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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：US20250152262A1
公开(公告)日：2025-05-15
申请号：US19025659
申请日：2025-01-16
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：US12274513B2
公开(公告)日：2025-04-15
申请号：US17713873
申请日：2022-04-05
Applicant: Mazor Robotics Ltd.
Inventor： Eli Zehavi , Yonatan Ushpizin , Ido Zucker , Adi Ess
Abstract: A system comprises a robotic arm in a robotic arm coordinate system, a camera in a fixed pose in a navigation coordinate system, at least one processor, and memory including instructions that when executed by the at least one processor, cause the at least one processor to determine a pose of the robotic arm within the navigation coordinate system, map the robotic arm coordinate system to the navigation coordinate system based on the pose of the robotic arm, and control, based on output of the camera, the robotic arm in the navigation coordinate system.
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公开(公告)号：US20250107852A1
公开(公告)日：2025-04-03
申请号：US18976822
申请日：2024-12-11
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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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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Patent Agency Ranking
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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公开(公告)号：US12186045B2
公开(公告)日：2025-01-07
申请号：US17590045
申请日：2022-02-01
Applicant: Mazor Robotics Ltd.
Inventor： Adi Sandelson
IPC: A61B34/30 , A61B5/388 , A61B34/37 , G05B19/4155
Abstract: A system comprises a neuromonitoring system configured to generate nerve data regarding a state of a nerve of a patient during a surgical procedure on the patient. The system includes a robotic system configured to receive or generate, for the surgical procedure, location data that identifies a location of the nerve of the patient. The robotic system may cause the neuromonitoring system to be in either an active state or an inactive state based on the location data, where the active state is a state in which the neuromonitoring system provides the nerve data to the robotic system, while the inactive state is a state in which the neuromonitoring system does not provide the nerve data to the robotic system. The robotic system may further generate at least one control signal that implements one or more safeguards for the surgical procedure.
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公开(公告)号：US12094128B2
公开(公告)日：2024-09-17
申请号：US17591769
申请日：2022-02-03
Applicant: Mazor Robotics Ltd.
Inventor： Itamar Eshel , Ziv Seemann , Adi Sandelson , Gal Barazani , Nir Ofer
CPC classification number: G06T7/246 , A61B34/10 , A61B34/30 , G06T11/00 , A61B2034/105 , G06T2207/10028 , G06T2207/30204
Abstract: Methods, systems, and devices for robot integrated segmental tracking are described. A system determines first positional information of one or more objects based on three-dimensional first image data captured by an imaging device, tracking information associated with the one or more objects, or both. The first positional information includes a real-time location of the one or more objects. The system generates an image including a graphical representation of the one or more objects. Generating the image includes positioning the graphical representation of the one or more objects based on a comparison result indicative of a deviation between the first positional information and reference positional information of the one or more objects. The reference positional information includes a registered location of the one or more objects. The system outputs an indication of the deviation between the first positional information and the reference positional information.
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50.发明公开公开(公告)号：US20240285348A1
公开(公告)日：2024-08-29
申请号：US18175640
申请日：2023-02-28
Applicant: Mazor Robotics Ltd.
Inventor： Adi SANDELSON , Elad RATZABI
IPC: A61B34/20
CPC classification number: A61B34/20 , A61B2034/2055 , A61B2034/2065 , A61B90/37
Abstract: A surgical navigation system including an optical tracking device, an optical localizer configured to optically track the optical tracking device, a mount assembly supporting the optical localizer, and a processor. The processor is configured to transmit commands to the mount assembly for actuating the mount assembly to position the optical localizer where there is line of sight between the optical localizer and the optical tracking device.
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