公开(公告)号：US12133807B2

公开(公告)日：2024-11-05

申请号：US17897628

申请日：2022-08-29

Applicant: MAZOR ROBOTICS LTD.

Inventor： Ido Zucker ,  Arik Levy

IPC: A61F2/46 ,  A61F2/30 ,  A61F2/44

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 movably 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.

公开(公告)号：US20240358461A1

公开(公告)日：2024-10-31

申请号：US18767847

申请日：2024-07-09

Applicant: Mazor Robotics Ltd.

Inventor： Noam Weiss ,  Yizhaq Shmayahu ,  Elad Rotman ,  Adi Ess

IPC: A61B34/32 ,  A61B34/00 ,  A61B34/30 ,  G16H50/20

CPC classification number: A61B34/32 ,  A61B34/25 ,  G16H50/20 ,  A61B2034/302

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：US20240335242A1

公开(公告)日：2024-10-10

申请号：US18747255

申请日：2024-06-18

Applicant: Mazor Robotics Ltd.

Inventor： Moshe Shoham ,  Yizhaq Shmayahu

IPC: A61B34/20 ,  A61B17/16 ,  A61B17/17 ,  A61B34/10 ,  A61B34/30 ,  A61B90/00

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.

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

IPC: A61B34/20 ,  A61B17/16 ,  A61B17/17 ,  A61B34/10 ,  A61B34/30 ,  A61B90/00

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.

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

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

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.

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

IPC: G06V10/25 ,  A61B34/20 ,  A61B34/30 ,  G06T7/246 ,  G06T7/73

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.

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

IPC: A61B17/02 ,  A61B34/20 ,  A61B34/30 ,  A61B90/50 ,  A61B90/00

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.

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

IPC: A61B34/20 ,  A61B34/10 ,  G01S5/00 ,  G01S5/30

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.

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

IPC: A61B34/20 ,  A61B34/30 ,  A61B90/00 ,  A61B90/11 ,  B23B49/00 ,  A61B17/16

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.

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

IPC: G06T11/00 ,  A61B6/02

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.