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公开(公告)号：US12109075B2
公开(公告)日：2024-10-08
申请号：US17464356
申请日：2021-09-01
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio
CPC classification number: A61B90/361 , A61B34/70 , A61B90/37 , A61B2090/363 , A61B2090/376
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.
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公开(公告)号：US12042171B2
公开(公告)日：2024-07-23
申请号：US17475177
申请日：2021-09-14
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio
CPC classification number: A61B17/3423 , A61B34/30 , A61B34/76 , A61B1/00154 , A61B2017/00119 , A61B2017/00699 , A61B2034/107 , A61B2034/302 , A61B2090/064
Abstract: A method for robot-assisted minimally invasive surgery involves calculating, based on a surgical plan, an insertion vector for an MIS port; causing a robotic arm to hold the MIS port in a pose that corresponds to the insertion vector; detecting, with a sensor on the robotic arm, a force applied to the robotic arm via the MIS port; maintaining the MIS port in the pose when the detected force is lower than a predetermined threshold; and generating an alert when the detected force exceeds the predetermined threshold.
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公开(公告)号：US11864934B2
公开(公告)日：2024-01-09
申请号：US16765930
申请日：2018-11-22
Applicant: MAZOR ROBOTICS LTD.
Inventor： Dany Junio , Eli Zehavi
CPC classification number: A61B6/12 , A61B34/10 , A61B90/03 , G06V10/7515 , A61B2034/102 , A61B2034/105 , A61B2090/363 , A61B2090/364 , A61B2090/374 , A61B2090/3762 , A61B2090/3966
Abstract: A low radiation, intra-operative method using two-dimensional imaging to register the positions of surgical implants relative to their pre-operative planned positions. Intraoperatively, a pair of two-dimensional fluoroscope images in different planes or a single three-dimensional image is acquired and compared to a set of three-dimensional pre-operative images, to allow registration of the implant region anatomy. A second set of intraoperative fluoroscope images is acquired of the surgical area with implants in place. The second set of images is compared with the first set of intraoperative images to ascertain alignment of the implants. Registration between first and second intraoperative image sets is accomplished using the implants themselves as fiducial markers, and the process repeated until an acceptable configuration of the implants is obtained. The method is particularly advantageous for spinal surgery.
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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
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.
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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
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.
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Patent Agency Ranking
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.
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公开(公告)号：US20250095160A1
公开(公告)日：2025-03-20
申请号：US18962314
申请日：2024-11-27
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio
Abstract: A method according to embodiments of the present disclosure includes receiving a computed tomography (CT) image of a patient; segmenting a first set of anatomical elements from the CT image; receiving a plurality of fluoroscopy images of the patient; segmenting a second set of anatomical elements from the plurality of fluoroscopy images; and creating a registration between the CT image and the plurality of fluoroscopy images based on the segmented first set of anatomical elements and the segmented second set of anatomical elements.
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公开(公告)号：US12220195B2
公开(公告)日：2025-02-11
申请号：US17500559
申请日：2021-10-13
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio
Abstract: Systems, methods, and devices for defining a path for a robotic arm are provided. One or more no-fly zones may be generated. The one or more no-fly zones correspond to a section of a work volume defined as inaccessible to a robotic arm and the work volume is defined as accessible to the robotic arm. A pose of an object may be determined and an obstacles map based on the determined pose and known dimensions of the object may be generated. A path for the robotic arm may be defined that avoids collision with the object identified in the obstacles map and avoiding the one or more no-fly zones.
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公开(公告)号：US12193768B2
公开(公告)日：2025-01-14
申请号：US16853990
申请日：2020-04-21
Applicant: MAZOR ROBOTICS LTD.
Inventor： Dany Junio
Abstract: A method of aligning an imaging device in connection with robotic surgery includes causing a robot to position a reference target over a body of a patient; receiving image data from an imaging device; identifying, with an image processing algorithm, at least a first portion of an anatomical element in the image data; identifying, with a target detection algorithm, at least a first portion of a reference target in the image data; comparing a determined location of the imaging device, the reference target, and the anatomical element to yield a location determination and causing at least one of the robot to re-position the reference target or the imaging device to re-position.
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公开(公告)号：US12190526B2
公开(公告)日：2025-01-07
申请号：US17590010
申请日：2022-02-01
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio
Abstract: A method according to embodiments of the present disclosure includes receiving a computed tomography (CT) image of a patient; segmenting a first set of anatomical elements from the CT image; receiving a plurality of fluoroscopy images of the patient; segmenting a second set of anatomical elements from the plurality of fluoroscopy images; and creating a registration between the CT image and the plurality of fluoroscopy images based on the segmented first set of anatomical elements and the segmented second set of anatomical elements.
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