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公开(公告)号：US12186914B2
公开(公告)日：2025-01-07
申请号：US17591390
申请日：2022-02-02
Applicant: MAZOR ROBOTICS, LTD.
Inventor： Mark C. Dace , Adam D. Glaser , Aviv Ellman , Dany Junio , Elad Ratzabi , Gillan M. Grimberg
Abstract: Disclosed herein are systems and methods for a robotic arm guide used as a depth stop. For example, a system for positioning a surgical tool includes a surgical robotic system having a robot arm with a guide sleeve, the guide sleeve defining axial and lateral directions. The system is further configured to (i) receive a surgical plan associated with a subject, the surgical plan including three-dimensional preoperative data related to the subject, (ii) determine, based on the surgical plan, a desired trajectory of a distal end of the surgical tool as the surgical tool is inserted into the guide sleeve, and (iii) transmit one or more control signals to the surgical robotic system, causing the surgical robotic system to orient and position the guide sleeve such that the distal end of the surgical tool follows the desired trajectory when the surgical tool is inserted in the guide sleeve.
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公开(公告)号：US11890061B2
公开(公告)日：2024-02-06
申请号：US16958275
申请日：2018-12-27
Applicant: MAZOR ROBOTICS LTD.
Inventor： Dany Junio , Kornelis Poelstra
CPC classification number: A61B34/20 , A61B34/30 , A61B90/06 , A61B90/11 , B23B49/005 , A61B17/1615 , A61B2034/2055 , A61B2090/062 , A61B2090/3937 , B23B2260/0482
Abstract: A depth-indicating device for determining the depth of insertion of a surgical tool comprising a pair of spaced apart end caps, separated by a compressed spring, with the surgical tool passing through axial openings in both end caps, and firmly attached to one of the end caps, but free to slide through the opening in the other. A guide tube is attached to the second endcap, such that the surgical tool can be guided to its operating position on a body part. The second end cap and guide tube are attached to a location having a known position relative to the body part. A tracking marker is attached to the first end cap such that its longitudinal position can be tracked using a remote racking camera. Since the surgical tool is attached to the first end cap, the tool position is also tracked by the tracking system.
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公开(公告)号：US11450435B2
公开(公告)日：2022-09-20
申请号：US16842380
申请日：2020-04-07
Applicant: MAZOR ROBOTICS LTD.
Inventor： Dany Junio
IPC: G16H30/40 , G16H50/20 , G16H30/20 , G16H50/50 , G16H50/70 , A61B5/00 , G06T7/00 , G16H20/30 , G16H20/00
Abstract: A method and system for detecting spinal stenosis is provided. The method may receive image data corresponding to a spine region of a patient. The method may also identify a spinal cord in the image data. The method may determine at least one compression of the spinal cord and may mark an anatomical element proximate to a location of the determined at least one compression to yield at least one marking. The method may generate a decompression plan based on the at least one marking.
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公开(公告)号：US20220270263A1
公开(公告)日：2022-08-25
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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公开(公告)号：US20220192701A1
公开(公告)日：2022-06-23
申请号：US17475177
申请日：2021-09-14
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio
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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Patent Agency Ranking
公开(公告)号：US12171470B2
公开(公告)日：2024-12-24
申请号：US16944553
申请日：2020-07-31
Applicant: MAZOR ROBOTICS LTD.
Inventor： Eli Zehavi , Yonatan Ushpizin , Aviv Ellman , Dany Junio , Elad Ratzabi , Yair Schwartz , Yuval Chen
Abstract: A spinal stabilization system includes a plurality of anchors and at least one bridge. Each anchor includes a clamp configured to engage an anatomical element, the clamp movable between a fully open position and a fully closed position; a locking screw configured to selectively prevent the clamp from being moved into the fully open position; and a bridge interface. The at least one bridge is a rigid member having a first end and a second end opposite the first end, each of the first end and the second end having an anchor interface. The bridge interface is configured to receive the anchor interface.
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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
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.
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公开(公告)号：US11759272B2
公开(公告)日：2023-09-19
申请号：US17493436
申请日：2021-10-04
Applicant: MAZOR ROBOTICS LTD.
Inventor： Victor D. Snyder , Matthew F. Dicorleto , Joseph Moctezuma , David E. Macht , Jeremiah R. Beers , Katherine M. Puckett , Katharine E. Darling , Leonid Kleyman , Dany Junio , Dana Gazit-Ankori , Eliyahu Zehavi , Elad Ratzabi , Aviv Ellman , Timothy M. Conkin
CPC classification number: A61B34/30 , A61B90/37 , A61B2034/2072 , A61B2090/3983
Abstract: Disclosed is a system for assisting in guiding and performing a procedure on a subject. The subject may be any appropriate subject such as inanimate object and/or an animate object. The guide and system may include various manipulable or movable members, such as robotic systems, and may be registered to selected coordinate systems.
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公开(公告)号：US20230270511A1
公开(公告)日：2023-08-31
申请号：US18041046
申请日：2021-08-25
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio
CPC classification number: A61B34/30 , B25J9/1682 , B25J9/1692 , B25J9/1697 , A61B34/20 , A61B2034/2057 , A61B2090/3945
Abstract: A registration method involves receiving image information corresponding to an anatomical element of a patient; receiving sensor information about a simultaneous pose of each of a patient reference frame, a first robot, and a second robot; determining, based on the image information and the sensor information, a correlation among a patient coordinate system, a first coordinate system of the first robot, and a second coordinate system of the second robot; and controlling movement of the first robot and the second robot within a common work volume based on the correlation.
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公开(公告)号：US20230255699A1
公开(公告)日：2023-08-17
申请号：US18003147
申请日：2021-06-30
Applicant: Mazor Robotics Ltd.
Inventor： Aviv Ellman , Dany Junio , Katherine M. Puckett
CPC classification number: A61B34/30 , A61B34/20 , A61B2034/305 , A61B2034/2059
Abstract: A robotic navigation system includes a robot base (140); a robotic arm (144) comprising a proximal portion secured to the robot base, a distal portion movable relative to the proximal portion, and a tracking marker (156) secured to the robotic arm proximate the distal portion; at least one processor; a navigation system including a tracking marker sensor configured to identify positions of the tracking marker in a first coordinate space; and a memory. The memory stores instructions that cause the at least one processor to: cause the robotic arm (144) to move to a plurality of different poses; receive information relating to a position of the tracking marker (156) in a second coordinate space when the robotic arm is in each of the plurality of different poses; and compare the positions of the tracking marker in the first coordinate space to the positions of the tracking marker in the second coordinate space.
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