公开(公告)号：US20240277415A1

公开(公告)日：2024-08-22

申请号：US18171792

申请日：2023-02-21

Applicant: Mazor Robotics Ltd.

Inventor： Ido ZUCKER

IPC: A61B34/20 ,  A61B34/10

CPC classification number: A61B34/20 ,  A61B34/10 ,  A61B2034/105 ,  A61B2034/2072

Abstract: Disclosed is a system for assisting in guiding and performing a procedure on a subject. The subject may be any appropriate subject such as inanimate object and/or an animate object. The guide and system may include various manipulable or movable members, such as robotic systems, and may be registered to selected coordinate systems to assist in movement of the robotic systems.

公开(公告)号：US12067653B2

公开(公告)日：2024-08-20

申请号：US18203463

申请日：2023-05-30

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.

公开(公告)号：US12042171B2

公开(公告)日：2024-07-23

申请号：US17475177

申请日：2021-09-14

Applicant: Mazor Robotics Ltd.

Inventor： Dany Junio

IPC: A61B17/34 ,  A61B34/00 ,  A61B34/10 ,  A61B34/30 ,  A61B1/00 ,  A61B17/00 ,  A61B90/00

CPC classification number: A61B17/3423 ,  A61B34/30 ,  A61B34/76 ,  A61B1/00154 ,  A61B2017/00119 ,  A61B2017/00699 ,  A61B2034/107 ,  A61B2034/302 ,  A61B2090/064

Abstract: A method for robot-assisted minimally invasive surgery involves calculating, based on a surgical plan, an insertion vector for an MIS port; causing a robotic arm to hold the MIS port in a pose that corresponds to the insertion vector; detecting, with a sensor on the robotic arm, a force applied to the robotic arm via the MIS port; maintaining the MIS port in the pose when the detected force is lower than a predetermined threshold; and generating an alert when the detected force exceeds the predetermined threshold.

公开(公告)号：US20240225760A9

公开(公告)日：2024-07-11

申请号：US17972191

申请日：2022-10-24

Applicant: Mazor Robotics Ltd.

Inventor： Itamar Eshel ,  Hay Shmulevich ,  Jaffar Hleihil ,  Dvir Kadshai

IPC: A61B34/32

CPC classification number: A61B34/32 ,  A61B2034/305

Abstract: Systems and methods for determining a safety layer for an anatomical element are provided. A cutting tool contacting the anatomical element at a first surface may be detected and dimensional information about the anatomical element may be received. A safety layer may be determined for the anatomical element based on the dimensional information and the detected contact between the cutting tool and the anatomical element at the first surface.

公开(公告)号：US20240225752A1

公开(公告)日：2024-07-11

申请号：US18559348

申请日：2022-05-23

Applicant: Mazor Robotics Ltd.

Inventor： Eli Zehavi ,  Yonatan Ushpizin ,  Ido Zucker ,  Adi Ess

IPC: A61B34/20 ,  A61B34/37 ,  A61B90/00

CPC classification number: A61B34/20 ,  A61B34/37 ,  A61B90/39 ,  A61B2034/2057 ,  A61B2090/3937 ,  A61B2090/3979

Abstract: Systems, methods, and devices for determining a tool pose are provided. A tracking device mounted to a tool may comprise a plurality of faces and a plurality of markers defining a plurality of sets of markers. Each set of markers may comprise one or more markers of the plurality of markers and each set of markers may be disposed on a corresponding face. Information about a set of markers of the plurality of markers may be received. A face of the plurality of faces having the set of markers disposed thereon may be determined. A pose of the tool based on the information and the determined face may be determined.

公开(公告)号：US20240156492A1

公开(公告)日：2024-05-16

申请号：US18393296

申请日：2023-12-21

Applicant: Mazor Robotics Ltd.

Inventor： Moshe Shoham

IPC: A61B17/34 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  B33Y10/00 ,  B33Y30/00 ,  B33Y50/02 ,  B33Y80/00

CPC classification number: A61B17/3468 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  B33Y10/00 ,  B33Y30/00 ,  B33Y50/02 ,  B33Y80/00 ,  A61B2034/107

Abstract: A minimally invasive system using a surgical robot as a three-dimensional printer for fabrication of biological tissues inside the body of a subject. A preoperative plan is used to direct and control both the motion of the robot and the robotic bio-ink extrusion. The robotic motion is coordinated with the ink extrusion to form layers having the desired thickness and dimensions, and use of different types of ink enables composite elements to be laid down. Such systems have a small diameter bio-ink ejecting mechanism, generally in the form of a piston driven cannula, enabling access to regions such as joints, with limited space. The robotic control is programmed such that angular motion takes place around a pivot point at the point of insertion into the subject. The bio-inks can be stored in predetermined layers in the cannula to enable sequential dispensing from one cannula.

公开(公告)号：US11925586B2

公开(公告)日：2024-03-12

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 ,  A61B34/30 ,  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：US11925497B2

公开(公告)日：2024-03-12

申请号：US17464445

申请日：2021-09-01

Applicant: Mazor Robotics Ltd.

Inventor： Noam Weiss

IPC: G06T5/50 ,  A61B6/00 ,  G06T5/00

CPC classification number: A61B6/52 ,  A61B6/5241 ,  G06T5/007 ,  G06T5/50 ,  G06T2207/10116

Abstract: Systems, methods, and devices for capturing a single image with multiple exposures is provided. An imaging device may be provided comprising a source configured to emit a wave for a time period and a detector configured to receive a signal indicative of the wave. A wave may be emitted for a time period and a signal may be received indicative of the emitted wave. A first image dataset may be saved with a first timestamp referencing a first time within the time period. A second image dataset may be saved with a second timestamp referencing a second time within the time period. The second time may occur after the first time.

公开(公告)号：US11864934B2

公开(公告)日：2024-01-09

申请号：US16765930

申请日：2018-11-22

Applicant: MAZOR ROBOTICS LTD.

Inventor： Dany Junio ,  Eli Zehavi

IPC: A61B6/12 ,  A61B34/10 ,  A61B90/00 ,  G06V10/75

CPC classification number: A61B6/12 ,  A61B34/10 ,  A61B90/03 ,  G06V10/7515 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2090/363 ,  A61B2090/364 ,  A61B2090/374 ,  A61B2090/3762 ,  A61B2090/3966

Abstract: A low radiation, intra-operative method using two-dimensional imaging to register the positions of surgical implants relative to their pre-operative planned positions. Intraoperatively, a pair of two-dimensional fluoroscope images in different planes or a single three-dimensional image is acquired and compared to a set of three-dimensional pre-operative images, to allow registration of the implant region anatomy. A second set of intraoperative fluoroscope images is acquired of the surgical area with implants in place. The second set of images is compared with the first set of intraoperative images to ascertain alignment of the implants. Registration between first and second intraoperative image sets is accomplished using the implants themselves as fiducial markers, and the process repeated until an acceptable configuration of the implants is obtained. The method is particularly advantageous for spinal surgery.

公开(公告)号：US20230414289A1

公开(公告)日：2023-12-28

申请号：US18244845

申请日：2023-09-11

Applicant: Mazor Robotics Ltd.

Inventor： Edo ZUCKER ,  Moshe SHOHAM ,  Yuval CHEN

IPC: A61B34/10 ,  A61B17/70 ,  A61B34/20

CPC classification number: A61B34/10 ,  A61B17/7089 ,  A61B17/70 ,  A61B34/20 ,  A61B17/7077 ,  A61B17/7013 ,  A61B2017/568

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.