公开(公告)号：US11751945B2

公开(公告)日：2023-09-12

申请号：US17096757

申请日：2020-11-12

Applicant: MAZOR ROBOTICS LTD.

Inventor： Edo Zucker ,  Moshe Shoham ,  Yuval Chen

IPC: A61B17/88 ,  A61B17/70 ,  A61B34/10 ,  A61B34/20 ,  A61B17/56 ,  A61B90/00 ,  A61B34/30 ,  A61B17/00

CPC classification number: A61B34/10 ,  A61B17/70 ,  A61B17/7013 ,  A61B17/7077 ,  A61B17/7089 ,  A61B34/20 ,  A61B2017/00238 ,  A61B2017/564 ,  A61B2017/568 ,  A61B2034/104 ,  A61B2034/107 ,  A61B2034/108 ,  A61B2034/2055 ,  A61B2034/2063 ,  A61B2034/2065 ,  A61B2034/2072 ,  A61B2034/301 ,  A61B2090/376 ,  A61B2090/3945 ,  A61B2090/3983

Abstract: A system and method for the minimally invasive insertion of an intervertebral rod into the vertebrae of a subject, according to a preoperative surgical plan also defining positions for the insertion of rod clamping screws into the vertebrae. The rod shape for connecting the heads of the screws is calculated, and a path planning algorithm used to determine whether the distal end of the rod can be threaded through the screw heads by longitudinal and rotational manipulation of the proximal end of the rod. If so, instructions are provided for forming that rod shape and for the robotic insertion of the screw holes and the rod. If not, either or both of the screw positions and the rod shape are adjusted, to moderate the bends in the rods, until insertion becomes possible. The insertion can be performed robotically, or, if a navigation tracking system is added, manually.

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.

公开(公告)号：US20230255694A1

公开(公告)日：2023-08-17

申请号：US17671893

申请日：2022-02-15

Applicant: Mazor Robotics Ltd.

Inventor： Ziv Seemann ,  Dvir Kadshai ,  Itamar Eshel ,  Yuval A. Chen ,  Nimrod Dori ,  Nicholas J. Rawluk

IPC: A61B34/20 ,  A61B34/30

CPC classification number: A61B34/20 ,  A61B34/30 ,  A61B2034/2068 ,  A61B2034/2057

Abstract: Systems and methods for validating a pose of a marker are provided. First pose information and second pose information of the marker may be received. A pose difference between the first pose information and the second pose information may be determined. A pose of the marker may be validated in response to determining that the pose difference is less than a pose threshold.

公开(公告)号：US20230241775A1

公开(公告)日：2023-08-03

申请号：US17591390

申请日：2022-02-02

Applicant: MAZOR ROBOTICS, LTD.

Inventor： Mark C. Dace ,  Adam D. Glaser ,  Aviv Ellman ,  Dany Junio ,  Elad Ratzabi ,  Gillan M. Grimberg

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

CPC classification number: B25J9/1676 ,  B25J9/1075 ,  A61B34/70 ,  A61B34/20 ,  A61B34/10 ,  A61B2034/2074

Abstract: Disclosed herein are systems and methods for a robotic arm guide used as a depth stop. For example, a system for positioning a surgical tool includes a surgical robotic system having a robot arm with a guide sleeve, the guide sleeve defining axial and lateral directions. The system is further configured to (i) receive a surgical plan associated with a subject, the surgical plan including three-dimensional preoperative data related to the subject, (ii) determine, based on the surgical plan, a desired trajectory of a distal end of the surgical tool as the surgical tool is inserted into the guide sleeve, and (iii) transmit one or more control signals to the surgical robotic system, causing the surgical robotic system to orient and position the guide sleeve such that the distal end of the surgical tool follows the desired trajectory when the surgical tool is inserted in the guide sleeve.

公开(公告)号：US20230165653A1

公开(公告)日：2023-06-01

申请号：US17536422

申请日：2021-11-29

Applicant: Mazor Robotics Ltd.

Inventor： Ziv Seemann ,  Adi Sandelson ,  Bat-el Kagan ,  Dvir Kadshai ,  Yuval A. Chen ,  Yvan R. Paitel ,  Nicholas J. Rawluk

IPC: A61B46/10 ,  A61B34/20 ,  A61B90/00 ,  A61B90/96 ,  A61B34/30

CPC classification number: A61B46/10 ,  A61B34/20 ,  A61B90/39 ,  A61B90/96 ,  A61B34/30

Abstract: Systems, methods, and devices for covering and tracking a surgical device are provided. The system may comprise a flexible sheet configured to cover a surgical device, at least one marker disposed on a first side of the flexible sheet, a connector disposed on a second side of the flexible sheet, a receiver attached to a surgical device and configured to receive the connector. The receiver may be configured to align and hold the flexible sheet to the surgical device.

公开(公告)号：US20230133689A1

公开(公告)日：2023-05-04

申请号：US17516408

申请日：2021-11-01

Applicant: Mazor Robotics Ltd.

Inventor： Ziv Seemann ,  Gal Barazani ,  Ori Ben Zeev ,  Dvir Kadshai ,  Itamar Eshel

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

Abstract: A system according to at least one embodiment of the present disclosure includes a processor; and at least one inertial sensor having a known physical relationship with a tracked object in a first pose, the at least one inertial sensor providing a measurement indicative of a movement of the tracked object from the first pose to a second pose, wherein the processor determines the second pose of the tracked object based, at least in part, on the measurement provided by the at least one inertial sensor.

公开(公告)号：US20230115849A1

公开(公告)日：2023-04-13

申请号：US17498488

申请日：2021-10-11

Applicant: Mazor Robotics Ltd.

Inventor： Ido Zucker ,  Avi Turgeman

IPC: A61B34/30 ,  A61B17/70 ,  A61B90/00

Abstract: A system according to at least one embodiment of the present disclosure includes a processor; at least one robotic arm; and a memory storing data for processing by the processor that, when processed by the processor, cause the processor to: manipulate the at least one robotic arm when holding an object; and determine a configuration of the object based on a position of the at least one robotic arm and information describing another point of the object relative to the at least one robotic arm.

公开(公告)号：US20230113312A1

公开(公告)日：2023-04-13

申请号：US17500559

申请日：2021-10-13

Applicant: Mazor Robotics Ltd.

Inventor： Dany Junio

IPC: A61B34/00 ,  A61B34/20 ,  B25J9/16

Abstract: Systems, methods, and devices for defining a path for a robotic arm are provided. One or more no-fly zones may be generated. The one or more no-fly zones correspond to a section of a work volume defined as inaccessible to a robotic arm and the work volume is defined as accessible to the robotic arm. A pose of an object may be determined and an obstacles map based on the determined pose and known dimensions of the object may be generated. A path for the robotic arm may be defined that avoids collision with the object identified in the obstacles map and avoiding the one or more no-fly zones.

公开(公告)号：US11571256B2

公开(公告)日：2023-02-07

申请号：US16509630

申请日：2019-07-12

Applicant: MAZOR ROBOTICS LTD.

Inventor： Shlomit Steinberg

IPC: G06G7/58 ,  G06K9/00 ,  A61B34/10 ,  G16H50/30 ,  G06F17/18 ,  G06T7/00

Abstract: A method for determining an acceptable spinal surgical plan for a subject using pathology prediction, comprising generating a potential spinal surgical plan, obtaining clinically relevant data of the subject, obtaining pre-operative three-dimensional images of a spinal region of the subject, determining relationships between pairs of vertebrae in the images, predicting relationships between pairs of vertebrae that are expected from the surgical plan, accessing a multiple patient database, obtaining sets of data from the database for patients with similar characteristics to the subject, determining risks of pathology types for the subject, using artificial intelligence to combine the determined risks to calculate an overall risk for pathology types for the subject, and if the overall risks are unacceptable, selecting an alternative spinal surgical plan, and if the said overall risks are acceptable, determining that said surgical plan is acceptable.

公开(公告)号：US20230020476A1

公开(公告)日：2023-01-19

申请号：US17376493

申请日：2021-07-15

Applicant: Mazor Robotics Ltd.

Inventor： Dany Junio ,  Moshe Shoham

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

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.