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：US20230270511A1

公开(公告)日：2023-08-31

申请号：US18041046

申请日：2021-08-25

Applicant: Mazor Robotics Ltd.

Inventor： Dany Junio

IPC: A61B34/30 ,  B25J9/16 ,  A61B34/20

CPC classification number: A61B34/30 ,  B25J9/1682 ,  B25J9/1692 ,  B25J9/1697 ,  A61B34/20 ,  A61B2034/2057 ,  A61B2090/3945

Abstract: A registration method involves receiving image information corresponding to an anatomical element of a patient; receiving sensor information about a simultaneous pose of each of a patient reference frame, a first robot, and a second robot; determining, based on the image information and the sensor information, a correlation among a patient coordinate system, a first coordinate system of the first robot, and a second coordinate system of the second robot; and controlling movement of the first robot and the second robot within a common work volume based on the correlation.

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：US20230255699A1

公开(公告)日：2023-08-17

申请号：US18003147

申请日：2021-06-30

Applicant: Mazor Robotics Ltd.

Inventor： Aviv Ellman ,  Dany Junio ,  Katherine M. Puckett

IPC: A61B34/30 ,  A61B34/20

CPC classification number: A61B34/30 ,  A61B34/20 ,  A61B2034/305 ,  A61B2034/2059

Abstract: A robotic navigation system includes a robot base (140); a robotic arm (144) comprising a proximal portion secured to the robot base, a distal portion movable relative to the proximal portion, and a tracking marker (156) secured to the robotic arm proximate the distal portion; at least one processor; a navigation system including a tracking marker sensor configured to identify positions of the tracking marker in a first coordinate space; and a memory. The memory stores instructions that cause the at least one processor to: cause the robotic arm (144) to move to a plurality of different poses; receive information relating to a position of the tracking marker (156) in a second coordinate space when the robotic arm is in each of the plurality of different poses; and compare the positions of the tracking marker in the first coordinate space to the positions of the tracking marker in the second coordinate space.

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：US20230240755A1

公开(公告)日：2023-08-03

申请号：US17591863

申请日：2022-02-03

Applicant: Mazor Robotics Ltd.

Inventor： Ofir Dahan ,  Nir Ofer ,  Yair S. Schwartz ,  Gal Barazani ,  Maor Sviri ,  Itay Jerby

IPC: A61B34/20 ,  A61B34/30 ,  A61B90/00 ,  G06T7/00 ,  G06T7/38 ,  G06T7/11 ,  G16H30/20

CPC classification number: A61B34/20 ,  A61B34/30 ,  A61B90/39 ,  G06T7/0012 ,  G06T7/38 ,  G06T7/11 ,  G16H30/20 ,  A61B2034/2065 ,  A61B2034/2068 ,  A61B2090/3916 ,  A61B2090/3945 ,  A61B2090/3954 ,  A61B2090/3966 ,  A61B2090/3979 ,  A61B2090/3983 ,  G06T2207/10116 ,  G06T2207/30012

Abstract: Systems and methods for registering one or more anatomical elements are provided. The system may comprise an imaging device and a navigation system configured to track a pose of a marker coupled to an object and configured to identify the marker. A first image may be received from a surgical plan. Pose information describing the pose of the marker and a marker identification of the marker may be obtained from the navigation system. An object identification based on the marker identification may be retrieved from a database. Image data of a second image depicting an anatomical element and the object may be obtained from the imaging device. The image data, the pose information, and the object identification may be input into a registration model. The registration model may be configured to register the anatomical element to the first image based on the pose information and the object identification.

公开(公告)号：US20230240754A1

公开(公告)日：2023-08-03

申请号：US17591004

申请日：2022-02-02

Applicant: Mazor Robotics Ltd.

Inventor： Elad Rotman ,  Eitan Detinis ,  Noam Weiss ,  Adi Ess ,  Ido Zucker

IPC: A61B34/20 ,  A61B34/32 ,  A61B8/00 ,  A61B17/32

CPC classification number: A61B34/20 ,  A61B34/32 ,  A61B8/461 ,  A61B8/4218 ,  A61B17/32 ,  A61B2034/2063

Abstract: A robotic surgical system according to at least one embodiment of the present disclosure includes a first robot arm coupled to a second robot arm, where a surgical tool is attached to the first robot arm and an ultrasonic sensor is attached to the second robot arm. Accordingly, when the first robot arm is moved to position the surgical tool adjacent a target site of a patient, the second robot arm is also moved to position the ultrasonic sensor adjacent the surgical tool and the target site. In some examples, images generated by the ultrasonic sensor may be used to determine layers of fascia of the patient at the target site. Subsequently, the surgical tool may move through the layers of fascia while continuing to receive real-time images of the tissue displacement instrument relative to the target site from the ultrasonic sensor.

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.