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：US20230012440A1

公开(公告)日：2023-01-12

申请号：US17373541

申请日：2021-07-12

Applicant: Mazor Robotics Ltd.

Inventor： Ido Zucker ,  Avi Turgeman

IPC: G06K9/32 ,  G06T7/73 ,  G06T7/246 ,  A61B34/30 ,  A61B34/20

Abstract: Systems, devices, and methods for identifying a region of interest are provided. A plurality of skeletal landmarks may be identified from an image received from an imaging device. A pose of a patient may be determined based on the plurality of skeletal landmarks. A region of interest may be identified on the patient based on the determined pose. Instructions may be automatically provided to the controller to adjust a pose of a surgical instrument relative to the region of interest. The plurality of skeletal landmarks may be tracked for movement. The region of interest may be updated when movement of the plurality of skeletal landmarks is detected.

公开(公告)号：US20220151714A1

公开(公告)日：2022-05-19

申请号：US17476094

申请日：2021-09-15

Applicant: Mazor Robotics Ltd.

Inventor： Eli Zehavi ,  Moshe Shoham ,  Yonatan Ushpizin ,  Avi Turgeman

IPC: A61B34/30 ,  A61B17/02 ,  A61B34/20

Abstract: Systems and methods for robotic retraction of tissues in a surgical field. Two retractor mechanisms are used on either side of an incision. Each retractor is adapted to be held by a robotic arm, which applies force on the retractor mechanism to pull dissected tissue away from the incision, thus revealing the operative field. A force sensor is employed to measure the force on the retractor, an optional tracking sensor may be used to measure the extent of tissue retraction in two or three dimensions, and both sources of information provided to the robotic controller. By monitoring feedback from either the force sensor or the tracking sensor, the system is able to maintain equal retraction on both sides of the incision. The retractor elements incorporate mechanisms that move down the tissue as the retractors are pulled laterally.