公开(公告)号：US20230240766A1

公开(公告)日：2023-08-03

申请号：US17590979

申请日：2022-02-02

Applicant: Mazor Robotics Ltd.

Inventor： Elad Rotman ,  Eitan Detinis ,  Ido Zucker ,  Eliyahu Zehavi ,  Yonatan Ushpizin

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

CPC classification number: A61B34/30 ,  A61B34/25 ,  A61B17/3417 ,  A61B17/3496 ,  A61B2017/3456 ,  A61B34/20

Abstract: A robotic surgical system according to at least one embodiment of the present disclosure includes a robot arm including a proximal end and a distal end and a surgical tool that attaches to the distal end of the robot arm via a robot mount flange on the surgical tool. The surgical tool includes a blade support tip that extends from a first end and a rod that extends from a second end opposite the first end. The rod may include a blunt tip end and an actuation end, where the blunt tip end extends from the second end. Accordingly, the surgical tool may be rotatable about a tool rotation axis between a cutting position disposing the blade support tip in proximity to a target site and a tissue pathway creation position disposing the blunt tip end in proximity to the target site.

公开(公告)号：US20230012440A1

公开(公告)日：2023-01-12

申请号：US17373541

申请日：2021-07-12

Applicant: Mazor Robotics Ltd.

Inventor： Ido Zucker ,  Avi Turgeman

IPC: G06K9/32 ,  G06T7/73 ,  G06T7/246 ,  A61B34/30 ,  A61B34/20

Abstract: Systems, devices, and methods for identifying a region of interest are provided. A plurality of skeletal landmarks may be identified from an image received from an imaging device. A pose of a patient may be determined based on the plurality of skeletal landmarks. A region of interest may be identified on the patient based on the determined pose. Instructions may be automatically provided to the controller to adjust a pose of a surgical instrument relative to the region of interest. The plurality of skeletal landmarks may be tracked for movement. The region of interest may be updated when movement of the plurality of skeletal landmarks is detected.

公开(公告)号：US20220265352A1

公开(公告)日：2022-08-25

申请号：US17589951

申请日：2022-02-01

Applicant: Mazor Robotics Ltd.

Inventor： Ido Zucker

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

Abstract: Systems and methods for planning the position of surgical hardware to be robotically implanted in a subject. The system extracts information about the planned position of hardware from an operative plan based on preoperative images, and converts this information into mathematical vectors. Intraoperatively, at least one three-dimensional scan of the operative site is obtained. The intraoperative images are processed by image analysis, to which are applied artificial intelligence algorithms for feature identification. The vectors derived from the preoperative plan are superimposed on identified anatomical features from the processed intraoperative images. The surgical plan can then be updated intraoperatively, taking into account any shift in position of the anatomical features between the preoperative images and the intraoperative images, prior to robotic insertion of the hardware.

公开(公告)号：US20220008221A1

公开(公告)日：2022-01-13

申请号：US16927548

申请日：2020-07-13

Applicant: MAZOR ROBOTICS LTD.

Inventor： Ido Zucker ,  Arik Levy

IPC: A61F2/46 ,  A61F2/44

Abstract: An interbody tool may include an upper portion with an upper contact surface and a plurality of upper legs; a lower portion with a lower contact surface and a plurality of lower legs, each of the lower legs moveably connected to one of the upper legs; a plurality of gauges, each gauge configured to measure a position of one of the plurality of upper legs relative to a corresponding one of the plurality of lower legs; at least one actuator configured to selectively push the upper portion away from the lower portion; and at least one sensor for measuring a force exerted by the at least one actuator.

公开(公告)号：US20250090262A1

公开(公告)日：2025-03-20

申请号：US18967313

申请日：2024-12-03

Applicant: Mazor Robotics Ltd.

Inventor： Ido Zucker ,  Yonatan Ushpizin ,  Eliyahu Zehavi

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

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：US12207882B2

公开(公告)日：2025-01-28

申请号：US17165575

申请日：2021-02-02

Applicant: Mazor Robotics Ltd.

Inventor： Ido Zucker

IPC: A61B34/10 ,  A61B5/00 ,  A61B5/11 ,  G06T5/50 ,  G06T7/00 ,  G06T7/11 ,  G06T7/70 ,  G06T19/00 ,  G06V10/75 ,  G16H20/40 ,  G16H30/20 ,  G16H30/40 ,  G16H50/20 ,  G16H50/50

Abstract: Systems and methods for planning a surgical procedure are provided. Information corresponding to an examination of a patient and an image of the patient may be received. The information and the image may be inputted into an analytical model configured 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：US12048497B2

公开(公告)日：2024-07-30

申请号：US17569957

申请日：2022-01-06

Applicant: Mazor Robotics Ltd.

Inventor： Dany Junio ,  Aviv Ellman ,  Eli Zehavi ,  Moshe Shoham ,  Yonatan Ushpizin ,  Ido Zucker ,  Elad Ratzabi ,  Gillan Grimberg ,  Nir Ofer ,  Yair Schwartz ,  Nimrod Dori

IPC: A61B34/30 ,  A61B17/00 ,  A61B17/17 ,  A61B34/10 ,  A61B90/00 ,  G16H20/40 ,  G16H40/63

CPC classification number: A61B34/30 ,  A61B17/17 ,  G16H20/40 ,  G16H40/63 ,  A61B2017/0003 ,  A61B17/1757 ,  A61B2034/107 ,  A61B2090/062 ,  A61B2090/064 ,  A61B2562/0204

Abstract: Methods and systems for providing a safety mechanism for a robotically controlled surgical tool. Embodiments of the methods use sensors to detect parameters that vary by the tissue traversed by a surgical tool. The sensors detect signals arising from the interaction of the surgical tool with the tissue and provide this information to a robotic controller. For example, during drilling, the sensors may measure power, vibration, sound frequency, mechanical load, electrical impedance, and distance traversed according to preoperative measurements on a three-dimensional image set used for planning the tool trajectory. By comparing the detected output with that expected for the tool position based on the planned trajectory, identified discrepancies in output would indicate that the tool has veered from the planned trajectory. The robotic controller may then alter the tool trajectory, change the speed of the tool, or discontinue power to the tool, thereby preventing damage to underlying tissue.

公开(公告)号：US11847809B2

公开(公告)日：2023-12-19

申请号：US17373541

申请日：2021-07-12

Applicant: Mazor Robotics Ltd.

Inventor： Ido Zucker ,  Avi Turgeman

IPC: A61B34/20 ,  G06T7/73 ,  G06V10/25 ,  A61B34/30 ,  G06T7/246 ,  A61B90/00

CPC classification number: G06V10/25 ,  A61B34/20 ,  A61B34/30 ,  G06T7/246 ,  G06T7/73 ,  A61B2034/2057 ,  A61B2034/2065 ,  A61B2090/363 ,  G06T2207/10028 ,  G06T2207/30012 ,  G06T2207/30196 ,  G06T2207/30204 ,  G06V2201/033

Abstract: Systems, devices, and methods for identifying a region of interest are provided. A plurality of skeletal landmarks may be identified from an image received from an imaging device. A pose of a patient may be determined based on the plurality of skeletal landmarks. A region of interest may be identified on the patient based on the determined pose. Instructions may be automatically provided to the controller to adjust a pose of a surgical instrument relative to the region of interest. The plurality of skeletal landmarks may be tracked for movement. The region of interest may be updated when movement of the plurality of skeletal landmarks is detected.

公开(公告)号：US20230270503A1

公开(公告)日：2023-08-31

申请号：US17591717

申请日：2022-02-03

Applicant: Mazor Robotics Ltd.

Inventor： Eliyahu Zehavi ,  Yonatan Ushpizin ,  Ido Zucker ,  Avraham Turgeman ,  Elad Rotman ,  Adi Ess

IPC: A61B34/20 ,  A61B34/30 ,  G06T7/73

CPC classification number: A61B34/20 ,  A61B34/30 ,  G06T7/73 ,  A61B2034/2048 ,  A61B2034/2057 ,  A61B2034/2065 ,  A61B2034/2068 ,  G06T2207/30204

Abstract: A system according to at least one embodiment of the present disclosure includes a processor; and a memory storing instructions thereon that, when executed by the processor, cause the processor to: receive, from an inertial sensor disposed proximate an anatomical element, a reading indicative of a first movement of the anatomical element; determine a second movement of a fiducial marker being positioned with a known physical relationship to the inertial sensor; and determine, based on the first movement and the second movement, a change in pose of the anatomical element.

公开(公告)号：US20230240754A1

公开(公告)日：2023-08-03

申请号：US17591004

申请日：2022-02-02

Applicant: Mazor Robotics Ltd.

Inventor： Elad Rotman ,  Eitan Detinis ,  Noam Weiss ,  Adi Ess ,  Ido Zucker

IPC: A61B34/20 ,  A61B34/32 ,  A61B8/00 ,  A61B17/32

CPC classification number: A61B34/20 ,  A61B34/32 ,  A61B8/461 ,  A61B8/4218 ,  A61B17/32 ,  A61B2034/2063

Abstract: A robotic surgical system according to at least one embodiment of the present disclosure includes a first robot arm coupled to a second robot arm, where a surgical tool is attached to the first robot arm and an ultrasonic sensor is attached to the second robot arm. Accordingly, when the first robot arm is moved to position the surgical tool adjacent a target site of a patient, the second robot arm is also moved to position the ultrasonic sensor adjacent the surgical tool and the target site. In some examples, images generated by the ultrasonic sensor may be used to determine layers of fascia of the patient at the target site. Subsequently, the surgical tool may move through the layers of fascia while continuing to receive real-time images of the tissue displacement instrument relative to the target site from the ultrasonic sensor.