公开(公告)号：US20230149082A1

公开(公告)日：2023-05-18

申请号：US17528063

申请日：2021-11-16

Applicant: Mazor Robotics Ltd.

Inventor： Eliyahu Zehavi ,  Yonatan Ushpizin ,  Ido Zucker ,  Avraham Turgeman ,  Elad Rotman ,  Adi Ess

IPC: A61B34/10 ,  A61B34/20 ,  A61B90/00

CPC classification number: A61B34/10 ,  A61B34/20 ,  A61B90/37 ,  A61B90/39 ,  A61B2034/102 ,  A61B2090/365 ,  A61B2090/363

Abstract: Systems, methods and devices for performing a surgical procedure using a virtual guide are provided. The system may include a display configured to display an augmented image in an environment. A surgical landmark may be tracked and a parameter of the surgical landmark may be determined. A virtual guide for presentation within the augmented image may be generated and the display may present the virtual guide within the augmented image.

公开(公告)号：US11141227B2

公开(公告)日：2021-10-12

申请号：US16068947

申请日：2017-01-11

Applicant: MAZOR ROBOTICS LTD.

Inventor： Moshe Shoham ,  Eliyahu Zehavi ,  Yossi Bar

IPC: A61B34/30 ,  A61B90/50 ,  A61F2/44 ,  A61F2/46 ,  A61B17/00 ,  A61B90/00 ,  A61F2/30

Abstract: A surgical robot system whose robotic arm is divided into two parts, and is connected to the patient at the junction of the two parts, by means of a bone connector. The section between the bone connector and the robotic base has a predetermined level of flexibility, enabling the bone connector limited movement. Consequently, the patient's body can also move without the bone connector exerting excess forces on the patient, and without detachment from the patient. The arm section between the bone connection link and the end actuator has high rigidity, such that the pose of the end actuator relative to the patient is accurately maintained. As the patient undergoes small movements, such as in breathing or coughing, the bone connector and base connection arm section, move together with motion of the patient's bone, while the pose of the end actuator relative to the patient is accurately maintained.

公开(公告)号：US20210186615A1

公开(公告)日：2021-06-24

申请号：US17130516

申请日：2020-12-22

Applicant: Mazor Robotics Ltd.

Inventor： Yizhaq Shmayahu ,  Eliyahu Zehavi ,  Yonatan Ushpizin ,  Noam Weiss

IPC: A61B34/10 ,  A61B34/30 ,  A61B34/20 ,  G06N20/00

Abstract: Systems and methods for monitoring a surgical procedure are provided. A coordinate system of a first robotic arm and a second robotic arm may be co-registered or correlated to each other. One or more poses of an imaging device may be determined to provide real-time intraoperative imaging of a region of interest during a surgical procedure. Anatomical elements may be identified in the real-time images of the region of interest from which a surgical tool should maintain a predetermined distance. The surgical tool may be prevented from approaching the identified anatomical elements by less than a predetermined distance using the co-registration of the coordinate systems.

公开(公告)号：US20250090262A1

公开(公告)日：2025-03-20

申请号：US18967313

申请日：2024-12-03

Applicant: Mazor Robotics Ltd.

Inventor： Ido Zucker ,  Yonatan Ushpizin ,  Eliyahu Zehavi

IPC: A61B90/00 ,  A61B17/56 ,  A61B17/70 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30

Abstract: Methods and systems for monitoring a rod reduction process is provided. The methods and systems include determining, based on at least one parameter, a threshold for forces exerted by a tool on a rod or a pedicle screw and receiving data corresponding to a magnitude of the forces exerted by the tool on the pedicle screw or the rod during reduction of the rod into a head of the pedicle screw. A surgical plan may be updated when the monitored magnitude meets the threshold.

公开(公告)号：US11759272B2

公开(公告)日：2023-09-19

申请号：US17493436

申请日：2021-10-04

Applicant: MAZOR ROBOTICS LTD.

Inventor： Victor D. Snyder ,  Matthew F. Dicorleto ,  Joseph Moctezuma ,  David E. Macht ,  Jeremiah R. Beers ,  Katherine M. Puckett ,  Katharine E. Darling ,  Leonid Kleyman ,  Dany Junio ,  Dana Gazit-Ankori ,  Eliyahu Zehavi ,  Elad Ratzabi ,  Aviv Ellman ,  Timothy M. Conkin

IPC: A61B34/30 ,  A61B90/00 ,  A61B34/20

CPC classification number: A61B34/30 ,  A61B90/37 ,  A61B2034/2072 ,  A61B2090/3983

Abstract: Disclosed is a system for assisting in guiding and performing a procedure on a subject. The subject may be any appropriate subject such as inanimate object and/or an animate object. The guide and system may include various manipulable or movable members, such as robotic systems, and may be registered to selected coordinate systems.

公开(公告)号：US20230270503A1

公开(公告)日：2023-08-31

申请号：US17591717

申请日：2022-02-03

Applicant: Mazor Robotics Ltd.

Inventor： Eliyahu Zehavi ,  Yonatan Ushpizin ,  Ido Zucker ,  Avraham Turgeman ,  Elad Rotman ,  Adi Ess

IPC: A61B34/20 ,  A61B34/30 ,  G06T7/73

CPC classification number: A61B34/20 ,  A61B34/30 ,  G06T7/73 ,  A61B2034/2048 ,  A61B2034/2057 ,  A61B2034/2065 ,  A61B2034/2068 ,  G06T2207/30204

Abstract: A system according to at least one embodiment of the present disclosure includes a processor; and a memory storing instructions thereon that, when executed by the processor, cause the processor to: receive, from an inertial sensor disposed proximate an anatomical element, a reading indicative of a first movement of the anatomical element; determine a second movement of a fiducial marker being positioned with a known physical relationship to the inertial sensor; and determine, based on the first movement and the second movement, a change in pose of the anatomical element.

公开(公告)号：US20230240749A1

公开(公告)日：2023-08-03

申请号：US17590025

申请日：2022-02-01

Applicant: Mazor Robotics Ltd.

Inventor： Amir Lev-Tov ,  Itay Ben Shushan ,  Eliyahu Zehavi

IPC: A61B34/10 ,  A61B34/32 ,  A61B34/00 ,  A61B5/00 ,  A61B90/00

CPC classification number: A61B34/10 ,  A61B34/32 ,  A61B34/25 ,  A61B5/4509 ,  A61B5/4566 ,  A61B90/37 ,  A61B2090/3762 ,  A61B2034/105

Abstract: A method of estimating bone mineral density according to at least one embodiment of the present disclosure includes receiving one or more images of an anatomical element; generating, based on the one or more images of the anatomical element, a three-dimensional mask for the anatomical element; generating, based on the three-dimensional mask for the anatomical element, a transformed three-dimensional mask for at least a portion of the anatomical element; filtering the one or more images of the anatomical element with the transformed three-dimensional mask for the at least a portion of the anatomical element; and determining, based on the filtering, a bone mineral density for the at least a portion of the anatomical element.

公开(公告)号：US11701186B2

公开(公告)日：2023-07-18

申请号：US17039597

申请日：2020-09-30

Applicant: MAZOR ROBOTICS LTD.

Inventor： Yossef Bar ,  Eliyahu Zehavi ,  Yonatan Ushpizin

IPC: A61B34/30 ,  A61B34/20 ,  A61B90/00 ,  A61B17/00

CPC classification number: A61B34/30 ,  A61B34/20 ,  A61B90/06 ,  A61B2017/00477 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2090/064

Abstract: A bone connection system for attaching a surgical robot having its base mounted in the vicinity of a patient, to a bone of the patient. The system incorporates a switchable bone connection unit attached between the bone and a support element of the robot. This unit has a locked state in which the bone is attached essentially rigidly to the support element, and a released state in which the bone can move relative to the support element. The unit comprises a force sensor for determining the force exerted between the bone and the support element of the robot, and a position sensor for measuring the position of the bone relative to the support element of said robot. The unit switches from its locked state to its released state when the force exceeds a predetermined level, selected to ensure that the bone can move without detaching any bone connection elements.

公开(公告)号：US20220241032A1

公开(公告)日：2022-08-04

申请号：US17575404

申请日：2022-01-13

Applicant: Mazor Robotics Ltd.

Inventor： Ido Zucker ,  Yizhaq Shmayahu ,  Yonatan Ushpizin ,  Eliyahu Zehavi ,  Dany Junio

IPC: A61B34/30 ,  A61B34/10 ,  A61B34/20

Abstract: Systems and methods for tracking a pose of a target and/or tracking the target is provided. A first robotic arm may be configured to orient a first imaging device and a second robotic arm may be configured to orient a second imaging device. The first robotic arm and the second robotic arm may operate in a shared or common coordinate space. A first image may be received from the first imaging device and a second image may be received from the second imaging device. The first image and the second image may depict at least one target. A pose of the at least one target may be determined in the coordinate space based on the first image, a corresponding first pose, the second image, and a corresponding second pose.

公开(公告)号：US20220192773A1

公开(公告)日：2022-06-23

申请号：US17526873

申请日：2021-11-15

Applicant: Mazor Robotics Ltd.

Inventor： Ido Zucker ,  Yonatan Ushpizin ,  Eliyahu Zehavi

IPC: A61B90/00 ,  A61B17/70 ,  A61B34/30 ,  A61B34/10

Abstract: Methods and systems for monitoring a rod reduction process is provided. The methods and systems include determining, based on at least one parameter, a threshold for forces exerted by a tool on a rod or a pedicle screw and receiving data corresponding to a magnitude of the forces exerted by the tool on the pedicle screw or the rod during reduction of the rod into a head of the pedicle screw. A surgical plan may be updated when the monitored magnitude meets the threshold.