification number: G06T7/246 , A61B34/10 , A61B34/30 , G06T11/00 , A61B2034/105 , G06T2207/10028 , G06T2207/30204
Abstract: Methods, systems, and devices for robot integrated segmental tracking are described. A system determines first positional information of one or more objects based on three-dimensional first image data captured by an imaging device, tracking information associated with the one or more objects, or both. The first positional information includes a real-time location of the one or more objects. The system generates an image including a graphical representation of the one or more objects. Generating the image includes positioning the graphical representation of the one or more objects based on a comparison result indicative of a deviation between the first positional information and reference positional information of the one or more objects. The reference positional information includes a registered location of the one or more objects. The system outputs an indication of the deviation between the first positional information and the reference positional information.
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公开(公告)号：US20220401160A1
公开(公告)日：2022-12-22
申请号：US17351921
申请日：2021-06-18
Applicant: Mazor Robotics Ltd.
Inventor： Dor Kopito , Ziv Seemann , Gal Eshed , Amir Keret , Nimrod Dori , Itamar Eshel , Yuval Chen , Nir Ofer , Ori Ben Zeev
Abstract: A surgical mount system according to at least one embodiment of the present disclosure includes a bed mount, a tubular base attached to the bed mount and comprising a telescoping member slidably coupled with the tubular base, the telescoping member comprising a first end and a second end, wherein the first end is disposed inside the tubular base, and wherein the telescoping member translates linearly along an axis of the tubular base; and a support arm attached to the second end of the telescoping member, the support arm having a length running from a proximal end to a distal end, wherein the support arm rotates relative to the bed mount about the axis of the tubular base.
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公开(公告)号：US20240341876A1
公开(公告)日：2024-10-17
申请号：US18754066
申请日：2024-06-25
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio , Aviv Ellman , Eli Zehavi , Moshe Shoham , Yonatan Ushpizin , Ido Zucker , Elad Ratzabi , Gillan Grimberg , Nir Ofer , Yair Schwartz , Nimrod Dori
CPC classification number: A61B34/30 , A61B17/17 , G16H20/40 , G16H40/63 , A61B2017/0003 , A61B17/1757 , A61B2034/107 , A61B2090/062 , A61B2090/064 , A61B2562/0204
Abstract: Methods and systems for providing a safety mechanism for a robotically controlled surgical tool. Embodiments of the methods use sensors to detect parameters that vary by the tissue traversed by a surgical tool. The sensors detect signals arising from the interaction of the surgical tool with the tissue and provide this information to a robotic controller. For example, during drilling, the sensors may measure power, vibration, sound frequency, mechanical load, electrical impedance, and distance traversed according to preoperative measurements on a three-dimensional image set used for planning the tool trajectory. By comparing the detected output with that expected for the tool position based on the planned trajectory, identified discrepancies in output would indicate that the tool has veered from the planned trajectory. The robotic controller may then alter the tool trajectory, change the speed of the tool, or discontinue power to the tool, thereby preventing damage to underlying tissue.
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公开(公告)号：US20210369378A1
公开(公告)日：2021-12-02
申请号：US17331491
申请日：2021-05-26
Applicant: Mazor Robotics Ltd.
Inventor： Nir Ofer , Ori Ben Zeev
Abstract: A system for controlling a volume of a drape according to one embodiment of the present disclosure comprises a drape operable to substantially cover an articulated member and having a pressure source opening and at least one tool opening, the pressure source opening defining a path for a fluid to flow into or out of a volume substantially enclosed by the drape, the at least one tool opening enabling a tool to be supported by the articulated member outside of the volume substantially enclosed by the drape; at least one sensor operable to monitor a characteristic of the system; and a controller that causes the volume substantially enclosed by the drape to increase to a maximum volume, decrease to a minimum volume, or maintain an operating volume, and wherein the drape increasingly conforms to the articulated member as the volume substantially enclosed by the drape is decreased.
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公开(公告)号：US11896317B2
公开(公告)日：2024-02-13
申请号：US16984514
申请日：2020-08-04
Applicant: MAZOR ROBOTICS LTD.
Inventor： Nir Ofer , Ziv Seemann , Dor Kopito , Yair Schwartz , Ofir Dahan , Gal Eshed , Dvir Kadshai , Amir Keret , Maor Sviri , Adi Talmor , Ron Visbrot , Arie Shneiderman , Aviv Ellman , Gal Barazani
CPC classification number: A61B34/20 , A61B34/10 , G01S5/01 , G01S5/30 , A61B2034/105 , A61B2034/2063
Abstract: A surgical positioning system includes an emitter secured to a medical implant; at least three microphones; at least one processor; and a memory. The emitter has a speaker and a power source. The memory stores instructions for execution by the processor that, when executed, cause the processor to receive, from each of the at least three microphones, information about a detected sound; and calculate, based on position information corresponding to each of the at least three microphones and the received information, a position of the implant.
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Patent Agency Ranking
公开(公告)号：US20230355325A1
公开(公告)日：2023-11-09
申请号：US17735901
申请日：2022-05-03
Applicant: Mazor Robotics Ltd.
Inventor： Ziv Seemann , Gal Barazani , Nir Ofer , Amir Keret , Dvir Kadshai , Adam David Glaser , Daniel Paxton Wall
CPC classification number: A61B34/30 , A61B46/10 , A61B90/50 , A61B2034/306
Abstract: A surgical system according to at least one embodiment of the present disclosure includes an interface block disposed at a distal end of a robot arm and an end-effector block that attaches to the interface block via a nut. For example, the interface block may include a threaded rod that extends a distance from a mount surface of the interface block. Accordingly, the end-effector block may include a mount hole that passes through the end-effector block, where the nut threadedly engages with the threaded rod through the mount hole to clamp the end-effector block against the interface block. In some examples, a sterile drape may be used to provide a sterile barrier between the surgical system and a patient. Additionally, a liner plate may be used with the surgical system, such that an area of the sterile drape is disposed between the liner plate and the mount surface.
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公开(公告)号：US12213748B2
公开(公告)日：2025-02-04
申请号：US17591863
申请日：2022-02-03
Applicant: Mazor Robotics Ltd.
Inventor： Ofir Dahan , Nir Ofer , Yair S. Schwartz , Gal Barazani , Maor Sviri , Itay Jerby
Abstract: Systems and methods for registering one or more anatomical elements are provided. The system may comprise an imaging device and a navigation system configured to track a pose of a marker coupled to an object and configured to identify the marker. A first image may be received from a surgical plan. Pose information describing the pose of the marker and a marker identification of the marker may be obtained from the navigation system. An object identification based on the marker identification may be retrieved from a database. Image data of a second image depicting an anatomical element and the object may be obtained from the imaging device. The image data, the pose information, and the object identification may be input into a registration model. The registration model may be configured to register the anatomical element to the first image based on the pose information and the object identification.
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公开(公告)号：US12048497B2
公开(公告)日：2024-07-30
申请号：US17569957
申请日：2022-01-06
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio , Aviv Ellman , Eli Zehavi , Moshe Shoham , Yonatan Ushpizin , Ido Zucker , Elad Ratzabi , Gillan Grimberg , Nir Ofer , Yair Schwartz , Nimrod Dori
CPC classification number: A61B34/30 , A61B17/17 , G16H20/40 , G16H40/63 , A61B2017/0003 , A61B17/1757 , A61B2034/107 , A61B2090/062 , A61B2090/064 , A61B2562/0204
Abstract: Methods and systems for providing a safety mechanism for a robotically controlled surgical tool. Embodiments of the methods use sensors to detect parameters that vary by the tissue traversed by a surgical tool. The sensors detect signals arising from the interaction of the surgical tool with the tissue and provide this information to a robotic controller. For example, during drilling, the sensors may measure power, vibration, sound frequency, mechanical load, electrical impedance, and distance traversed according to preoperative measurements on a three-dimensional image set used for planning the tool trajectory. By comparing the detected output with that expected for the tool position based on the planned trajectory, identified discrepancies in output would indicate that the tool has veered from the planned trajectory. The robotic controller may then alter the tool trajectory, change the speed of the tool, or discontinue power to the tool, thereby preventing damage to underlying tissue.
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公开(公告)号：US20240024028A1
公开(公告)日：2024-01-25
申请号：US17870242
申请日：2022-07-21
Applicant: Mazor Robotics Ltd.
Inventor： Gal Barazani , Nir Ofer , Itay Jerby , Ofir Dahan , Mark Raikhman
CPC classification number: A61B34/10 , A61B34/20 , A61B34/70 , B25J9/1697 , B25J9/1692 , B25J9/1682 , A61B2034/107 , A61B2034/2065
Abstract: Systems and methods for verifying a pose of a target may include causing a robotic arm to contact a target with a verification tool to yield first pose information of the target and receiving second pose information of the target. The pose of the target may be verified based on the first pose information and the second pose information.
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公开(公告)号：US20230245327A1
公开(公告)日：2023-08-03
申请号：US17591769
申请日：2022-02-03
Applicant: Mazor Robotics Ltd.
Inventor： Itamar Eshel , Ziv Seemann , Adi Sandelson , Gal Barazani , Nir Ofer
CPC classification number: G06T7/246 , G06T11/00 , A61B34/30 , A61B34/10 , G06T2207/10028 , G06T2207/30204 , A61B2034/105
Abstract: Methods, systems, and devices for robot integrated segmental tracking are described. A system determines first positional information of one or more objects based on three-dimensional first image data captured by an imaging device, tracking information associated with the one or more objects, or both. The first positional information includes a real-time location of the one or more objects. The system generates an image including a graphical representation of the one or more objects. Generating the image includes positioning the graphical representation of the one or more objects based on a comparison result indicative of a deviation between the first positional information and reference positional information of the one or more objects. The reference positional information includes a registered location of the one or more objects. The system outputs an indication of the deviation between the first positional information and the reference positional information.
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