公开(公告)号：US20220323158A1

公开(公告)日：2022-10-13

申请号：US17689617

申请日：2022-03-08

Applicant: Mazor Robotics Ltd.

Inventor： Yizhaq Shmayahu ,  Jeetendra S. Bharadwaj

IPC: A61B34/20 ,  A61B34/30

Abstract: Systems and methods for detecting motion of soft tissue are provided. An illustrative method is described to include attaching a flexible material to an object, where the flexible material includes one or more tracking markers distributed thereon and where the object includes soft tissue. The method is also disclosed to include obtaining a first image of the object that includes the one or more tracking markers in a first position, obtaining a second image of the object that includes the one or more tracking markers in a second position, and determining a motion of the soft tissue based on a comparison of the one or more tracking markers in the first position with the one or more tracking markers in the second position.

公开(公告)号：US20220241026A1

公开(公告)日：2022-08-04

申请号：US17583788

申请日：2022-01-25

Applicant: Mazor Robotics Ltd.

Inventor： Moshe Shoham ,  Avi Turgeman ,  Yizhaq Shmayahu

IPC: A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  A61B17/00 ,  A61B17/11

Abstract: A device comprises at least one processor and a memory comprising instructions that when executed by the at least one processor cause the at least one processor to: generate a first signal that causes a vibration device to vibrate, the vibration device being in force-transmitting contact with a first anatomical element; receive, from a sensor, a second signal based on sensed vibration in a second anatomical element proximate the first anatomical element; and determine, based on the second signal, an amount of mechanical coupling between the second anatomical element and the first anatomical element.

公开(公告)号：US20220241032A1

公开(公告)日：2022-08-04

申请号：US17575404

申请日：2022-01-13

Applicant: Mazor Robotics Ltd.

Inventor： Ido Zucker ,  Yizhaq Shmayahu ,  Yonatan Ushpizin ,  Eliyahu Zehavi ,  Dany Junio

IPC: A61B34/30 ,  A61B34/10 ,  A61B34/20

Abstract: Systems and methods for tracking a pose of a target and/or tracking the target is provided. A first robotic arm may be configured to orient a first imaging device and a second robotic arm may be configured to orient a second imaging device. The first robotic arm and the second robotic arm may operate in a shared or common coordinate space. A first image may be received from the first imaging device and a second image may be received from the second imaging device. The first image and the second image may depict at least one target. A pose of the at least one target may be determined in the coordinate space based on the first image, a corresponding first pose, the second image, and a corresponding second pose.

公开(公告)号：US20220104878A1

公开(公告)日：2022-04-07

申请号：US17375834

申请日：2021-07-14

Applicant: Mazor Robotics Ltd.

Inventor： Noam Weiss ,  Yizhaq Shmayahu

IPC: A61B34/10 ,  A61B34/30 ,  A61B8/08 ,  A61B8/00 ,  G16H20/40 ,  G16H40/63 ,  G16H30/20 ,  B25J9/00 ,  B25J9/16 ,  G01S17/894

Abstract: A method, device, and system for obtaining time of flight images is provided. A surgical plan may be received and a first path for a first robotic arm and a second path for a second robotic arm may be determined based on the surgical plan. The first robotic arm may be caused to move on the first path and may be configured to hold a transducer. The second robotic arm may be caused to move on the second path and may be configured to hold a receiver. At least one image may be received from the receiver, the image depicting patient anatomy and generated using time-of-flight measurements.

公开(公告)号：US20220280240A1

公开(公告)日：2022-09-08

申请号：US17671117

申请日：2022-02-14

Applicant: Mazor Robotics Ltd.

Inventor： Dor Artzi ,  Yizhaq Shmayahu ,  Diego Merkier ,  Or Riven ,  Dany Junio ,  Aviv Ellman ,  Leon Kleyman

IPC: A61B34/10 ,  A61B34/00 ,  A61B34/37 ,  A61B34/20 ,  G06T7/10

Abstract: A device comprises at least one processor and memory including instructions that when executed by the at least one processor cause the at least one processor to: generate, based on at least one image of a spine within a body, a set of possible screw poses for implanting at least one screw into the spine during a surgical procedure; evaluate each possible screw pose based on at least one consideration associated with the surgical procedure; select, based on the evaluation, at least one screw pose from the set of possible screw poses; and output an indication of the selected at least one screw pose to a user interface.

公开(公告)号：US20220241079A1

公开(公告)日：2022-08-04

申请号：US17538985

申请日：2021-11-30

Applicant: Mazor Robotics Ltd.

Inventor： Yizhaq Shmayahu

IPC: A61F2/30 ,  A61F2/44 ,  A61F2/46 ,  A61L27/38

Abstract: An in-situ fusion system includes at least one robotic arm; a bioprinter; a polymerization tool; at least one processor; and a memory storing instructions for execution by the at least one processor. The instructions, when executed, cause the at least one processor to: control the at least one robotic arm to prepare at least two bone surfaces to support cellular growth; cause the bioprinter to print, from a scaffold material, a scaffold between the at least two bone surfaces; and cause the polymerization tool to induce the scaffold material to polymerize.

公开(公告)号：US20220156928A1

公开(公告)日：2022-05-19

申请号：US17490895

申请日：2021-09-30

Applicant: Mazor Robotics Ltd.

Inventor： Yizhaq Shmayahu ,  Diego Merkier

IPC: G06T7/00 ,  A61B34/30 ,  G06T7/13

Abstract: A method of generating a virtual MRI image includes receiving an initial MRI image of a patient in a first position, the initial MRI image depicting at least a portion of an anatomy of the patient; receiving a plurality of images of the patient in a second position, each of the plurality of images depicting at least a plurality of bony elements within the portion of the patient's anatomy; receiving soft tissue information corresponding to at least a plurality of soft tissue elements within the portion of the patient's anatomy; segmenting the initial MRI image to identify a depiction of each of the plurality of bony elements and each of the plurality of soft tissue elements within the initial MRI image; and generating a virtual MRI image based on the MRI image, the plurality of images, and the soft tissue information.

公开(公告)号：US12193750B2

公开(公告)日：2025-01-14

申请号：US17130516

申请日：2020-12-22

Applicant: Mazor Robotics Ltd.

Inventor： Yizhaq Shmayahu ,  Eliyahu Zehavi ,  Yonatan Ushpizin ,  Noam Weiss

IPC: A61B34/30 ,  A61B34/10 ,  A61B34/20 ,  B25J9/16 ,  G06N20/00

Abstract: Systems and methods for monitoring a surgical procedure are provided. A coordinate system of a first robotic arm and a second robotic arm may be co-registered or correlated to each other. One or more poses of an imaging device may be determined to provide real-time intraoperative imaging of a region of interest during a surgical procedure. Anatomical elements may be identified in the real-time images of the region of interest from which a surgical tool should maintain a predetermined distance. The surgical tool may be prevented from approaching the identified anatomical elements by less than a predetermined distance using the co-registration of the coordinate systems.

公开(公告)号：US20220395342A1

公开(公告)日：2022-12-15

申请号：US17344658

申请日：2021-06-10

Applicant: Mazor Robotics Ltd.

Inventor： Noam Weiss ,  Yizhaq Shmayahu

IPC: A61B34/37 ,  A61B8/00 ,  A61B6/00 ,  A61B34/20

Abstract: Multi-arm robotic systems and methods for monitoring a target are provided. The system may include a first robotic arm configured to orient a first component and a second robotic arm configured to orient a second component. The first robotic arm and the second robotic arm may be co-registered. The first robotic arm may be caused to orient the first component at a first pose. The second robotic arm may be caused to orient the second component at a second pose. At least one image may be received from the first component and the second component.

公开(公告)号：US20210386491A1

公开(公告)日：2021-12-16

申请号：US17341263

申请日：2021-06-07

Applicant: Mazor Robotics Ltd.

Inventor： Yizhaq Shmayahu ,  Eli Zehavi

IPC: A61B34/30 ,  A61M5/178 ,  A61B17/16 ,  A61B17/3211 ,  A61B17/29 ,  A61B90/00

Abstract: A system for endoscopic surgery, comprising a first robotic arm defining the pose of an endoscopic camera, a second robotic arm defining the pose of a surgical end effector, and an irrigation nozzle configured to inject fluid under a predetermined pressure into a preselected tissue region, to generate a cavity at a surgical site. The cavity enables the camera to take images of the features of the surgical site. A controller is used to control both robotic arms, such that the pose of the endoscopic camera and the pose of the surgical end effector are known to the controller. The camera can then acquire intraoperative images of the cavity, such that an endoscopic operation can be performed in the cavity with the surgical end effector guided using the intraoperative images. Anatomic features imaged intraoperatively by the camera can be identified from preoperative images, using image registration.