公开(公告)号：US12295762B2

公开(公告)日：2025-05-13

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

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：US12295668B2

公开(公告)日：2025-05-13

申请号：US17526967

申请日：2021-11-15

Applicant: Mazor Robotics Ltd.

Inventor： Avi Turgeman ,  Moshe Shoham ,  Eli Zehavi

IPC: A61B34/20 ,  A61B5/0205 ,  A61B5/08 ,  A61B17/00 ,  A61B34/00 ,  A61B34/10 ,  A61B34/30

Abstract: Systems and methods for accurate determination of the position of an anatomic part of a subject in robotic assisted image-based surgery, using an inertial measurement unit (IMU) to determine the position and orientation of the anatomical part of the subject. The intrinsic drift of the IMU, which would make the IMU position measurements inaccurate, can be reset to zero regularly, at points of time when the subject's body is stationary. This can be achieved when motion from the subject's breathing and from the heartbeat are essentially zero. Such positions occur respectively when the respiratory signal shows the position of the breathing cycle to be at the end of the expiration phase, and the heartbeat signal represents a time in the diastole period of the subject's electrocardiographic cycle. When these two signal moments coincide, the IMU is essentially stationary, and its drift reset to zero.

公开(公告)号：US20250143826A1

公开(公告)日：2025-05-08

申请号：US18835992

申请日：2022-02-07

Applicant: Mazor Robotics Ltd.

Inventor： Zhinan Guo

IPC: A61B46/10 ,  A61B34/30 ,  A61B90/00 ,  G03B11/00

Abstract: A drape assembly (100) for a surgical instrument (108) is provided. The assembly (100) comprises a covering (106) having an outer perimeter and an opening (118) defining an inner perimeter. The covering (106) is configured to cover an instrument (108). The assembly (100) also comprises a housing (102) positioned within the opening (118) and connected to the inner perimeter. The housing (102) is configured to removably couple to the instrument (108). The assembly (100) also comprises an optical element (104) positioned within the housing (102).

公开(公告)号：US20250143816A1

公开(公告)日：2025-05-08

申请号：US19019223

申请日：2025-01-13

Applicant: Mazor Robotics Ltd.

Inventor： Dany Junio

IPC: A61B34/30 ,  A61B34/00 ,  A61B34/20 ,  A61B90/00 ,  G06T7/00 ,  G06T7/73

Abstract: A method of aligning an imaging device in connection with robotic surgery includes causing a robot to position a reference target over a body of a patient; receiving image data from an imaging device; identifying, with an image processing algorithm, at least a first portion of an anatomical element in the image data; identifying, with a target detection algorithm, at least a first portion of a reference target in the image data; comparing a determined location of the imaging device, the reference target, and the anatomical element to yield a location determination and causing at least one of the robot to re-position the reference target or the imaging device to re-position.

公开(公告)号：US20250127572A1

公开(公告)日：2025-04-24

申请号：US18990247

申请日：2024-12-20

Applicant: Mazor Robotics Ltd.

Inventor： Ido Zucker

IPC: A61B34/10 ,  A61B5/00 ,  A61B5/11 ,  G06T5/50 ,  G06T7/00 ,  G06T7/11 ,  G06T7/70 ,  G06T19/00 ,  G06V10/75 ,  G16H20/40 ,  G16H30/20 ,  G16H30/40 ,  G16H50/20 ,  G16H50/50

Abstract: Systems and methods for planning a surgical procedure are provided. Information corresponding to an examination of a patient and an image of patient may be received. The information and the image may be inputted into an analytical model figured to identify a pathology location. A needed surgical modification of the patient anatomy may be automatically identified. At least a portion of an anatomical element in a three-dimensional model of the patient anatomy may be automatically labeled.

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：US12178663B2

公开(公告)日：2024-12-31

申请号：US17526873

申请日：2021-11-15

Applicant: Mazor Robotics Ltd.

Inventor： Ido Zucker ,  Yonatan Ushpizin ,  Eliyahu Zehavi

IPC: A61B90/00 ,  A61B17/70 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B17/56

Abstract: Methods and systems for monitoring a rod reduction process is provided. The methods and systems include determining, based on at least one parameter, a threshold for forces exerted by a tool on a rod or a pedicle screw and receiving data corresponding to a magnitude of the forces exerted by the tool on the pedicle screw or the rod during reduction of the rod into a head of the pedicle screw. A surgical plan may be updated when the monitored magnitude meets the threshold.

公开(公告)号：US20240382224A1

公开(公告)日：2024-11-21

申请号：US18662123

申请日：2024-05-13

Applicant: Mazor Robotics Ltd.

Inventor： Michael Vu ,  Milton F. Barnes ,  Jaffar Hleihil ,  Aayush Malla ,  Andrew J. Wald ,  Mahin Maharjan ,  Saideep Nakka ,  Haoran Li ,  Sophie A. Pervere ,  Bret R. Hauser ,  John W. Kulas

IPC: A61B17/32 ,  A61B17/00 ,  A61B90/00 ,  G16H40/63

Abstract: A surgical system having adaptive control includes a surgical cutting device, at least one sensor, and a controller. The surgical cutting device includes a cutting tool and a motor configured to drive movement of the cutting tool. The at least one sensor is configured to produce sensor data indicative of at least one property of the surgical cutting device during use. The controller is configured to receive the sensor data and determine a performance condition of the surgical cutting device based at least on the sensor data. The controller is further configured, where the determined performance condition is an adverse performance condition, to at least one of: adjust settings of the surgical cutting device or recommend a change relating to use of the surgical cutting device.

公开(公告)号：US12103166B2

公开(公告)日：2024-10-01

申请号：US17021723

申请日：2020-09-15

Applicant: MAZOR ROBOTICS LTD.

Inventor： Moshe Shoham

IPC: B25J17/02 ,  A61B17/16 ,  A61B34/20 ,  A61B34/30 ,  B25J9/16 ,  A61B17/00 ,  A61B90/00

CPC classification number: B25J17/0216 ,  A61B17/1675 ,  A61B34/30 ,  B25J9/1676 ,  A61B2017/00106 ,  A61B2034/2055 ,  A61B2034/304 ,  A61B2090/061

Abstract: A hand held robotic system that remains stiff so long as it is operating within allowed limits, but which become actively controlled once the operator exceeds those limits. The system thus corrects deviations by more than a predetermined amount of the operator's hand motions, so that the tool remains in the allowed region even when the operator's hand deviates from the planned trajectory. The pose and path of the robotic operating head is ascertained by means of a navigation or tracking system, or by means of a proximity device to measure the closeness of the operating head to a damage sensitive feature. As the tool deviates from its predetermined path or pose, or comes too close to the hazardous area, the robot control acts to move the tool back to its predetermined pose or path, or away from the hazardous region, independently of user's hand movement.

公开(公告)号：US12076027B2

公开(公告)日：2024-09-03

申请号：US17339708

申请日：2021-06-04

Applicant: Mazor Robotics Ltd.

Inventor： Eli Zehavi ,  Arik Levy

IPC: A61B17/02 ,  A61B17/16 ,  A61B17/3209 ,  A61B34/30 ,  A61M29/00

CPC classification number: A61B17/1615 ,  A61B17/1637 ,  A61B17/32093 ,  A61B34/30 ,  A61M29/00

Abstract: A surgical tool comprises a dilator, a cutter, a retractable brush, and at least one retractable drill. The dilator is configured to dilate tissue of a patient and can be positioned in an undilated configuration or a dilated configuration. The cutter is configured to cut the tissue and is disposed at a distal end of the dilator. The cutter is configured to move between a cutting position when the dilator is in the undilated configuration and a non-cutting position when the dilator is in the dilated configuration. The retractable brush is configured to brush a surface of an anatomical element of the patient to remove matter from the surface. The at least one retractable drill is configured to drill into the anatomical element.