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公开(公告)号：US12274525B2
公开(公告)日：2025-04-15
申请号：US17464300
申请日：2021-09-01
Applicant: Mazor Robotics Ltd.
Inventor： Aviv Ellman , Moshe Shoham
Abstract: Methods and systems for detecting, monitoring, and accounting for anatomical motion is provided. An initial contact between a first robotic arm and an anatomical element of a patient is detected based on information received from at least one internal sensor of the first robotic arm. A position of the anatomical element is determined based on the information. The determined position is compared to an expected position of the anatomical element. A tool trajectory of a second robotic arm is updated when the determined position is offset from the expected position.
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公开(公告)号：US20250095280A1
公开(公告)日：2025-03-20
申请号：US18962350
申请日：2024-11-27
Applicant: Mazor Robotics Ltd.
Inventor： Noam Weiss
Abstract: A system according to at least one embodiment of the present disclosure includes a processor; and a memory storing instructions thereon that, when executed by the processor, cause the processor to: identify, based on first imaging data associated with an object, a boundary region corresponding to a shape of the object; identify at least one voxel included in second imaging data associated with the object, where the at least one voxel is located outside the boundary region; and generate a multidimensional image volume corresponding to the object using the second imaging data, where generating the multidimensional image volume is with respect to one or more criteria associated with voxels located outside the boundary region.
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公开(公告)号：US20250095160A1
公开(公告)日：2025-03-20
申请号：US18962314
申请日：2024-11-27
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio
Abstract: A method according to embodiments of the present disclosure includes receiving a computed tomography (CT) image of a patient; segmenting a first set of anatomical elements from the CT image; receiving a plurality of fluoroscopy images of the patient; segmenting a second set of anatomical elements from the plurality of fluoroscopy images; and creating a registration between the CT image and the plurality of fluoroscopy images based on the segmented first set of anatomical elements and the segmented second set of anatomical elements.
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公开(公告)号：US20250049584A1
公开(公告)日：2025-02-13
申请号：US18930754
申请日：2024-10-29
Applicant: Mazor Robotics Ltd.
Inventor： Ido Zucker , Arik Levy
Abstract: An interbody tool may include an upper portion with an upper contact surface and a plurality of upper legs; a lower portion with a lower contact surface and a plurality of lower legs, each of the lower legs moveably connected to one of the upper legs; a plurality of gauges, each gauge configured to measure a position of one of the plurality of upper legs relative to a corresponding one of the plurality of lower legs; at least one actuator configured to selectively push the upper portion away from the lower portion; and at least one sensor for measuring a force exerted by the at least one actuator.
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公开(公告)号：US12220195B2
公开(公告)日：2025-02-11
申请号：US17500559
申请日：2021-10-13
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio
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.
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Patent Agency Ranking
公开(公告)号：US12193768B2
公开(公告)日：2025-01-14
申请号：US16853990
申请日：2020-04-21
Applicant: MAZOR ROBOTICS LTD.
Inventor： Dany Junio
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.
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公开(公告)号：US20250010497A1
公开(公告)日：2025-01-09
申请号：US18894396
申请日：2024-09-24
Applicant: Mazor Robotics Ltd.
Inventor： Moshe Shoham
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.
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公开(公告)号：US12190526B2
公开(公告)日：2025-01-07
申请号：US17590010
申请日：2022-02-01
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio
Abstract: A method according to embodiments of the present disclosure includes receiving a computed tomography (CT) image of a patient; segmenting a first set of anatomical elements from the CT image; receiving a plurality of fluoroscopy images of the patient; segmenting a second set of anatomical elements from the plurality of fluoroscopy images; and creating a registration between the CT image and the plurality of fluoroscopy images based on the segmented first set of anatomical elements and the segmented second set of anatomical elements.
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公开(公告)号：US12186914B2
公开(公告)日：2025-01-07
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
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.
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公开(公告)号：US12182929B2
公开(公告)日：2024-12-31
申请号：US18072006
申请日：2022-11-30
Applicant: Mazor Robotics Ltd.
Inventor： Noam Weiss
Abstract: A system according to at least one embodiment of the present disclosure includes a processor; and a memory storing instructions thereon that, when executed by the processor, cause the processor to: identify, based on first imaging data associated with an object, a boundary region corresponding to a shape of the object; identify at least one voxel included in second imaging data associated with the object, where the at least one voxel is located outside the boundary region; and generate a multidimensional image volume corresponding to the object using the second imaging data, where generating the multidimensional image volume is with respect to one or more criteria associated with voxels located outside the boundary region.
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