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公开(公告)号：US12035979B2
公开(公告)日：2024-07-16
申请号：US17536312
申请日：2021-11-29
Applicant: Mazor Robotics Ltd.
Inventor： Moshe Shoham , Yizhaq Shmayahu
CPC classification number: A61B34/20 , A61B17/1622 , A61B17/1703 , A61B34/30 , A61B2034/105 , A61B2034/2057 , A61B2034/2065 , A61B2090/367 , A61B2090/371
Abstract: A system for tracking the position of a surgical tool manipulated by a surgical robotic system, to determine that the tool is correctly positioned and orientated. Miniature 3-D tracking cameras are mounted on the end effector of the robotic system, one viewing markers on the surgical tool, and the other markers attached to the anatomy part being operated on. The initial spatial position and orientation of the surgical tool on the surface of the anatomy part is measured, and the progress of the surgical tool into the anatomic body part is tracked using one of the miniature cameras. The cameras or sensors are close to the surgical region of interest, and all the mechanical and sensor elements necessary for the system operation are mounted within the realm of the robot. The system thus avoids interruption of communication between a remotely positioned navigation camera and the robot or patient.
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公开(公告)号：US20240225758A1
公开(公告)日：2024-07-11
申请号：US18558750
申请日：2022-05-22
Applicant: Mazor Robotics Ltd.
Inventor： Eli Zehavi , Moshe Shoham , Yonatan Ushpizin , Yizhaq Shmayahu
CPC classification number: A61B34/30 , A61B34/70 , A61B90/361
Abstract: Multi-arm surgical robotic platforms and systems are provided. The platforms and systems may comprise a support structure or a frame and an operating table mounted to the support structure or the frame. A plurality of robotic arms may be mounted to the support structure or the frame and may be capable of manipulating an emitter and a detector to obtain between and including 0 to 360-degree imaging of a patient on the operating table.
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公开(公告)号：US20240119696A1
公开(公告)日：2024-04-11
申请号：US18540645
申请日：2023-12-14
Applicant: Mazor Robotics Ltd.
Inventor： Ido Zucker , Avi Turgeman
CPC classification number: G06V10/25 , A61B34/20 , A61B34/30 , G06T7/246 , G06T7/73 , A61B2034/2057 , A61B2034/2065 , A61B2090/363
Abstract: Systems, devices, and methods for identifying a region of interest are provided. A plurality of skeletal landmarks may be identified from an image received from an imaging device. A pose of a patient may be determined based on the plurality of skeletal landmarks. A region of interest may be identified on the patient based on the determined pose. Instructions may be automatically provided to the controller to adjust a pose of a surgical instrument relative to the region of interest. The plurality of skeletal landmarks may be tracked for movement. The region of interest may be updated when movement of the plurality of skeletal landmarks is detected.
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公开(公告)号：US11931113B2
公开(公告)日：2024-03-19
申请号：US17357659
申请日：2021-06-24
Applicant: Mazor Robotics Ltd.
Inventor： Shmuel Azulay , Moshe Shoham
CPC classification number: A61B34/20 , A61B17/02 , A61B34/30 , A61B90/50 , A61B2090/367 , A61B2090/376 , A61B2090/3966
Abstract: Systems and methods for retractor interference avoidance is provided. At least one retractor includes a base and one or more elongate members extending from the base. The one or more elongate members are movable. A position of the at least one retractor may be determined and a trajectory of a surgical device may be received. At least one elongate member of the one or more elongate members positioned to interfere with movement of the device along a trajectory may be identified based on the position of the retractor and the trajectory of the surgical device.
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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：US11890061B2
公开(公告)日：2024-02-06
申请号：US16958275
申请日：2018-12-27
Applicant: MAZOR ROBOTICS LTD.
Inventor： Dany Junio , Kornelis Poelstra
CPC classification number: A61B34/20 , A61B34/30 , A61B90/06 , A61B90/11 , B23B49/005 , A61B17/1615 , A61B2034/2055 , A61B2090/062 , A61B2090/3937 , B23B2260/0482
Abstract: A depth-indicating device for determining the depth of insertion of a surgical tool comprising a pair of spaced apart end caps, separated by a compressed spring, with the surgical tool passing through axial openings in both end caps, and firmly attached to one of the end caps, but free to slide through the opening in the other. A guide tube is attached to the second endcap, such that the surgical tool can be guided to its operating position on a body part. The second end cap and guide tube are attached to a location having a known position relative to the body part. A tracking marker is attached to the first end cap such that its longitudinal position can be tracked using a remote racking camera. Since the surgical tool is attached to the first end cap, the tool position is also tracked by the tracking system.
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公开(公告)号：US20230401766A1
公开(公告)日：2023-12-14
申请号：US18237801
申请日：2023-08-24
Applicant: Mazor Robotics Ltd.
Inventor： Noam Weiss , Ben Yosef Hai Ezair
CPC classification number: G06T11/005 , A61B6/027
Abstract: Systems, methods, and devices for generating a corrected image are provided. A first robotic arm may be configured to orient a source at a first pose and a second robotic arm may be configured to orient a detector at a plurality of second poses. An image dataset may be received from the detector at each of the plurality of second poses to yield a plurality of image datasets. The plurality of datasets may comprise an initial image having a scatter effect. The plurality of image datasets may be saved. A scatter correction may be determined and configured to correct the scatter effect. The correction may be applied to the initial image to correct the scatter effect.
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公开(公告)号：US11813108B2
公开(公告)日：2023-11-14
申请号：US17353342
申请日：2021-06-21
Applicant: Mazor Robotics Ltd.
Inventor： Ido Zucker , Avi Turgeman , Yonatan Ushpizin , Eli Zehavi , Eitan Detinis
CPC classification number: A61B6/548 , A61B6/06 , A61B6/4452 , A61B6/4458 , A61B2090/064
Abstract: A system according to at least one embodiment of the present disclosure includes an imaging source; an imaging detector; a sensor coupled to at least one of the imaging source and imaging detector; and a controller that adjusts a relative position of the imaging source and the imaging detector based on an output of the sensor.
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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：US20230355314A1
公开(公告)日：2023-11-09
申请号：US17735878
申请日：2022-05-03
Applicant: Mazor Robotics Ltd.
Inventor： Amir Keret , Ziv Seemann , Ori Ben Zeev , Adi Sandelson , Gal Barazani , Nimrod Dori
CPC classification number: A61B34/20 , A61B34/30 , A61B2034/2057
Abstract: A system according to at least one embodiment of the present disclosure includes a processor; and a memory storing data thereon that, when processed by the processor, cause the processor to: determine, based on a navigation element of a first type and a navigation element of a second type both disposed on a navigation tracker, a first registration between the navigation tracker and an anatomical element; determine, based on a navigation element of a third type disposed on the navigation tracker, a second registration between a robotic arm and the navigation tracker; and navigate, based on the first registration and the second registration, the robotic arm relative to the anatomical element.
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