公开(公告)号：US20220104878A1

公开(公告)日：2022-04-07

申请号：US17375834

申请日：2021-07-14

Applicant: Mazor Robotics Ltd.

Inventor： Noam Weiss ,  Yizhaq Shmayahu

IPC: A61B34/10 ,  A61B34/30 ,  A61B8/08 ,  A61B8/00 ,  G16H20/40 ,  G16H40/63 ,  G16H30/20 ,  B25J9/00 ,  B25J9/16 ,  G01S17/894

Abstract: A method, device, and system for obtaining time of flight images is provided. A surgical plan may be received and a first path for a first robotic arm and a second path for a second robotic arm may be determined based on the surgical plan. The first robotic arm may be caused to move on the first path and may be configured to hold a transducer. The second robotic arm may be caused to move on the second path and may be configured to hold a receiver. At least one image may be received from the receiver, the image depicting patient anatomy and generated using time-of-flight measurements.

公开(公告)号：US20220079704A1

公开(公告)日：2022-03-17

申请号：US17464356

申请日：2021-09-01

Applicant: Mazor Robotics Ltd.

Inventor： Dany Junio

IPC: A61B90/00 ,  A61B34/00

Abstract: A system and method for generating a corrected image is provided. A plurality of poses for an imaging device may be calculated based on information about an object within a patient's anatomy. An image may be received from the imaging device at each pose of the plurality of poses to yield an image set. Each image may depict at least a portion of an anatomical element of the patient and an object. A set of saturated areas in which the object has caused saturated attenuation, and a set of unsaturated areas in which the object has not caused saturated attenuation may be identified in the images of the image set. A corrected image may be generated by combining data from the set of unsaturated areas, the corrected image depicting the anatomical feature with fewer than all of the saturated areas in the set of saturated areas.

公开(公告)号：US20220031399A1

公开(公告)日：2022-02-03

申请号：US17357659

申请日：2021-06-24

Applicant: Mazor Robotics Ltd.

Inventor： Shmuel Azulay ,  Moshe Shoham

IPC: A61B34/20 ,  A61B34/30 ,  A61B17/02 ,  A61B90/50

Abstract: Systems and methods for retractor interference avoidance is provided. At least one retractor includes a base and one or more elongate members extending from the base. The one or more elongate members are movable. A position of the at least one retractor may be determined and a trajectory of a surgical device may be received. At least one elongate member of the one or more elongate members positioned to interfere with movement of the device along a trajectory may be identified based on the position of the retractor and the trajectory of the surgical device.

公开(公告)号：US20220031370A1

公开(公告)日：2022-02-03

申请号：US16944553

申请日：2020-07-31

Applicant: MAZOR ROBOTICS LTD.

Inventor： Eli Zehavi ,  Yonatan Ushpizin ,  Aviv Ellman ,  Dany Junio ,  Elad Ratzabi ,  Yair Schwartz ,  Yuval Chen

IPC: A61B17/70 ,  A61B90/57 ,  A61B90/00 ,  A61B34/20

Abstract: A spinal stabilization system includes a plurality of anchors and at least one bridge. Each anchor includes a clamp configured to engage an anatomical element, the clamp movable between a fully open position and a fully closed position; a locking screw configured to selectively prevent the clamp from being moved into the fully open position; and a bridge interface. The at least one bridge is a rigid member having a first end and a second end opposite the first end, each of the first end and the second end having an anchor interface. The bridge interface is configured to receive the anchor interface.

公开(公告)号：US20210393337A1

公开(公告)日：2021-12-23

申请号：US16903596

申请日：2020-06-17

Applicant: MAZOR ROBOTICS LTD.

Inventor： Ido Zucker

IPC: A61B34/00 ,  G01L5/26 ,  A61B17/88 ,  A61B34/10 ,  A61B17/86 ,  A61B17/16

Abstract: A surgical system includes a power tool that generates torque; a torque sensor for measuring a torque characteristic of the power tool; a user interface; 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: receive torque data from the torque sensor, the torque data corresponding to the measured torque characteristic; evaluate the torque data; and execute a predetermined action based on the evaluation.

公开(公告)号：US20210321971A1

公开(公告)日：2021-10-21

申请号：US16854011

申请日：2020-04-21

Applicant: MAZOR ROBOTICS LTD.

Inventor： Dany Junio

IPC: A61B6/00 ,  A61B6/04 ,  G06T7/00

Abstract: A method of positioning an imaging device relative to a patient, comprising positioning a reference marker adjacent a desired field of scan corresponding to an anatomical element of a patient; and causing an imaging device to align with the reference marker, based on tracking information received from a navigation system, the tracking information corresponding to the reference marker and a navigated tracker disposed on the imaging device.

公开(公告)号：US20210007778A1

公开(公告)日：2021-01-14

申请号：US16500347

申请日：2018-04-02

Applicant: MAZOR ROBOTICS LTD.

Inventor： Moshe SHOHAM

IPC: A61B17/34 ,  A61B34/30 ,  A61B34/32 ,  A61B34/20 ,  B33Y30/00 ,  B33Y80/00 ,  B33Y50/02 ,  B33Y10/00

Abstract: A minimally invasive system using a surgical robot as a three-dimensional printer for fabrication of biological tissues inside the body of a subject. A preoperative plan is used to direct and control both the motion of the robot and the robotic bio-ink extrusion. The robotic motion is coordinated with the ink extrusion to form layers having the desired thickness and dimensions, and use of different types of ink enables composite elements to be laid down. Such systems have a small diameter bio-ink ejecting mechanism, generally in the form of a piston driven cannula, enabling access to regions such as joints, with limited space. The robotic control is programmed such that angular motion takes place around a pivot point at the point of insertion into the subject. The bio-inks can be stored in predetermined layers in the cannula to enable sequential dispensing from one cannula.

公开(公告)号：US10849691B2

公开(公告)日：2020-12-01

申请号：US16312296

申请日：2017-06-23

Applicant: MAZOR ROBOTICS LTD.

Inventor： Edo Zucker ,  Moshe Shoham ,  Yuval Chen

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

Abstract: A system and method for the minimally invasive insertion of an intervertebral rod into the vertebrae of a subject, according to a preoperative surgical plan also defining positions for the insertion of rod clamping screws into the vertebrae. The rod shape for connecting the heads of the screws is calculated, and a path planning algorithm used to determine whether the distal end of the rod can be threaded through the screw heads by longitudinal and rotational manipulation of the proximal end of the rod. If so, instructions are provided for forming that rod shape and for the robotic insertion of the screw holes and the rod. If not, either or both of the screw positions and the rod shape are adjusted, to moderate the bends in the rods, until insertion becomes possible. The insertion can be performed robotically, or, if a navigation tracking system is added, manually.

公开(公告)号：US10806527B2

公开(公告)日：2020-10-20

申请号：US15104529

申请日：2014-12-15

Applicant: Mazor Robotics Ltd.

Inventor： Yossi Bar ,  Eliyahu Zehavi ,  Yonatan Ushpizin

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

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：US10777315B2

公开(公告)日：2020-09-15

申请号：US15765720

申请日：2016-10-13

Applicant: MAZOR ROBOTICS LTD.

Inventor： Eliyahu Zehavi ,  Yossi Bar ,  Shlomit Steinberg ,  Leonid Kleyman ,  Isador Lieberman

IPC: G16H20/40 ,  G16H30/40 ,  A61B34/10 ,  A61B6/03 ,  A61B6/00 ,  G06T7/00 ,  G06T7/73 ,  G06T7/11 ,  G06T7/70 ,  G16H50/50 ,  G16H50/20

Abstract: A method of planning the correction of spinal deformations of a subject, by performing segmentation on a three dimensional image of the subject's spine in its erect neutral position, such that the positions and orientations of the vertebrae in a region of interest are characterized. Parameters relating to the alignment and position of the vertebrae are derived from the segmentation, followed by determining whether the parameters fall within an acceptable range desired for the spine of the subject. If not within the acceptable range, an alignment optimization is performed on the vertebrae to bring the parameters within the acceptable range, to reduce the spinal deformations of the subject's spine. The alignment optimization is performed by taking into consideration limitations arising from the dynamic range of motion of the vertebrae as determined by analyzing images of the subject's spine, while the subject is in positions of maximum bending.