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

IPC: A61B6/00 ,  A61B6/06 ,  A61B90/00

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.

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

IPC: A61B34/30 ,  A61B46/10 ,  A61B90/50

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.

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

IPC: A61B34/20 ,  A61B34/30

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.

公开(公告)号：US20230346492A1

公开(公告)日：2023-11-02

申请号：US17734913

申请日：2022-05-02

Applicant: Mazor Robotics Ltd.

Inventor： Amir Keret ,  Ziv Seemann ,  Nimrod Dori ,  Ron Visbrot ,  Adi Sandelson ,  Dvir Kadshai

IPC: A61B34/32 ,  A61B34/00 ,  B25J9/16 ,  B25J9/00 ,  B25J13/08 ,  B25J15/04

CPC classification number: A61B34/32 ,  A61B34/77 ,  B25J9/1633 ,  B25J9/162 ,  B25J9/0009 ,  B25J13/089 ,  B25J13/085 ,  B25J15/04

Abstract: A system includes a robot mounted to a movable base, the robot including one or more robotic arms. The system monitors, by one or more measurement devices, one or more parameters associated with an object. The system adjusts a pose of the robot based on the one or more parameters satisfying one or more criteria. The system outputs an alert based on the one or more parameters satisfying one or more second criteria. The system performs a registration process associated with the object and the robot, based on the one or more parameters satisfying the one or more second criteria. The one or more measurement devices include a mechanical measurement device that maintains a non-rigid connection between the robot and the object. The one or more measurement devices include an optical measurement device, an acoustic transducer, or a multi-sensor device.

公开(公告)号：US20230329543A1

公开(公告)日：2023-10-19

申请号：US18213121

申请日：2023-06-22

Applicant: Mazor Robotics Ltd.

Inventor： Ziv Seemann ,  Dor Kopito ,  Jaffar Hleihil ,  Nimrod Dori ,  Ron Visbrot

IPC: A61B1/32 ,  A61B17/02

CPC classification number: A61B1/32 ,  A61B17/0206

Abstract: Retraction systems, assemblies, and devices for retracting an end unit are provided. A retraction assembly may be configured to move the end unit of a robot between a first state and a second state. A first signal may be received indicating a working condition. A first instruction may be generated to move the end unit from the second state to the first state. The retraction assembly may be caused to move the end unit from the second state to the first state based on receiving the first signal and the first instruction. The end unit may be held in the first state when the first signal is being received and the retraction assembly may move the end unit from the first state to the second state when the first signal is not received.

公开(公告)号：US20230301862A1

公开(公告)日：2023-09-28

申请号：US17704759

申请日：2022-03-25

Applicant: Mazor Robotics Ltd.

Inventor： Roy K. Lim ,  Arik A. Levy ,  Katharine E. Darling ,  Mark C. Dace ,  Yonatan Ushpizin

IPC: A61G13/10 ,  A61G13/06 ,  B25J5/00

CPC classification number: A61G13/104 ,  A61G13/06 ,  B25J5/007 ,  A61B34/30

Abstract: A surgical platform and trolley assembly and an interface of a robotic system are provided. The surgical platform and trolley assembly includes a trolley portion and a surgical platform portion. The trolley portion supports the surgical platform portion, and affords positioning and repositioning of the surgical platform portion relative to the interface of the robotic system. An end portion of the surgical platform portion is attachable relative to the robotic system via engagement to the interface.

公开(公告)号：US20230293215A1

公开(公告)日：2023-09-21

申请号：US18200303

申请日：2023-05-22

Applicant: MAZOR ROBOTICS LTD.

Inventor： Edo Zucker ,  Moshe Shoham

IPC: A61B17/88 ,  B21D7/12 ,  B21D7/14 ,  A61B5/00 ,  A61B5/107 ,  A61B34/10

CPC classification number: A61B17/8863 ,  B21D7/12 ,  B21D7/14 ,  A61B5/0036 ,  A61B5/107 ,  A61B34/10 ,  A61B17/7002

Abstract: A system for rod bending for use in robotic spinal surgery, enabling the correct bending of a fusion rod to match the shape required to accurately pass through the heads of the pedicle screws. The system uses data generated by information provided to the robot by the surgeon's preoperative plan, optionally augmented by feedback from the robot control system of deviations encountered intraoperatively. Such deviations could occur, for example, when the surgeon decides intraoperatively on a different trajectory or even to skip screws on one vertebra, in which case, the robot will be commanded to perform the alternative procedure, with commensurate instructions relayed to the control system of the rod-bending machine. The system is also able to thin down the rod at predetermined locations along its length, adapted to be at selected intervertebral locations, for maintaining limited flexibility between vertebrae, instead of fixating them.

公开(公告)号：US20230278209A1

公开(公告)日：2023-09-07

申请号：US17590961

申请日：2022-02-02

Applicant: Mazor Robotics Ltd.

Inventor： Ido Zucker ,  Yonatan Ushpizin ,  Avraham Turgeman ,  Eliyahu Zehavi ,  Adi Ess

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  B25J9/163

Abstract: Systems and methods for controlling a robotic arm are provided. A breathing pattern of a patient may be controlled and a sample of the breathing pattern may be obtained. A pattern of movement of an anatomical element based on the sample may be determined. A trajectory of a robotic arm may be adjusted based on the pattern of movement.

公开(公告)号：US11723528B1

公开(公告)日：2023-08-15

申请号：US17590945

申请日：2022-02-02

Applicant: Mazor Robotics Ltd.

Inventor： Ziv Seemann ,  Dor Kopito ,  Jaffar Hleihil ,  Nimrod Dori ,  Ron Visbrot

IPC: A61B1/32 ,  A61B17/02

CPC classification number: A61B1/32 ,  A61B17/0206

Abstract: Retraction systems, assemblies, and devices for retracting an end unit are provided. A retraction assembly may be configured to move the end unit of a robot between a first state and a second state. A first signal may be received indicating a working condition. A first instruction may be generated to move the end unit from the second state to the first state. The retraction assembly may be caused to move the end unit from the second state to the first state based on receiving the first signal and the first instruction. The end unit may be held in the first state when the first signal is being received and the retraction assembly may move the end unit from the first state to the second state when the first signal is not received.

公开(公告)号：US20230240766A1

公开(公告)日：2023-08-03

申请号：US17590979

申请日：2022-02-02

Applicant: Mazor Robotics Ltd.

Inventor： Elad Rotman ,  Eitan Detinis ,  Ido Zucker ,  Eliyahu Zehavi ,  Yonatan Ushpizin

IPC: A61B34/30 ,  A61B34/00 ,  A61B17/34

CPC classification number: A61B34/30 ,  A61B34/25 ,  A61B17/3417 ,  A61B17/3496 ,  A61B2017/3456 ,  A61B34/20

Abstract: A robotic surgical system according to at least one embodiment of the present disclosure includes a robot arm including a proximal end and a distal end and a surgical tool that attaches to the distal end of the robot arm via a robot mount flange on the surgical tool. The surgical tool includes a blade support tip that extends from a first end and a rod that extends from a second end opposite the first end. The rod may include a blunt tip end and an actuation end, where the blunt tip end extends from the second end. Accordingly, the surgical tool may be rotatable about a tool rotation axis between a cutting position disposing the blade support tip in proximity to a target site and a tissue pathway creation position disposing the blunt tip end in proximity to the target site.