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：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

IPC: A61B17/88 ,  B21D7/12 ,  B21D7/14 ,  A61B5/00 ,  A61B5/107 ,  A61B34/10 ,  A61B17/70 ,  A61B17/00

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.

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

IPC: A61B17/16 ,  A61B34/30 ,  A61B90/00

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.

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

IPC: A61G13/02 ,  A61G13/10 ,  A61B34/20 ,  A61B34/37 ,  A61G99/00

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.

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

IPC: A61B6/00 ,  G06T5/50 ,  G06T5/00

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.

公开(公告)号：US11564700B2

公开(公告)日：2023-01-31

申请号：US17163951

申请日：2021-02-01

Applicant: Mazor Robotics Ltd.

Inventor： Eitan Detinis

IPC: A61B17/16 ,  A61B34/30 ,  A61B90/00 ,  A61B17/00 ,  A61M39/22

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.

公开(公告)号：US20220401056A1

公开(公告)日：2022-12-22

申请号：US17353342

申请日：2021-06-21

Applicant: Mazor Robotics Ltd.

Inventor： Ido Zucker ,  Avi Turgeman ,  Yonatan Ushpizin ,  Eli Zehavi ,  Eitan Detinis

IPC: A61B6/00 ,  A61B6/06

Abstract: A system according to at least one embodiment of the present disclosure includes an imaging source; an imaging detector; a sensor coupled to at least one of the imaging source and imaging detector; and a controller that adjusts a relative position of the imaging source and the imaging detector based on an output of the sensor.

公开(公告)号：US20220378521A1

公开(公告)日：2022-12-01

申请号：US17331081

申请日：2021-05-26

Applicant: Mazor Robotics Ltd.

Inventor： Avi Turgeman ,  Yonatan Ushpizin ,  Eli Zehavi ,  Ido Zucker

IPC: A61B34/30 ,  G06F3/01 ,  G06T7/50 ,  A61B34/00 ,  A61B17/86

Abstract: A system according to at least one embodiment of the present disclosure includes an imaging source; an imaging detector; a depth sensor; and a controller, where the controller receives image information from the depth sensor, determines a gesture in relation to a working volume, and moves the imaging source and the imaging detector relative to the working volume based on the gesture.

公开(公告)号：US20220346882A1

公开(公告)日：2022-11-03

申请号：US17713873

申请日：2022-04-05

Applicant: Mazor Robotics Ltd.

Inventor： Eli Zehavi ,  Yonatan Ushpizin ,  Ido Zucker ,  Adi Ess

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

Abstract: A system comprises a robotic arm in a robotic arm coordinate system, a camera in a fixed pose in a navigation coordinate system, at least one processor, and memory including instructions that when executed by the at least one processor, cause the at least one processor to determine a pose of the robotic arm within the navigation coordinate system, map the robotic arm coordinate system to the navigation coordinate system based on the pose of the robotic arm, and control, based on output of the camera, the robotic arm in the navigation coordinate system.

公开(公告)号：US20220257320A1

公开(公告)日：2022-08-18

申请号：US17179168

申请日：2021-02-18

Applicant: Mazor Robotics Ltd.

Inventor： Dany Junio ,  Nir Ofer ,  Adi Sandelson ,  Yair S. Schwartz ,  Gillan M. Grimberg ,  Nimrod Dori ,  Maor Sviri ,  Amir Keret ,  Ziv Seemann

IPC: A61B34/10 ,  A61B34/30 ,  A61B90/00 ,  A61B90/50 ,  A61B17/17 ,  G16H40/67 ,  G16H20/40 ,  G16H50/50 ,  G16H30/20 ,  G16H30/40 ,  G16H50/70 ,  G16H10/60 ,  G06F30/20 ,  G06T11/00

Abstract: A system for skive avoidance includes a sensor configured to measure a force exerted on a surgical tool; at least one processor; and a memory. The memory stores instructions for execution by the at least one processor that, when executed, cause the at least one processor to: project a tool trajectory onto a three-dimensional (3D) model of bone tissue; and estimate an expected normal force direction and magnitude upon contact of the surgical tool with the bone tissue.