公开(公告)号：US12094128B2

公开(公告)日：2024-09-17

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

IPC: G06K9/00 ,  A61B34/10 ,  A61B34/30 ,  G06T7/246 ,  G06T11/00

CPC classification number: G06T7/246 ,  A61B34/10 ,  A61B34/30 ,  G06T11/00 ,  A61B2034/105 ,  G06T2207/10028 ,  G06T2207/30204

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.

公开(公告)号：US20220322973A1

公开(公告)日：2022-10-13

申请号：US17225382

申请日：2021-04-08

Applicant: Mazor Robotics Ltd.

Inventor： Ziv Seemann ,  Gal Barazani ,  Bat-el Kagan ,  Amir Keret ,  Adi Sandelson

IPC: A61B5/11 ,  A61B5/00

Abstract: Systems and methods for monitoring patient movement are provided. A first dataset containing information about a first tracking device and a second tracking device may be received. A second dataset containing information about the first tracking device and the second tracking device may be received. The first dataset and the second dataset may be compared to determine if a relative pose of the first tracking device and the second tracking device has changed. A notification may be generated when the relative pose of the first tracking device and the second tracking device has changed.

公开(公告)号：US20220241033A1

公开(公告)日：2022-08-04

申请号：US17580298

申请日：2022-01-20

Applicant: Mazor Robotics Ltd.

Inventor： Adi Sandelson ,  Dor Kopito ,  Nimrod Dori ,  Gal Eshed ,  Elad Ratzabi ,  Amir Keret ,  Ziv Seemann ,  Yvan Paitel ,  Nicholas J. Rawluk ,  Dany Junio

IPC: A61B34/30

Abstract: A robotic navigation system includes a robot base; a robotic arm with a proximal end secured to the robot base, a distal end movable relative to the proximal end, and one or more arm segments between the proximal end and the distal end; a base set of tracking markers secured to the robot base; and at least one additional set of tracking markers secured to the robotic arm.

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

IPC: G06T7/246 ,  G06T11/00 ,  A61B34/30 ,  A61B34/10

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.

公开(公告)号：US20230240774A1

公开(公告)日：2023-08-03

申请号：US17590891

申请日：2022-02-02

Applicant: Mazor Robotics Ltd.

Inventor： Adi Sandelson ,  Nimrod Dori

IPC: A61B34/32

CPC classification number: A61B34/32

Abstract: Systems and methods according to embodiments of the present disclosure include: receiving registration data including information about a location of an anatomical element in a surgical environment; defining, based on the registration data, a three-dimensional (3D) volume in the surgical environment including the anatomical element; and controlling a robotic arm inside the surgical environment based on the defined 3D volume such that at least the robotic arm or one or more components attached to the robotic arm avoids passing through the defined 3D volume during a movement of the robotic arm.

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.

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

IPC: A61B34/20 ,  A61B34/30

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.