公开(公告)号：US20220257320A1

公开(公告)日：2022-08-18

申请号：US17179168

申请日：2021-02-18

Applicant: Mazor Robotics Ltd.

Inventor： Dany Junio ,  Nir Ofer ,  Adi Sandelson ,  Yair S. Schwartz ,  Gillan M. Grimberg ,  Nimrod Dori ,  Maor Sviri ,  Amir Keret ,  Ziv Seemann

IPC: A61B34/10 ,  A61B34/30 ,  A61B90/00 ,  A61B90/50 ,  A61B17/17 ,  G16H40/67 ,  G16H20/40 ,  G16H50/50 ,  G16H30/20 ,  G16H30/40 ,  G16H50/70 ,  G16H10/60 ,  G06F30/20 ,  G06T11/00

Abstract: A system for skive avoidance includes a sensor configured to measure a force exerted on a surgical tool; at least one processor; and a memory. The memory stores instructions for execution by the at least one processor that, when executed, cause the at least one processor to: project a tool trajectory onto a three-dimensional (3D) model of bone tissue; and estimate an expected normal force direction and magnitude upon contact of the surgical tool with the bone tissue.

公开(公告)号：US20220241032A1

公开(公告)日：2022-08-04

申请号：US17575404

申请日：2022-01-13

Applicant: Mazor Robotics Ltd.

Inventor： Ido Zucker ,  Yizhaq Shmayahu ,  Yonatan Ushpizin ,  Eliyahu Zehavi ,  Dany Junio

IPC: A61B34/30 ,  A61B34/10 ,  A61B34/20

Abstract: Systems and methods for tracking a pose of a target and/or tracking the target is provided. A first robotic arm may be configured to orient a first imaging device and a second robotic arm may be configured to orient a second imaging device. The first robotic arm and the second robotic arm may operate in a shared or common coordinate space. A first image may be received from the first imaging device and a second image may be received from the second imaging device. The first image and the second image may depict at least one target. A pose of the at least one target may be determined in the coordinate space based on the first image, a corresponding first pose, the second image, and a corresponding second pose.

公开(公告)号：US20220241031A1

公开(公告)日：2022-08-04

申请号：US17575320

申请日：2022-01-13

Applicant: Mazor Robotics Ltd.

Inventor： Dany Junio

IPC: A61B34/30 ,  A61B34/10 ,  A61B34/20

Abstract: Systems and methods for inserting a rod is provided. At least one tower extending from a head of a corresponding implanted pedicle screw may be tracked to identify a tower movement. An insertion point and a path from the insertion point to the at least one tower may be calculated. The rod may be inserted at the insertion point and along the rod and the path may be adjusted during insertion of the rod based on identified tower movement.

公开(公告)号：US20220218421A1

公开(公告)日：2022-07-14

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 ,  A61B17/17 ,  G16H40/63 ,  G16H20/40

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：US20220183766A1

公开(公告)日：2022-06-16

申请号：US17490753

申请日：2021-09-30

Applicant: Mazor Robotics Ltd.

Inventor： Ziv Seemann ,  Adi Sandelson ,  Dor Kopito ,  Nimrod Dori ,  Gal Eshed ,  Dany Junio ,  Elad Ratzabi

IPC: A61B34/20 ,  A61B34/30

Abstract: A method for determining a work volume includes receiving image information from an imaging device corresponding to an array of tracking markers fixed to a flexible mesh, the mesh placed over a patient and over at least one surgical instrument adjacent to or connected to the patient; determining a position of each tracking marker in the array of tracking markers based on the image information; defining a boundary for movement of a robotic arm based on determined tracking marker positions, such that the robotic arm does not contact the patient or the at least one surgical instrument during movement of the robotic arm; and controlling the robotic arm based on the defined boundary.

公开(公告)号：US20220079704A1

公开(公告)日：2022-03-17

申请号：US17464356

申请日：2021-09-01

Applicant: Mazor Robotics Ltd.

Inventor： Dany Junio

IPC: A61B90/00 ,  A61B34/00

Abstract: A system and method for generating a corrected image is provided. A plurality of poses for an imaging device may be calculated based on information about an object within a patient's anatomy. An image may be received from the imaging device at each pose of the plurality of poses to yield an image set. Each image may depict at least a portion of an anatomical element of the patient and an object. A set of saturated areas in which the object has caused saturated attenuation, and a set of unsaturated areas in which the object has not caused saturated attenuation may be identified in the images of the image set. A corrected image may be generated by combining data from the set of unsaturated areas, the corrected image depicting the anatomical feature with fewer than all of the saturated areas in the set of saturated areas.

公开(公告)号：US20220031370A1

公开(公告)日：2022-02-03

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

IPC: A61B17/70 ,  A61B90/57 ,  A61B90/00 ,  A61B34/20

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.

公开(公告)号：US20210321971A1

公开(公告)日：2021-10-21

申请号：US16854011

申请日：2020-04-21

Applicant: MAZOR ROBOTICS LTD.

Inventor： Dany Junio

IPC: A61B6/00 ,  A61B6/04 ,  G06T7/00

Abstract: A method of positioning an imaging device relative to a patient, comprising positioning a reference marker adjacent a desired field of scan corresponding to an anatomical element of a patient; and causing an imaging device to align with the reference marker, based on tracking information received from a navigation system, the tracking information corresponding to the reference marker and a navigated tracker disposed on the imaging device.