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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
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.
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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
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.
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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
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.
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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
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.
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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
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.
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Patent Agency Ranking
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
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.
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公开(公告)号：US20230293244A1
公开(公告)日：2023-09-21
申请号：US18169069
申请日：2023-02-14
Applicant: Mazor Robotics Ltd.
Inventor： Avraham Turgeman , Yaniv Ben Zriham , Ben Yosef Hai Ezair , Eliyahu Zehavi , Moshe Shoham
CPC classification number: A61B34/20 , A61B34/32 , A61B34/25 , A61B2034/2074 , A61B2034/254
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: move a first robotic arm from a first state to a second state; update, based on the moving of the first robotic arm from the first state to the second state, a first status identifier associated with the first robotic arm in a combination state table, the combination state table associated with the first robotic arm and a second robotic arm; determine, based on the first status identifier and the combination state table, a set of permissive states and a set of non-permissive states for the second robotic arm; and prevent the second robotic arm in a third state from performing one or more actions that interfere with the first robotic arm being in the second state.
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公开(公告)号：US20230240780A1
公开(公告)日：2023-08-03
申请号：US17590928
申请日：2022-02-02
Applicant: Mazor Robotics Ltd.
Inventor： Nimrod Dori , Dor Kopito , Jaffar Hleihil
CPC classification number: A61B34/71 , A61B34/30 , B25J13/089 , B25J9/1602 , A61B34/20 , A61B2034/2074
Abstract: Protection systems, assemblies, and devices are provided. A protection assembly may be configured to transition an end unit of a robot between a first state and a second state. A signal indicating a breaching state may be received. The protection assembly may transition the end unit from the first state to the second state when the signal is received.
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19.发明公开公开(公告)号：US20230240777A1
公开(公告)日：2023-08-03
申请号：US17590045
申请日：2022-02-01
Applicant: Mazor Robotics Ltd.
Inventor： Adi Sandelson
IPC: A61B34/37 , A61B5/388 , G05B19/4155
CPC classification number: A61B34/37 , A61B5/388 , G05B19/4155 , G05B2219/45117
Abstract: A system comprises a neuromonitoring system configured to generate nerve data regarding a state of a nerve of a patient during a surgical procedure on the patient. The system includes a robotic system configured to receive or generate, for the surgical procedure, location data that identifies a location of the nerve of the patient. The robotic system may cause the neuromonitoring system to be in either an active state or an inactive state based on the location data, where the active state is a state in which the neuromonitoring system provides the nerve data to the robotic system, while the inactive state is a state in which the neuromonitoring system does not provide the nerve data to the robotic system. The robotic system may further generate at least one control signal that implements one or more safeguards for the surgical procedure.
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公开(公告)号：US20230240763A1
公开(公告)日：2023-08-03
申请号：US17590915
申请日：2022-02-02
Applicant: Mazor Robotics Ltd.
Inventor： Eliyahu Zehavi , Yonatan Ushpizin
CPC classification number: A61B34/25 , A61B17/1615 , A61B17/1703 , A61B34/30 , A61B90/03 , A61B90/37 , A61B2017/00115 , A61B2034/252 , A61B2090/033 , A61B2090/3784 , A61B2217/005 , A61B2217/007
Abstract: Systems, methods, and devices for drilling and imaging an anatomical element are provided. An image may be received from an imaging device coupled to a housing. The image may depict hard tissue and/or soft tissue and the image may be processed using image processing to identify the hard tissue and/or soft tissue. A thickness of the hard tissue may be determined and instructions to perform a surgical step on the hard tissue when the thickness is less than a predetermined threshold may be transmitted.
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