公开(公告)号：US20230240753A1

公开(公告)日：2023-08-03

申请号：US17590905

申请日：2022-02-02

Applicant: Mazor Robotics Ltd.

Inventor： Adi Sandelson ,  Ziv Seemann ,  Nimrod Dori

IPC: A61B34/20 ,  G06T7/73 ,  G06T7/246 ,  A61B90/00

CPC classification number: A61B34/20 ,  G06T7/74 ,  G06T7/248 ,  A61B90/39 ,  G06T2207/30204 ,  G06T2207/30012 ,  A61B2034/2055 ,  A61B2034/2051 ,  A61B2090/3945 ,  A61B2090/3979 ,  A61B2090/3958 ,  A61B2090/3987

Abstract: Systems and methods for tracking movement of an anatomical element are provided. A marker may be coupled to an anatomical element and may be tracked by a navigation system. Movement of the marker may be detected by the navigation system and a pose of the marker may be determined based on the movement. The pose of the marker may be validated when the pose substantially matches a desired predetermined pose.

公开(公告)号：US20230096023A1

公开(公告)日：2023-03-30

申请号：US17482301

申请日：2021-09-22

Applicant: Mazor Robotics Ltd.

Inventor： Ido Zucker

IPC: A61B34/20 ,  A61B34/00 ,  A61B34/30 ,  G06N20/00

Abstract: A system according to at least one embodiment of the present disclosure includes a processor; and a memory coupled with the processor and including data stored thereon that, when processed by the processor, enables the processor to: predict, at a first time, a motion of an object during a surgical procedure and at a second time following the first time; and update, based on the predicted motion of the object, a surgical navigation path of a robotic arm.

公开(公告)号：US20220323158A1

公开(公告)日：2022-10-13

申请号：US17689617

申请日：2022-03-08

Applicant: Mazor Robotics Ltd.

Inventor： Yizhaq Shmayahu ,  Jeetendra S. Bharadwaj

IPC: A61B34/20 ,  A61B34/30

Abstract: Systems and methods for detecting motion of soft tissue are provided. An illustrative method is described to include attaching a flexible material to an object, where the flexible material includes one or more tracking markers distributed thereon and where the object includes soft tissue. The method is also disclosed to include obtaining a first image of the object that includes the one or more tracking markers in a first position, obtaining a second image of the object that includes the one or more tracking markers in a second position, and determining a motion of the soft tissue based on a comparison of the one or more tracking markers in the first position with the one or more tracking markers in the second position.

公开(公告)号：US11452492B2

公开(公告)日：2022-09-27

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：US11432876B2

公开(公告)日：2022-09-06

申请号：US16509757

申请日：2019-07-12

Applicant: MAZOR ROBOTICS LTD.

Inventor： Moshe Shoham ,  Shlomit Steinberg

IPC: A61B34/10 ,  G16H20/40 ,  G16H30/20 ,  A61B90/00 ,  A61B5/11 ,  A61B5/00 ,  A61B17/70 ,  A61B17/56

Abstract: An exemplary method of determining a surgical spinal correction for a subject using analysis of motion capture images of the subject, which uses the steps of obtaining pre-operative three-dimensional images of a spinal region, obtaining a pre-operative time sequenced set of images of the subject during a movement progression of said subject, calculating in a plurality of the motion capture images, alignment parameters relating to upper and lower body regions of the subject, and determining if any of the calculated alignment parameters are outside their predetermined acceptable ranges in one or more of the images, iteratively adjusting anatomical elements in three-dimensional images until all of the calculated alignment parameters are within their predetermined acceptable ranges; and adjusting spinal anatomy in the three-dimensional images according to the degree of adjustment of spinal parameters in the motion capture images to determine a surgical spinal correction.

公开(公告)号：US20220273386A1

公开(公告)日：2022-09-01

申请号：US17589991

申请日：2022-02-01

Applicant: Mazor Robotics Ltd.

Inventor： Ziv Seemann ,  Amir Keret ,  Adi Sandelson

IPC: A61B46/10 ,  A61B46/00 ,  A61B34/30 ,  A61B34/20

Abstract: A shrink sterile drape according to at least one embodiment of the present disclosure includes a first portion; a second portion configured to shrink relative to the first portion in the presence of heat; and an optical window disposed in the second portion and configured to permit passage of light therethrough.

公开(公告)号：US20220241026A1

公开(公告)日：2022-08-04

申请号：US17583788

申请日：2022-01-25

Applicant: Mazor Robotics Ltd.

Inventor： Moshe Shoham ,  Avi Turgeman ,  Yizhaq Shmayahu

IPC: A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  A61B17/00 ,  A61B17/11

Abstract: A device comprises at least one processor and a memory comprising instructions that when executed by the at least one processor cause the at least one processor to: generate a first signal that causes a vibration device to vibrate, the vibration device being in force-transmitting contact with a first anatomical element; receive, from a sensor, a second signal based on sensed vibration in a second anatomical element proximate the first anatomical element; and determine, based on the second signal, an amount of mechanical coupling between the second anatomical element and the first anatomical element.

公开(公告)号：US20220241017A1

公开(公告)日：2022-08-04

申请号：US17575377

申请日：2022-01-13

Applicant: Mazor Robotics Ltd.

Inventor： Dany Junio

IPC: A61B34/10 ,  A61B34/37 ,  G16H20/40 ,  G16H30/40

Abstract: Systems and methods for calculating an insertion point and a path for a rod are provided. A surgical plan having at least one image and information about a position of at least one tower may be received. The at least one image may depict a surgical region. A soft tissue portion and at least one anatomical element may be identified in the at least one image. An insertion point and a path from the insertion point to the at least one tower may be calculated based on the identified soft tissue portion and at least one anatomical element. The rod may be inserted at the insertion point and along the path.

公开(公告)号：US20220241015A1

公开(公告)日：2022-08-04

申请号：US17165575

申请日：2021-02-02

Applicant: Mazor Robotics Ltd.

Inventor： Ido Zucker

IPC: A61B34/10 ,  G06T7/11 ,  G06T19/00 ,  G06T7/70 ,  G06T5/50 ,  G06K9/62 ,  G06T7/00 ,  A61B5/00 ,  A61B5/11 ,  G16H50/20 ,  G16H30/40 ,  G16H30/20 ,  G16H50/50 ,  G16H20/40

Abstract: Systems and methods for planning a surgical procedure are provided. Information corresponding to an examination of a patient and an image of patient may be received. The information and the image may be inputted into an analytical model figured to identify a pathology location. A needed surgical modification of the patient anatomy may be automatically identified. At least a portion of an anatomical element in a three-dimensional model of the patient anatomy may be automatically labeled.

公开(公告)号：US20220215578A1

公开(公告)日：2022-07-07

申请号：US17490945

申请日：2021-09-30

Applicant: Mazor Robotics Ltd.

Inventor： Dany Junio

IPC: G06T7/73

Abstract: A method including receiving information about a pose of each of a plurality of fiducials positioned on or within a patient; causing an imaging device to generate a single image of a portion of the patient, the single image depicting at least a portion of each of the plurality of fiducials; determining, based on the information and the single image, a pose of one or more anatomical elements represented in the single image; and comparing the determined pose of the one or more anatomical elements to a predetermined pose of the one or more anatomical elements.