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公开(公告)号：US20220104986A1
公开(公告)日：2022-04-07
申请号：US17063299
申请日：2020-10-05
Applicant: MAZOR ROBOTICS LTD.
Inventor： Yonatan Ushpizin , Arik Levy
Abstract: Methods and systems for determining and maintaining a center of rotation are provided. A center of rotation may be determined based on first information about a robotic region of interest of a robot and second information about a patient region of interest. An operating table having multiple degrees of freedom may be caused to rotate about the center of rotation from a first position to a second position. A control system may be caused to control the robot based on the operating table being in the second position.
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公开(公告)号：US20220079655A1
公开(公告)日：2022-03-17
申请号：US17407637
申请日：2021-08-20
Applicant: Mazor Robotics Ltd.
Inventor： Ido Zucker , Prakash Manley , Yahia Laouar , Xiaoming Cheng , Mohammad Miri , Matthew Palm
Abstract: A surgical tool may include a mechanical tool for selectively cutting or removing anatomical tissue, and an electrosurgery device selectively operable to apply an electric current to anatomical tissue. The mechanical tool may include a tool bit and a driver operatively connected to the tool bit, and the electrosurgery device may include a first electrode and a second electrode different than the first electrode.
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公开(公告)号：US20210369378A1
公开(公告)日：2021-12-02
申请号：US17331491
申请日：2021-05-26
Applicant: Mazor Robotics Ltd.
Inventor： Nir Ofer , Ori Ben Zeev
Abstract: A system for controlling a volume of a drape according to one embodiment of the present disclosure comprises a drape operable to substantially cover an articulated member and having a pressure source opening and at least one tool opening, the pressure source opening defining a path for a fluid to flow into or out of a volume substantially enclosed by the drape, the at least one tool opening enabling a tool to be supported by the articulated member outside of the volume substantially enclosed by the drape; at least one sensor operable to monitor a characteristic of the system; and a controller that causes the volume substantially enclosed by the drape to increase to a maximum volume, decrease to a minimum volume, or maintain an operating volume, and wherein the drape increasingly conforms to the articulated member as the volume substantially enclosed by the drape is decreased.
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公开(公告)号：US10687784B2
公开(公告)日：2020-06-23
申请号：US15307056
申请日：2015-04-28
Applicant: MAZOR ROBOTICS LTD.
Inventor： Moshe Shoham
Abstract: A system for insertion of a surgical tool along a trajectory to a target region in a patient's tissues, under the guidance of ultrasound imaging. The system includes a hand-held robot to whose base the probe of an ultrasound system is rigidly connected. The activated platform of the hand held robot carries a surgical tool guide. The alignment of the tool guide defines the trajectory which the tool takes within the subject's body. The position of the target region seen on the ultrasound display, can be recorded, and the robot coordinate frame of reference registered thereto. The system aligns the pose of the robot such that the surgical tool is aimed directly at the target region, independently of motion of the ultrasound probe and its associated robot. An inertial measurement unit can be incorporated to provide back-up positional information if the image of the lesion is lost.
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公开(公告)号：US20200038109A1
公开(公告)日：2020-02-06
申请号：US16509630
申请日：2019-07-12
Applicant: MAZOR ROBOTICS LTD.
Inventor： Shlomit STEINBERG
Abstract: A method for determining an acceptable spinal surgical plan for a subject using pathology prediction, comprising generating a potential spinal surgical plan, obtaining clinically relevant data of the subject, obtaining pre-operative three-dimensional images of a spinal region of the subject, determining relationships between pairs of vertebrae in the images, predicting relationships between pairs of vertebrae that are expected from the surgical plan, accessing a multiple patient database, obtaining sets of data from the database for patients with similar characteristics to the subject, determining risks of pathology types for the subject, using artificial intelligence to combine the determined risks to calculate an overall risk for pathology types for the subject, and if the overall risks are unacceptable, selecting an alternative spinal surgical plan, and if the said overall risks are acceptable, determining that said surgical plan is acceptable.
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Patent Agency Ranking
公开(公告)号：US20170055940A1
公开(公告)日：2017-03-02
申请号：US15307056
申请日：2015-04-28
Applicant: MAZOR ROBOTICS LTD.
Inventor： Moshe SHOHAM
Abstract: A system for insertion of a surgical tool along a trajectory to a target region in a patient's tissues, under the guidance of ultrasound imaging. The system includes a hand-held robot to whose base the probe of an ultrasound system is rigidly connected. The activated platform of the hand held robot carries a surgical tool guide. The alignment of the tool guide defines the trajectory which the tool takes within the subject's body. The position of the target region seen on the ultrasound display, can be recorded, and the robot coordinate frame of reference registered thereto. The system aligns the pose of the robot such that the surgical tool is aimed directly at the target region, independently of motion of the ultrasound probe and its associated robot. An inertial measurement unit can be incorporated to provide back-up positional information if the image of the lesion is lost.
Abstract translation: 一种用于在超声成像的引导下将外科手术工具沿着轨迹插入患者组织中的目标区域的系统。 该系统包括一个手持式机器人，其基座上的超声系统的探头刚性连接。 手持式机器人的激活平台携带外科手术工具导向器。 刀具导轨的对准确定了刀具在主体内部的轨迹。 可以记录在超声波显示器上看到的目标区域的位置，并且记录登记在其上的机器人坐标系参考系。 该系统使机器人的姿态对齐，使得外科手术工具直接瞄准目标区域，而与超声探头及其相关机器人的运动无关。 如果损伤的图像丢失，则可以并入惯性测量单元以提供备用位置信息。
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公开(公告)号：US20130303883A1
公开(公告)日：2013-11-14
申请号：US13893366
申请日：2013-05-14
Applicant: MAZOR ROBOTICS LTD.
Inventor： ELI ZEHAVI , MOSHE SHOHAM
CPC classification number: A61B1/00154 , A61B6/032 , A61B6/12 , A61B6/485 , A61B6/487 , A61B6/5247 , A61B8/0841 , A61B34/30 , A61B90/11 , A61B2017/00261 , A61B2090/367 , A61B2090/3966 , A61B2090/3983 , G01R33/285
Abstract: Systems and methods for performing robotic endoscopic surgical procedures, according to a surgical plan prepared on a preoperative set of three dimensional images. The system comprises a surgical robot whose coordinate system is related to that of fluoroscope images generated intraoperatively, by using a three dimensional target having radio-opaque markers, attached in a predetermined manner to the robot or to another element to which the robot is attached, such as the spinal bridge or an attachment clamp. The robot is mounted directly or indirectly on a bone of the patient, thereby nullifying movement of the bone, or a bone tracking system may be utilized. The coordinate system of the intraoperative fluoroscope images may be related to the preoperative images, by comparing anatomical features between both image sets. This system and method enables the endoscope to be directed by the robot along the exact planned path, as determined by the surgeon.
Abstract translation: 根据在术前三维图像上准备的外科手术方案进行机器人内窥镜外科手术的系统和方法。 该系统包括：手术机器人，其坐标系与术中产生的荧光镜图像的坐标系相关，通过使用具有不规则标记的三维目标，以预定的方式附接到机器人或机器人附接到的另一个元件， 例如脊柱桥或附接夹。 机器人直接或间接地安装在患者的骨骼上，从而使骨的运动无效，或者可以利用骨骼跟踪系统。 通过比较两个图像组之间的解剖特征，术中荧光图像的坐标系可能与术前图像有关。 该系统和方法使得内窥镜能够由机器人沿着精确的计划路径指导，如由外科医生确定的。
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公开(公告)号：US12220188B2
公开(公告)日：2025-02-11
申请号：US17357640
申请日：2021-06-24
Applicant: Mazor Robotics Ltd.
Inventor： Dvir Kadshai , Gal Eshed , Dor Kopito
Abstract: Systems and methods for changing an end effector are provided. A robot flange may have a first receiver and a first electrical connection. An end effector may have a second receiver, a second electrical connection, and a locking assembly. The locking assembly may be configured to releasably secure the end effector to the robot flange. A connector may have an interface and an electrical connector for transferring at least one of power and data from the first electrical connection to the second electrical connection. The interface may be received by the first receiver and the second receiver when the connector is positioned between the robot flange and the end effector and the locking assembly secures the end effector to the robot flange.
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公开(公告)号：US12213744B2
公开(公告)日：2025-02-04
申请号：US17376493
申请日：2021-07-15
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio , Moshe Shoham
Abstract: Systems, methods, and devices for planning a path are provided. A work volume and one or more no-fly zones may be mapped. The work volume may define a volume in which a robot may access and each of the one or more no-fly zones may define at least one volume in which a robot is restricted from accessing. Information may be received about a position of at least one instrument and a void volume may be calculated based on the position of the at least one instrument. The work volume may be updated to include the void volume to yield an updated work volume. A path may be calculated for a robotic arm of a robot from outside a patient anatomy to within the patient anatomy that is within the updated work volume and avoids the one or more no-fly zones.
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公开(公告)号：US12193750B2
公开(公告)日：2025-01-14
申请号：US17130516
申请日：2020-12-22
Applicant: Mazor Robotics Ltd.
Inventor： Yizhaq Shmayahu , Eliyahu Zehavi , Yonatan Ushpizin , Noam Weiss
Abstract: Systems and methods for monitoring a surgical procedure are provided. A coordinate system of a first robotic arm and a second robotic arm may be co-registered or correlated to each other. One or more poses of an imaging device may be determined to provide real-time intraoperative imaging of a region of interest during a surgical procedure. Anatomical elements may be identified in the real-time images of the region of interest from which a surgical tool should maintain a predetermined distance. The surgical tool may be prevented from approaching the identified anatomical elements by less than a predetermined distance using the co-registration of the coordinate systems.
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