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公开(公告)号：US20220401160A1
公开(公告)日：2022-12-22
申请号：US17351921
申请日：2021-06-18
Applicant: Mazor Robotics Ltd.
Inventor： Dor Kopito , Ziv Seemann , Gal Eshed , Amir Keret , Nimrod Dori , Itamar Eshel , Yuval Chen , Nir Ofer , Ori Ben Zeev
Abstract: A surgical mount system according to at least one embodiment of the present disclosure includes a bed mount, a tubular base attached to the bed mount and comprising a telescoping member slidably coupled with the tubular base, the telescoping member comprising a first end and a second end, wherein the first end is disposed inside the tubular base, and wherein the telescoping member translates linearly along an axis of the tubular base; and a support arm attached to the second end of the telescoping member, the support arm having a length running from a proximal end to a distal end, wherein the support arm rotates relative to the bed mount about the axis of the tubular base.
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公开(公告)号：US12201377B2
公开(公告)日：2025-01-21
申请号：US17516408
申请日：2021-11-01
Applicant: Mazor Robotics Ltd.
Inventor： Ziv Seemann , Gal Barazani , Ori Ben Zeev , Dvir Kadshai , Itamar Eshel
Abstract: A system according to at least one embodiment of the present disclosure includes a processor; and at least one inertial sensor having a known physical relationship with a tracked object in a first pose, the at least one inertial sensor providing a measurement indicative of a movement of the tracked object from the first pose to a second pose, wherein the processor determines the second pose of the tracked object based, at least in part, on the measurement provided by the at least one inertial sensor.
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公开(公告)号：US20230245327A1
公开(公告)日：2023-08-03
申请号：US17591769
申请日：2022-02-03
Applicant: Mazor Robotics Ltd.
Inventor： Itamar Eshel , Ziv Seemann , Adi Sandelson , Gal Barazani , Nir Ofer
CPC classification number: G06T7/246 , G06T11/00 , A61B34/30 , A61B34/10 , G06T2207/10028 , G06T2207/30204 , A61B2034/105
Abstract: Methods, systems, and devices for robot integrated segmental tracking are described. A system determines first positional information of one or more objects based on three-dimensional first image data captured by an imaging device, tracking information associated with the one or more objects, or both. The first positional information includes a real-time location of the one or more objects. The system generates an image including a graphical representation of the one or more objects. Generating the image includes positioning the graphical representation of the one or more objects based on a comparison result indicative of a deviation between the first positional information and reference positional information of the one or more objects. The reference positional information includes a registered location of the one or more objects. The system outputs an indication of the deviation between the first positional information and the reference positional information.
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公开(公告)号：US20220257320A1
公开(公告)日：2022-08-18
申请号：US17179168
申请日：2021-02-18
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio , Nir Ofer , Adi Sandelson , Yair S. Schwartz , Gillan M. Grimberg , Nimrod Dori , Maor Sviri , Amir Keret , Ziv Seemann
IPC: A61B34/10 , A61B34/30 , A61B90/00 , A61B90/50 , A61B17/17 , G16H40/67 , G16H20/40 , G16H50/50 , G16H30/20 , G16H30/40 , G16H50/70 , G16H10/60 , G06F30/20 , G06T11/00
Abstract: A system for skive avoidance includes a sensor configured to measure a force exerted on a surgical tool; at least one processor; and a memory. The memory stores instructions for execution by the at least one processor that, when executed, cause the at least one processor to: project a tool trajectory onto a three-dimensional (3D) model of bone tissue; and estimate an expected normal force direction and magnitude upon contact of the surgical tool with the bone tissue.
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公开(公告)号：US20220183766A1
公开(公告)日：2022-06-16
申请号：US17490753
申请日：2021-09-30
Applicant: Mazor Robotics Ltd.
Inventor： Ziv Seemann , Adi Sandelson , Dor Kopito , Nimrod Dori , Gal Eshed , Dany Junio , Elad Ratzabi
Abstract: A method for determining a work volume includes receiving image information from an imaging device corresponding to an array of tracking markers fixed to a flexible mesh, the mesh placed over a patient and over at least one surgical instrument adjacent to or connected to the patient; determining a position of each tracking marker in the array of tracking markers based on the image information; defining a boundary for movement of a robotic arm based on determined tracking marker positions, such that the robotic arm does not contact the patient or the at least one surgical instrument during movement of the robotic arm; and controlling the robotic arm based on the defined boundary.
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Patent Agency Ranking
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
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.
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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
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.
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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
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.
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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
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.
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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
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.
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