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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
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.
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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.
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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
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.
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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
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.
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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
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.
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Patent Agency Ranking
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
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.
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公开(公告)号：US11696788B2
公开(公告)日：2023-07-11
申请号：US16726720
申请日：2019-12-24
Applicant: MAZOR ROBOTICS LTD.
Inventor： Edo Zucker , Moshe Shoham
CPC classification number: A61B17/8863 , A61B5/0036 , A61B5/107 , A61B34/10 , B21D7/12 , B21D7/14 , A61B17/70 , A61B17/7002 , A61B2017/00526 , A61B2034/108
Abstract: A system for rod bending for use in robotic spinal surgery, enabling the correct bending of a fusion rod to match the shape required to accurately pass through the heads of the pedicle screws. The system uses data generated by information provided to the robot by the surgeon's preoperative plan, optionally augmented by feedback from the robot control system of deviations encountered intraoperatively. Such deviations could occur, for example, when the surgeon decides intraoperatively on a different trajectory or even to skip screws on one vertebra, in which case, the robot will be commanded to perform the alternative procedure, with commensurate instructions relayed to the control system of the rod-bending machine. The system is also able to thin down the rod at predetermined locations along its length, adapted to be at selected intervertebral locations, for maintaining limited flexibility between vertebrae, instead of fixating them.
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公开(公告)号：US20230172619A1
公开(公告)日：2023-06-08
申请号：US18160252
申请日：2023-01-26
Applicant: Mazor Robotics Ltd.
Inventor： Eitan Detinis
CPC classification number: A61B17/1644 , A61B34/30 , A61B90/03 , A61B17/1626 , A61B17/1628 , A61B2090/064 , A61B2017/00123
Abstract: Devices, systems, and methods for drilling an anatomical element are provided. A drill bit may comprise a coaxial hollow shaft in communication with a plurality of apertures disposed on a surface of the drill bit. A fluid inlet may be in fluid communication with the coaxial hollow shaft via a selectively openable valve. The fluid inlet may be configured to receive pressurized fluid. When the valve is opened, the pressurized fluid may be released into the coaxial hollow shaft, and when at least one of the plurality of apertures is not blocked, the pressurized fluid may be released through the at least one aperture of the plurality of apertures.
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公开(公告)号：US11596567B2
公开(公告)日：2023-03-07
申请号：US17063299
申请日：2020-10-05
Applicant: MAZOR ROBOTICS LTD.
Inventor： Yonatan Ushpizin , Arik Levy
Abstract: Methods and systems for determining and maintaining a center of rotation are provided. A center of rotation may be determined based on first information about a robotic region of interest of a robot and second information about a patient region of interest. An operating table having multiple degrees of freedom may be caused to rotate about the center of rotation from a first position to a second position. A control system may be caused to control the robot based on the operating table being in the second position.
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公开(公告)号：US20230069629A1
公开(公告)日：2023-03-02
申请号：US17464445
申请日：2021-09-01
Applicant: Mazor Robotics Ltd.
Inventor： Noam Weiss
Abstract: Systems, methods, and devices for capturing a single image with multiple exposures is provided. An imaging device may be provided comprising a source configured to emit a wave for a time period and a detector configured to receive a signal indicative of the wave. A wave may be emitted for a time period and a signal may be received indicative of the emitted wave. A first image dataset may be saved with a first timestamp referencing a first time within the time period. A second image dataset may be saved with a second timestamp referencing a second time within the time period. The second time may occur after the first time.
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