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    Path planning based on work volume mapping
    1.
    发明授权
    Path planning based on work volume mapping 有权

    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

    IPC: A61B34/30 ,  A61B17/02 ,  A61B34/20

    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.

    SYSTEMS AND METHODS FOR TRACKING ANATOMICAL MOTION
    4.
    发明申请
    SYSTEMS AND METHODS FOR TRACKING ANATOMICAL MOTION 有权

    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

    IPC: A61B34/00 ,  A61B34/30 ,  A61B34/20 ,  A61B34/10

    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.

    Surgical robotic system
    5.
    发明授权
    Surgical robotic system 有权

    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

    IPC: A61B34/30 ,  A61B90/50 ,  A61F2/44 ,  A61F2/46 ,  A61B17/00 ,  A61B90/00 ,  A61F2/30

    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.

    On-site verification of implant positioning
    7.
    发明授权
    On-site verification of implant positioning 有权
    现场验证植入物定位

    公开(公告)号：US09545233B2

    公开(公告)日：2017-01-17

    申请号：US14402696

    申请日：2013-05-21

    Applicant: Mazor Robotics Ltd.

    Inventor： Yael Sirpad ,  Eli Zehavi ,  Moshe Shoham ,  Leonid Kleyman

    IPC: G06K9/00 ,  A61B6/12 ,  A61B6/00 ,  G06K9/62 ,  G06T7/00 ,  G06T15/00

    CPC classification number: A61B6/12 ,  A61B6/5235 ,  A61B6/5247 ,  A61B90/36 ,  A61B2090/364 ,  A61B2090/367 ,  A61B2090/376 ,  A61B2090/3966 ,  G06K9/6202 ,  G06T7/70 ,  G06T15/00 ,  G06T2207/10121 ,  G06T2207/30008

    Abstract: A method verifying the position of a surgically inserted orthopedic insert. A preoperative three dimensional image data set of the surgical site is generated, showing the bone into which the insert is to be inserted. During the insertion procedure, a series of intraoperative two-dimensional fluoroscope images are generated, each at a known pose relative to the bone, showing the insert during or after insertion into the bone. The 3-D position of the insert is determined in an intraoperative three dimensional image data set reconstructed from the series of intraoperative 2-D fluoroscope images. The reconstructed intraoperative 3-D image data set is registered with the preoperative three dimensional image data set, such as by comparison of imaged anatomical features. Once this registration is achieved, the determined 3-D position of the insert is used to implant a virtual image of the insert into the preoperative three dimensional image data set.

    Abstract translation: 一种验证手术插入的整形外科插入物的位置的方法。 产生手术部位的术前三维图像数据集，显示插入物插入其中的骨骼。 在插入过程期间，产生一系列术中二维荧光镜图像，每个以相对于骨骼的已知姿势生成，在插入骨骼期间或之后显示插入物。 插入物的3-D位置是在从一系列术中2-D荧光镜图像重建的术中三维图像数据集中确定的。 例如通过比较成像的解剖特征，将重建的术中3-D图像数据集与术前三维图像数据集进行配准。 一旦达到该注册，则使用所确定的插入物的3-D位置将插入物的虚拟图像植入到术前三维图像数据集中。

    THREE DIMENSIONAL ROBOTIC BIOPRINTER
    9.
    发明公开
    THREE DIMENSIONAL ROBOTIC BIOPRINTER 审中-公开

    公开(公告)号：US20240156492A1

    公开(公告)日：2024-05-16

    申请号：US18393296

    申请日：2023-12-21

    Applicant: Mazor Robotics Ltd.

    Inventor： Moshe Shoham

    IPC: A61B17/34 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  B33Y10/00 ,  B33Y30/00 ,  B33Y50/02 ,  B33Y80/00

    CPC classification number: A61B17/3468 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  B33Y10/00 ,  B33Y30/00 ,  B33Y50/02 ,  B33Y80/00 ,  A61B2034/107

    Abstract: A minimally invasive system using a surgical robot as a three-dimensional printer for fabrication of biological tissues inside the body of a subject. A preoperative plan is used to direct and control both the motion of the robot and the robotic bio-ink extrusion. The robotic motion is coordinated with the ink extrusion to form layers having the desired thickness and dimensions, and use of different types of ink enables composite elements to be laid down. Such systems have a small diameter bio-ink ejecting mechanism, generally in the form of a piston driven cannula, enabling access to regions such as joints, with limited space. The robotic control is programmed such that angular motion takes place around a pivot point at the point of insertion into the subject. The bio-inks can be stored in predetermined layers in the cannula to enable sequential dispensing from one cannula.

    SYSTEMS AND METHODS FOR HYBRID MOTION PLANNING
    10.
    发明公开
    SYSTEMS AND METHODS FOR HYBRID MOTION PLANNING 审中-公开

    公开(公告)号：US20230293244A1

    公开(公告)日：2023-09-21

    申请号：US18169069

    申请日：2023-02-14

    Applicant: Mazor Robotics Ltd.

    Inventor： Avraham Turgeman ,  Yaniv Ben Zriham ,  Ben Yosef Hai Ezair ,  Eliyahu Zehavi ,  Moshe Shoham

    IPC: A61B34/20 ,  A61B34/32 ,  A61B34/00

    CPC classification number: A61B34/20 ,  A61B34/32 ,  A61B34/25 ,  A61B2034/2074 ,  A61B2034/254

    Abstract: A system according to at least one embodiment of the present disclosure includes a processor; and a memory storing data thereon that, when processed by the processor, cause the processor to: move a first robotic arm from a first state to a second state; update, based on the moving of the first robotic arm from the first state to the second state, a first status identifier associated with the first robotic arm in a combination state table, the combination state table associated with the first robotic arm and a second robotic arm; determine, based on the first status identifier and the combination state table, a set of permissive states and a set of non-permissive states for the second robotic arm; and prevent the second robotic arm in a third state from performing one or more actions that interfere with the first robotic arm being in the second state.

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