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    SURGICAL CLEANING TOOL, SYSTEMS, AND METHODS
    13.
    发明公开
    SURGICAL CLEANING TOOL, SYSTEMS, AND METHODS 审中-公开

    公开(公告)号：US20240008953A1

    公开(公告)日：2024-01-11

    申请号：US18371914

    申请日：2023-09-22

    Applicant: Mazor Robotics Ltd.

    Inventor： Arik Levy ,  Eli Zehavi

    IPC: A61B90/70 ,  B08B9/045 ,  B08B9/047 ,  B08B9/057 ,  A61F13/00

    CPC classification number: A61B90/70 ,  B08B9/045 ,  B08B9/047 ,  B08B9/057 ,  A61F13/00068 ,  A61B34/30

    Abstract: A surgical tool, systems, and method for cleaning an anatomical space is provided. At least one brush is disposed on a shaft extending through a tube. The tube includes a corresponding brush slot for each brush. A motor is operable to rotate the shaft to cause the at least one brush to move from a closed position to a cleaning position. The at least one brush is positioned entirely inside of the tube when in the closed position and at least partially outside of the tube when in the cleaning position. A fluid source is operable to supply fluid to the at least one brush as the at least one brush passes through the brush slot.

    SYSTEM FOR POSITION AND PROCESS VERIFICATION IN COMPUTER ASSISTED SURGERY
    15.
    发明申请
    SYSTEM FOR POSITION AND PROCESS VERIFICATION IN COMPUTER ASSISTED SURGERY 有权

    公开(公告)号：US20220175462A1

    公开(公告)日：2022-06-09

    申请号：US17526967

    申请日：2021-11-15

    Applicant: Mazor Robotics Ltd.

    Inventor： Avi Turgeman ,  Moshe Shoham ,  Eli Zehavi

    IPC: A61B34/20 ,  A61B34/00 ,  A61B34/30 ,  A61B34/10 ,  A61B5/0205

    Abstract: Systems and methods for accurate determination of the position of an anatomic part of a subject in robotic assisted image-based surgery, using an inertial measurement unit (IMU) to determine the position and orientation of the anatomical part of the subject. The intrinsic drift of the IMU, which would make the IMU position measurements inaccurate, can be reset to zero regularly, at points of time when the subject's body is stationary. This can be achieved when motion from the subject's breathing and from the heartbeat are essentially zero. Such positions occur respectively when the respiratory signal shows the position of the breathing cycle to be at the end of the expiration phase, and the heartbeat signal represents a time in the diastole period of the subject's electrocardiographic cycle. When these two signal moments coincide, the IMU is essentially stationary, and its drift reset to zero.

    AUTOMATED ROBOTIC RETRACTOR
    18.
    发明申请
    AUTOMATED ROBOTIC RETRACTOR 有权

    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.

    DRILLING TOOL, SYSTEMS, AND METHODS
    19.
    发明申请
    DRILLING TOOL, SYSTEMS, AND METHODS 有权

    公开(公告)号：US20210386433A1

    公开(公告)日：2021-12-16

    申请号：US17339708

    申请日：2021-06-04

    Applicant: Mazor Robotics Ltd.

    Inventor： Eli Zehavi ,  Arik Levy

    IPC: A61B17/16 ,  A61M29/00 ,  A61B17/3209 ,  A61B34/30

    Abstract: A surgical tool comprises a dilator, a cutter, a retractable brush, and at least one retractable drill. The dilator is configured to dilate tissue of a patient and can be positioned in an undilated configuration or a dilated configuration. The cutter is configured to cut the tissue and is disposed at a distal end of the dilator. The cutter is configured to move between a cutting position when the dilator is in the undilated configuration and a non-cutting position when the dilator is in the dilated configuration. The retractable brush is configured to brush a surface of an anatomical element of the patient to remove matter from the surface. The at least one retractable drill is configured to drill into the anatomical element.

    Cranial insertion placement verification
    20.
    发明授权
    Cranial insertion placement verification 有权

    公开(公告)号：US10939962B1

    公开(公告)日：2021-03-09

    申请号：US15089704

    申请日：2016-04-04

    Applicant: Mazor Robotics Ltd.

    Inventor： Aviv Ellman ,  Eli Zehavi

    IPC: A61B34/20 ,  A61B90/00 ,  A61N1/05

    Abstract: A system and method for verifying the accurate insertion positioning of a robotically guided surgical tool or probe, at its cranial target region, such as for Deep Brain Stimulation. A head mounted robot aligns a probe or tool guiding sleeve, together with an aiming rod attached at a predefined position and angle to the guiding sleeve. The aiming rod incorporates apertures through which an X-ray system can view the patient's skull. The aiming rod is attached to the tool guiding sleeve at an angle and position calculated such that the line of sight through the apertures falls exactly on the target region when the tool or probe is inserted to its predetermined depth. If the tip of the tool or probe is seen located at the center of the apertures in the X-ray image, verification is obtained that the insertion procedure has been performed accurately.

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