公开(公告)号：US20240390015A1

公开(公告)日：2024-11-28

申请号：US18792133

申请日：2024-08-01

Applicant: Mazor Robotics Ltd.

Inventor： Eli Zehavi ,  Arik Levy

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

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.

公开(公告)号：US12048497B2

公开(公告)日：2024-07-30

申请号：US17569957

申请日：2022-01-06

Applicant: Mazor Robotics Ltd.

Inventor： Dany Junio ,  Aviv Ellman ,  Eli Zehavi ,  Moshe Shoham ,  Yonatan Ushpizin ,  Ido Zucker ,  Elad Ratzabi ,  Gillan Grimberg ,  Nir Ofer ,  Yair Schwartz ,  Nimrod Dori

IPC: A61B34/30 ,  A61B17/00 ,  A61B17/17 ,  A61B34/10 ,  A61B90/00 ,  G16H20/40 ,  G16H40/63

CPC classification number: A61B34/30 ,  A61B17/17 ,  G16H20/40 ,  G16H40/63 ,  A61B2017/0003 ,  A61B17/1757 ,  A61B2034/107 ,  A61B2090/062 ,  A61B2090/064 ,  A61B2562/0204

Abstract: Methods and systems for providing a safety mechanism for a robotically controlled surgical tool. Embodiments of the methods use sensors to detect parameters that vary by the tissue traversed by a surgical tool. The sensors detect signals arising from the interaction of the surgical tool with the tissue and provide this information to a robotic controller. For example, during drilling, the sensors may measure power, vibration, sound frequency, mechanical load, electrical impedance, and distance traversed according to preoperative measurements on a three-dimensional image set used for planning the tool trajectory. By comparing the detected output with that expected for the tool position based on the planned trajectory, identified discrepancies in output would indicate that the tool has veered from the planned trajectory. The robotic controller may then alter the tool trajectory, change the speed of the tool, or discontinue power to the tool, thereby preventing damage to underlying tissue.

公开(公告)号：US20240173082A1

公开(公告)日：2024-05-30

申请号：US18434229

申请日：2024-02-06

Applicant: Mazor Robotics Ltd.

Inventor： Dany JUNIO ,  Kornelis POELSTRA

IPC: A61B34/20 ,  A61B17/16 ,  A61B34/30 ,  A61B90/00 ,  A61B90/11 ,  B23B49/00

CPC classification number: A61B34/20 ,  A61B34/30 ,  A61B90/06 ,  A61B90/11 ,  B23B49/005 ,  A61B17/1615 ,  A61B2034/2055 ,  A61B2090/062 ,  A61B2090/3937 ,  B23B2260/0482

Abstract: A depth-indicating device for determining the depth of insertion of a surgical tool comprising a pair of spaced apart end caps, separated by a compressed spring, with the surgical tool passing through axial openings in both end caps, and firmly attached to one of the end caps, but free to slide through the opening in the other. A guide tube is attached to the second endcap, such that the surgical tool can be guided to its operating position on a body part. The second end cap and guide tube are attached to a location having a known position relative to the body part. A tracking marker is attached to the first end cap such that its longitudinal position can be tracked using a remote racking camera. Since the surgical tool is attached to the first end cap, the tool position is also tracked by the tracking system.

公开(公告)号：US20240164969A1

公开(公告)日：2024-05-23

申请号：US18425956

申请日：2024-01-29

Applicant: Mazor Robotics Ltd.

Inventor： Roy K. Lim ,  Arik A. Levy ,  Katharine E. Darling ,  Mark C. Dace ,  Yonatan Ushpizin

IPC: A61G13/10 ,  A61G13/06 ,  B25J5/00

CPC classification number: A61G13/104 ,  A61G13/06 ,  B25J5/007 ,  A61B34/30

Abstract: A surgical platform and trolley assembly and an interface of a robotic system are provided. The surgical platform and trolley assembly includes a trolley portion and a surgical platform portion. The trolley portion supports the surgical platform portion, and affords positioning and repositioning of the surgical platform portion relative to the interface of the robotic system. An end portion of the surgical platform portion is attachable relative to the robotic system via engagement to the interface.

公开(公告)号：US20240164848A1

公开(公告)日：2024-05-23

申请号：US18429665

申请日：2024-02-01

Applicant: Mazor Robotics Ltd.

Inventor： Victor D. SNYDER ,  Matthew F. DICORLETO ,  Joseph MOCTEZUMA ,  David E. MACHT ,  Jeremiah R. BEERS ,  Katherine M. PUCKETT ,  Katharine Elizabeth DARLING ,  Leonid KLEYMAN ,  Dany JUNIO ,  Dana GAZIT-ANKORI ,  Eliyahu ZEHAVI ,  Elad RATZABI ,  Aviv ELLMAN ,  Timothy M. CONKIN

IPC: A61B34/20 ,  A61B5/06 ,  A61B34/30 ,  G06T7/32

CPC classification number: A61B34/20 ,  A61B5/061 ,  A61B34/30 ,  G06T7/32 ,  A61B2034/2051 ,  A61B2034/2059 ,  G05B2219/39401

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：US20240130811A1

公开(公告)日：2024-04-25

申请号：US17972191

申请日：2022-10-23

Applicant: Mazor Robotics Ltd.

Inventor： Itamar Eshel ,  Hay Shmulevich ,  Jaffar Hleihil ,  Dvir Kadshai

IPC: A61B34/32

CPC classification number: A61B34/32 ,  A61B2034/305

Abstract: Systems and methods for determining a safety layer for an anatomical element are provided. A cutting tool contacting the anatomical element at a first surface may be detected and dimensional information about the anatomical element may be received. A safety layer may be determined for the anatomical element based on the dimensional information and the detected contact between the cutting tool and the anatomical element at the first surface.

公开(公告)号：US20240071025A1

公开(公告)日：2024-02-29

申请号：US17900157

申请日：2022-08-31

Applicant: Mazor Robotics Ltd.

Inventor： Dany JUNIO

IPC: G06V10/25 ,  G06T7/70

CPC classification number: G06V10/25 ,  G06T7/70

Abstract: An imaging system and method of acquiring image data is disclosed. The imaging system is operable to acquire and/or generate image data at positions relative to a subject. The imaging system includes a drive system configured to move the imaging system.

公开(公告)号：US20240024028A1

公开(公告)日：2024-01-25

申请号：US17870242

申请日：2022-07-21

Applicant: Mazor Robotics Ltd.

Inventor： Gal Barazani ,  Nir Ofer ,  Itay Jerby ,  Ofir Dahan ,  Mark Raikhman

IPC: A61B34/10 ,  A61B34/20 ,  A61B34/00 ,  B25J9/16

CPC classification number: A61B34/10 ,  A61B34/20 ,  A61B34/70 ,  B25J9/1697 ,  B25J9/1692 ,  B25J9/1682 ,  A61B2034/107 ,  A61B2034/2065

Abstract: Systems and methods for verifying a pose of a target may include causing a robotic arm to contact a target with a verification tool to yield first pose information of the target and receiving second pose information of the target. The pose of the target may be verified based on the first pose information and the second pose information.

公开(公告)号：US11847809B2

公开(公告)日：2023-12-19

申请号：US17373541

申请日：2021-07-12

Applicant: Mazor Robotics Ltd.

Inventor： Ido Zucker ,  Avi Turgeman

IPC: A61B34/20 ,  G06T7/73 ,  G06V10/25 ,  A61B34/30 ,  G06T7/246 ,  A61B90/00

CPC classification number: G06V10/25 ,  A61B34/20 ,  A61B34/30 ,  G06T7/246 ,  G06T7/73 ,  A61B2034/2057 ,  A61B2034/2065 ,  A61B2090/363 ,  G06T2207/10028 ,  G06T2207/30012 ,  G06T2207/30196 ,  G06T2207/30204 ,  G06V2201/033

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：US20230316599A1

公开(公告)日：2023-10-05

申请号：US18203463

申请日：2023-05-30

Applicant: Mazor Robotics Ltd.

Inventor： Noam Weiss ,  Ben Yosef Hai Ezair

IPC: G06T11/00 ,  A61B6/02

CPC classification number: G06T11/005 ,  A61B6/027

Abstract: Systems, methods, and devices for generating a corrected image are provided. A first robotic arm may be configured to orient a source at a first pose and a second robotic arm may be configured to orient a detector at a plurality of second poses. An image dataset may be received from the detector at each of the plurality of second poses to yield a plurality of image datasets. The plurality of datasets may comprise an initial image having a scatter effect. The plurality of image datasets may be saved. A scatter correction may be determined and configured to correct the scatter effect. The correction may be applied to the initial image to correct the scatter effect.