公开(公告)号：US20220241032A1

公开(公告)日：2022-08-04

申请号：US17575404

申请日：2022-01-13

Applicant: Mazor Robotics Ltd.

Inventor： Ido Zucker ,  Yizhaq Shmayahu ,  Yonatan Ushpizin ,  Eliyahu Zehavi ,  Dany Junio

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

Abstract: Systems and methods for tracking a pose of a target and/or tracking the target is provided. A first robotic arm may be configured to orient a first imaging device and a second robotic arm may be configured to orient a second imaging device. The first robotic arm and the second robotic arm may operate in a shared or common coordinate space. A first image may be received from the first imaging device and a second image may be received from the second imaging device. The first image and the second image may depict at least one target. A pose of the at least one target may be determined in the coordinate space based on the first image, a corresponding first pose, the second image, and a corresponding second pose.

公开(公告)号：US20220192773A1

公开(公告)日：2022-06-23

申请号：US17526873

申请日：2021-11-15

Applicant: Mazor Robotics Ltd.

Inventor： Ido Zucker ,  Yonatan Ushpizin ,  Eliyahu Zehavi

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

Abstract: Methods and systems for monitoring a rod reduction process is provided. The methods and systems include determining, based on at least one parameter, a threshold for forces exerted by a tool on a rod or a pedicle screw and receiving data corresponding to a magnitude of the forces exerted by the tool on the pedicle screw or the rod during reduction of the rod into a head of the pedicle screw. A surgical plan may be updated when the monitored magnitude meets the threshold.

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.

公开(公告)号：US10595899B2

公开(公告)日：2020-03-24

申请号：US15023409

申请日：2014-09-22

Applicant: MAZOR ROBOTICS LTD.

Inventor： Yossi Bar ,  Eliyahu Zehavi ,  Yonatan Ushpizin ,  Nadav Shoham

IPC: A61B17/34 ,  A61B17/00 ,  A61B34/30 ,  A61M29/00

Abstract: Automatic dilator devices for generating minimally invasive access apertures for surgical procedures or endoscopic surveillance. The automatic dilators comprise a number of spreader tubes nested one inside the other. The devices deploy automatically by means of coupled mechanical mechanisms which insert one spreader after the other distally into the patient's tissue. Each spreader moves distally into the tissue by means of a screwing action, by which rotation is converted into linear motion of the neighboring spreader, immediately external to it, by means of interaction between a helical thread form on a surface of a spreader being engaged by a section of thread, or by one or more protrusions on the opposing face of the next spreader external to the rotating spreader. Such a combination of helical thread and follower enables a rotatory mechanism to be used to deploy one nested spreader tube after the other, by continuous rotary motion.