公开(公告)号：US11707292B2

公开(公告)日：2023-07-25

申请号：US17163880

申请日：2021-02-01

Applicant: Mazor Robotics Ltd.

Inventor： Yonatan Ushpizin

IPC: A61B17/32 ,  A61B17/16 ,  A61B34/30 ,  A61B17/00

CPC classification number: A61B17/32002 ,  A61B17/16 ,  A61B17/1604 ,  A61B17/1671 ,  A61B34/30 ,  A61B2017/00261 ,  A61B2017/32006 ,  A61B2017/320008

Abstract: A tool for cleaning a vertebral disc includes an elongated hollow shaft including a proximal end and a distal end; a first drum rotatably disposed in a housing secured to the proximal end of the shaft, the first drum having a first axis; a second drum rotatably disposed proximate the distal end of the shaft, the second drum having a second axis parallel to the first axis; and a belt extending through the hollow shaft and operatively coupled to the first drum and the second drum, the belt comprising a plurality of teeth configured to cut anatomical tissue, each tooth of the plurality of teeth remaining flush with an outer surface of the belt when a section of the belt comprising the tooth is substantially straight, and projecting beyond the outer surface when the section of the belt bends around the first drum or the second drum.

公开(公告)号：US20230149082A1

公开(公告)日：2023-05-18

申请号：US17528063

申请日：2021-11-16

Applicant: Mazor Robotics Ltd.

Inventor： Eliyahu Zehavi ,  Yonatan Ushpizin ,  Ido Zucker ,  Avraham Turgeman ,  Elad Rotman ,  Adi Ess

IPC: A61B34/10 ,  A61B34/20 ,  A61B90/00

CPC classification number: A61B34/10 ,  A61B34/20 ,  A61B90/37 ,  A61B90/39 ,  A61B2034/102 ,  A61B2090/365 ,  A61B2090/363

Abstract: Systems, methods and devices for performing a surgical procedure using a virtual guide are provided. The system may include a display configured to display an augmented image in an environment. A surgical landmark may be tracked and a parameter of the surgical landmark may be determined. A virtual guide for presentation within the augmented image may be generated and the display may present the virtual guide within the augmented image.

公开(公告)号：US11638614B2

公开(公告)日：2023-05-02

申请号：US17191297

申请日：2021-03-03

Applicant: Mazor Robotics Ltd.

Inventor： Aviv Ellman ,  Eli Zehavi

IPC: A61B34/20 ,  A61B90/00 ,  A61B34/30 ,  A61B17/34 ,  A61N1/05

Abstract: A method for verifying surgical tool placement includes attaching a guide sleeve to a surgical robot, the guide sleeve defining a guide sleeve axis; aligning the surgical robot such that the guide sleeve axis is directed at a predetermined target location; and attaching an aiming rod to the guide sleeve such that the aiming rod can rotate around the guide sleeve axis, the aiming rod having apertures along its length. The aiming rod is attached to the guide sleeve at an angle and position such that when the surgical robot is adjusted to align the guide sleeve axis with the predetermined target location, a center of each aperture of the apertures of the aiming rod and a center of the predetermined target location are collinear, independent of a rotational position of the aiming rod around the guide sleeve axis.

公开(公告)号：US20230111217A1

公开(公告)日：2023-04-13

申请号：US17498416

申请日：2021-10-11

Applicant: Mazor Robotics Ltd.

Inventor： Noam Weiss

IPC: A61B90/00 ,  A61B34/20 ,  A61B34/30

Abstract: A method comprises registering a robotic system with a patient based on first image data of the patient generated by a first modality to form a registered system, determining, within the registered system, a location for placing an electrode on the patient based on an area of interest for the patient, and causing the robotic system to place the electrode at the location on the patient.

公开(公告)号：US20230066480A1

公开(公告)日：2023-03-02

申请号：US17464410

申请日：2021-09-01

Applicant: Mazor Robotics Ltd.

Inventor： Noam Weiss ,  Ben Yosef Hai Ezair

IPC: G06T11/00 ,  A61B6/02

Abstract: Systems, methods, and devices for generating a corrected image are provided. A first robotic arm may be configured to orient a source at a first pose and a second robotic arm may be configured to orient a detector at a plurality of second poses. An image dataset may be received from the detector at each of the plurality of second poses to yield a plurality of image datasets. The plurality of datasets may comprise an initial image having a scatter effect. The plurality of image datasets may be saved. A scatter correction may be determined and configured to correct the scatter effect. The correction may be applied to the initial image to correct the scatter effect.

公开(公告)号：US20230005619A1

公开(公告)日：2023-01-05

申请号：US17939629

申请日：2022-09-07

Applicant: Mazor Robotics Ltd.

Inventor： Dany Junio

IPC: G16H50/20 ,  G16H30/20 ,  G16H30/40 ,  G16H50/50 ,  G16H50/70 ,  A61B5/00 ,  G06T7/00 ,  G16H20/30

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.

公开(公告)号：US20220409400A1

公开(公告)日：2022-12-29

申请号：US17897628

申请日：2022-08-29

Applicant: MAZOR ROBOTICS LTD.

Inventor： Ido Zucker ,  Arik Levy

IPC: A61F2/46 ,  A61F2/44

Abstract: An interbody tool may include an upper portion with an upper contact surface and a plurality of upper legs; a lower portion with a lower contact surface and a plurality of lower legs, each of the lower legs movably connected to one of the upper legs; a plurality of gauges, each gauge configured to measure a position of one of the plurality of upper legs relative to a corresponding one of the plurality of lower legs; at least one actuator configured to selectively push the upper portion away from the lower portion; and at least one sensor for measuring a force exerted by the at least one actuator.

公开(公告)号：US20220409303A1

公开(公告)日：2022-12-29

申请号：US17357640

申请日：2021-06-24

Applicant: Mazor Robotics Ltd.

Inventor： Dvir Kadshai ,  Gal Eshed ,  Dor Kopito

IPC: A61B34/30 ,  B25J19/00 ,  B25J15/04 ,  A61B46/10 ,  H01R13/62 ,  H01R13/627

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.

公开(公告)号：US20220395342A1

公开(公告)日：2022-12-15

申请号：US17344658

申请日：2021-06-10

Applicant: Mazor Robotics Ltd.

Inventor： Noam Weiss ,  Yizhaq Shmayahu

IPC: A61B34/37 ,  A61B8/00 ,  A61B6/00 ,  A61B34/20

Abstract: Multi-arm robotic systems and methods for monitoring a target are provided. The system may include a first robotic arm configured to orient a first component and a second robotic arm configured to orient a second component. The first robotic arm and the second robotic arm may be co-registered. The first robotic arm may be caused to orient the first component at a first pose. The second robotic arm may be caused to orient the second component at a second pose. At least one image may be received from the first component and the second component.

公开(公告)号：US11517375B2

公开(公告)日：2022-12-06

申请号：US16348151

申请日：2017-11-08

Applicant: MAZOR ROBOTICS LTD.

Inventor： Ben Metz

IPC: A61B34/10 ,  A61B17/88 ,  G16H20/40 ,  G16H50/50 ,  G16H30/40 ,  A61B6/03 ,  A61B6/00 ,  G06T17/20

Abstract: A method for planning the insertion of bone cement into an orthopedic void of a vertebra. A three dimensional preoperative image of the vertebra is used and the voxels are analyzed to provide the voxel absorption levels. The absorption levels are transformed into mechanical properties of regions of the vertebra, such that a three dimensional mesh of the mechanical properties of the vertebra is generated. An entry point and an entry angle are selected on the vertebra, through which to inject bone cement into the void. Then, using the known viscosity of the bone cement, and using the entry point and entry angle, a finite elements analysis may be performed on the mesh to simulate the propagation of the bone cement into the orthopedic void. The simulation is repeated using different operational parameters until said propagation of said bone cement is deemed satisfactory.