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公开(公告)号：US20220322973A1
公开(公告)日：2022-10-13
申请号：US17225382
申请日：2021-04-08
Applicant: Mazor Robotics Ltd.
Inventor： Ziv Seemann , Gal Barazani , Bat-el Kagan , Amir Keret , Adi Sandelson
Abstract: Systems and methods for monitoring patient movement are provided. A first dataset containing information about a first tracking device and a second tracking device may be received. A second dataset containing information about the first tracking device and the second tracking device may be received. The first dataset and the second dataset may be compared to determine if a relative pose of the first tracking device and the second tracking device has changed. A notification may be generated when the relative pose of the first tracking device and the second tracking device has changed.
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公开(公告)号：US20220280982A1
公开(公告)日：2022-09-08
申请号：US17190283
申请日：2021-03-02
Applicant: Mazor Robotics Ltd.
Inventor： Yonatan Ushpizin , Royi Altman , Arik Asaf Levy , Ido Zucker
Abstract: A tool cleaning station may include a housing. The housing may comprise a first end and a second end; an interior space; a tool aperture disposed between the first end and the second end and in communication with the interior space; a fluid aperture in fluid communication with a fluid source and in communication with the interior space; and a drainage aperture in communication with the interior space. The station may also include a first brush rotatably disposed in the interior space and secured between the first end and the second end and the first brush may have a first axis. The station may also include a second brush rotatably disposed in the interior space and secured between the first end and the second end and the second brush may have a second axis parallel to and offset from the first axis.
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公开(公告)号：US20220280168A1
公开(公告)日：2022-09-08
申请号：US17190289
申请日：2021-03-02
Applicant: Mazor Robotics Ltd.
Inventor： Avi Turgeman , Omer Ravid
Abstract: A system for cutting bone is provided and may comprise a cutting tool configured to rotate and a shield. The system may also comprise a first robotic arm configured to hold the cutting tool and a second robotic arm configured to hold the shield. A processor and a memory storing instructions for execution by the processor that, when executed, may cause the processor to cause the second robotic arm to orient the shield proximate an anatomical element along a cutting path of the cutting tool.
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公开(公告)号：US11432892B1
公开(公告)日：2022-09-06
申请号：US17190289
申请日：2021-03-02
Applicant: Mazor Robotics Ltd.
Inventor： Avi Turgeman , Omer Ravid
Abstract: A system for cutting bone is provided and may comprise a cutting tool configured to rotate and a shield. The system may also comprise a first robotic arm configured to hold the cutting tool and a second robotic arm configured to hold the shield. A processor and a memory storing instructions for execution by the processor that, when executed, may cause the processor to cause the second robotic arm to orient the shield proximate an anatomical element along a cutting path of the cutting tool.
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公开(公告)号：US20220241033A1
公开(公告)日：2022-08-04
申请号：US17580298
申请日：2022-01-20
Applicant: Mazor Robotics Ltd.
Inventor： Adi Sandelson , Dor Kopito , Nimrod Dori , Gal Eshed , Elad Ratzabi , Amir Keret , Ziv Seemann , Yvan Paitel , Nicholas J. Rawluk , Dany Junio
IPC: A61B34/30
Abstract: A robotic navigation system includes a robot base; a robotic arm with a proximal end secured to the robot base, a distal end movable relative to the proximal end, and one or more arm segments between the proximal end and the distal end; a base set of tracking markers secured to the robot base; and at least one additional set of tracking markers secured to the robotic arm.
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Patent Agency Ranking
公开(公告)号：US20220142709A1
公开(公告)日：2022-05-12
申请号：US17499765
申请日：2021-10-12
Applicant: Mazor Robotics Ltd.
Inventor： Ido Zucker
Abstract: Systems and methods for automated path planning of a surgical procedure, such that the optimal approach is selected from among a series of potential choices. The system is configured to plan and carry out, using a robotic surgical system, access to a surgical site starting from selection of the skin entry point. The methods select the best surgical approach and plan the physical path for robotically performing a selected surgical procedure. The path finding method uses preoperative MRI or CT images and computer vision or other image processing method to identify specific organs and tissues. The method then assigns values to a variety of parameters that define the tissue compressibility, penetrability, flexibility, and other characteristics. The system then plans an optimal path to reach the surgical target area with minimum danger of tissue damage and maximum patient safety, and encodes this information for execution by a robotic system.
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公开(公告)号：US20220117664A1
公开(公告)日：2022-04-21
申请号：US17491014
申请日：2021-09-30
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio
Abstract: A method and system for improving spinal alignment parameters of a subject, by planning the shape of an intervertebral rod for attaching to previously implanted hardware whose positions and orientations are known from intraoperative images. Once the planned shape of the rod has been prepared, determining if, when attached to the inserted hardware, a spine configuration is achieved having acceptable values of selected spinal alignment parameters. If not, the shape of the rod is amended iteratively, until the selected spinal alignment parameters have acceptable values with attachability to the implanted hardware. If, after a predetermined number of iterations, the amended shape of the rod still does not achieve acceptable values of spinal alignment parameters, while maintaining attachability to the implanted hardware, performing a spinal manipulation procedure on at least one vertebra of the spine to increase the attachability of the rod to the implanted hardware.
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公开(公告)号：US20220096188A1
公开(公告)日：2022-03-31
申请号：US17464300
申请日：2021-09-01
Applicant: Mazor Robotics Ltd.
Inventor： Aviv Ellman , Moshe Shoham
Abstract: Methods and systems for detecting, monitoring, and accounting for anatomical motion is provided. An initial contact between a first robotic arm and an anatomical element of a patient may be detected based on information received from at least one internal sensor of the first robotic arm. A position of the anatomical element may be determined based on the information. The determined position may be compared to an expected position of the anatomical element. A tool trajectory of a second robotic arm may be updated when the determined position is offset from the expected position.
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公开(公告)号：US20210386491A1
公开(公告)日：2021-12-16
申请号：US17341263
申请日：2021-06-07
Applicant: Mazor Robotics Ltd.
Inventor： Yizhaq Shmayahu , Eli Zehavi
Abstract: A system for endoscopic surgery, comprising a first robotic arm defining the pose of an endoscopic camera, a second robotic arm defining the pose of a surgical end effector, and an irrigation nozzle configured to inject fluid under a predetermined pressure into a preselected tissue region, to generate a cavity at a surgical site. The cavity enables the camera to take images of the features of the surgical site. A controller is used to control both robotic arms, such that the pose of the endoscopic camera and the pose of the surgical end effector are known to the controller. The camera can then acquire intraoperative images of the cavity, such that an endoscopic operation can be performed in the cavity with the surgical end effector guided using the intraoperative images. Anatomic features imaged intraoperatively by the camera can be identified from preoperative images, using image registration.
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公开(公告)号：US11141227B2
公开(公告)日：2021-10-12
申请号：US16068947
申请日：2017-01-11
Applicant: MAZOR ROBOTICS LTD.
Inventor： Moshe Shoham , Eliyahu Zehavi , Yossi Bar
Abstract: A surgical robot system whose robotic arm is divided into two parts, and is connected to the patient at the junction of the two parts, by means of a bone connector. The section between the bone connector and the robotic base has a predetermined level of flexibility, enabling the bone connector limited movement. Consequently, the patient's body can also move without the bone connector exerting excess forces on the patient, and without detachment from the patient. The arm section between the bone connection link and the end actuator has high rigidity, such that the pose of the end actuator relative to the patient is accurately maintained. As the patient undergoes small movements, such as in breathing or coughing, the bone connector and base connection arm section, move together with motion of the patient's bone, while the pose of the end actuator relative to the patient is accurately maintained.
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