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公开(公告)号：US20240341876A1
公开(公告)日：2024-10-17
申请号：US18754066
申请日：2024-06-25
申请人： Mazor Robotics Ltd.
发明人： Dany Junio , Aviv Ellman , Eli Zehavi , Moshe Shoham , Yonatan Ushpizin , Ido Zucker , Elad Ratzabi , Gillan Grimberg , Nir Ofer , Yair Schwartz , Nimrod Dori
CPC分类号： A61B34/30 , A61B17/17 , G16H20/40 , G16H40/63 , A61B2017/0003 , A61B17/1757 , A61B2034/107 , A61B2090/062 , A61B2090/064 , A61B2562/0204
摘要： 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.
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公开(公告)号：US20230241775A1
公开(公告)日：2023-08-03
申请号：US17591390
申请日：2022-02-02
申请人： MAZOR ROBOTICS, LTD.
发明人： Mark C. Dace , Adam D. Glaser , Aviv Ellman , Dany Junio , Elad Ratzabi , Gillan M. Grimberg
CPC分类号： B25J9/1676 , B25J9/1075 , A61B34/70 , A61B34/20 , A61B34/10 , A61B2034/2074
摘要： Disclosed herein are systems and methods for a robotic arm guide used as a depth stop. For example, a system for positioning a surgical tool includes a surgical robotic system having a robot arm with a guide sleeve, the guide sleeve defining axial and lateral directions. The system is further configured to (i) receive a surgical plan associated with a subject, the surgical plan including three-dimensional preoperative data related to the subject, (ii) determine, based on the surgical plan, a desired trajectory of a distal end of the surgical tool as the surgical tool is inserted into the guide sleeve, and (iii) transmit one or more control signals to the surgical robotic system, causing the surgical robotic system to orient and position the guide sleeve such that the distal end of the surgical tool follows the desired trajectory when the surgical tool is inserted in the guide sleeve.
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公开(公告)号：US20220280240A1
公开(公告)日：2022-09-08
申请号：US17671117
申请日：2022-02-14
申请人： Mazor Robotics Ltd.
发明人： Dor Artzi , Yizhaq Shmayahu , Diego Merkier , Or Riven , Dany Junio , Aviv Ellman , Leon Kleyman
摘要： A device comprises at least one processor and memory including instructions that when executed by the at least one processor cause the at least one processor to: generate, based on at least one image of a spine within a body, a set of possible screw poses for implanting at least one screw into the spine during a surgical procedure; evaluate each possible screw pose based on at least one consideration associated with the surgical procedure; select, based on the evaluation, at least one screw pose from the set of possible screw poses; and output an indication of the selected at least one screw pose to a user interface.
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公开(公告)号：US11896317B2
公开(公告)日：2024-02-13
申请号：US16984514
申请日：2020-08-04
申请人： MAZOR ROBOTICS LTD.
发明人： Nir Ofer , Ziv Seemann , Dor Kopito , Yair Schwartz , Ofir Dahan , Gal Eshed , Dvir Kadshai , Amir Keret , Maor Sviri , Adi Talmor , Ron Visbrot , Arie Shneiderman , Aviv Ellman , Gal Barazani
CPC分类号： A61B34/20 , A61B34/10 , G01S5/01 , G01S5/30 , A61B2034/105 , A61B2034/2063
摘要： A surgical positioning system includes an emitter secured to a medical implant; at least three microphones; at least one processor; and a memory. The emitter has a speaker and a power source. The memory stores instructions for execution by the processor that, when executed, cause the processor to receive, from each of the at least three microphones, information about a detected sound; and calculate, based on position information corresponding to each of the at least three microphones and the received information, a position of the implant.
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公开(公告)号：US10939962B1
公开(公告)日：2021-03-09
申请号：US15089704
申请日：2016-04-04
申请人： Mazor Robotics Ltd.
发明人： Aviv Ellman , Eli Zehavi
摘要： A system and method for verifying the accurate insertion positioning of a robotically guided surgical tool or probe, at its cranial target region, such as for Deep Brain Stimulation. A head mounted robot aligns a probe or tool guiding sleeve, together with an aiming rod attached at a predefined position and angle to the guiding sleeve. The aiming rod incorporates apertures through which an X-ray system can view the patient's skull. The aiming rod is attached to the tool guiding sleeve at an angle and position calculated such that the line of sight through the apertures falls exactly on the target region when the tool or probe is inserted to its predetermined depth. If the tip of the tool or probe is seen located at the center of the apertures in the X-ray image, verification is obtained that the insertion procedure has been performed accurately.
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公开(公告)号：US11918297B2
公开(公告)日：2024-03-05
申请号：US16244369
申请日：2019-01-10
申请人： MAZOR ROBOTICS LTD.
发明人： Victor D. Snyder , Matthew F. Dicorleto , Joseph Moctezuma , David E. Macht , Jeremiah R. Beers , Katherine M. Puckett , Katharine E. Darling , Leonid Kleyman , Dany Junio , Dana Gazit-Ankori , Eliyahu Zehavi , Elad Ratzabi , Aviv Ellman , Timothy M. Conkin
CPC分类号： A61B34/20 , A61B5/061 , A61B34/30 , G06T7/32 , A61B2034/2051 , A61B2034/2059 , G05B2219/39401
摘要： Disclosed is a system for assisting in guiding and performing a procedure on a subject. The subject may be any appropriate subject such as inanimate object and/or an animate object. The guide and system may include various manipulable or movable members, such as robotic systems, and may be registered to selected coordinate systems.
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公开(公告)号：US11638614B2
公开(公告)日：2023-05-02
申请号：US17191297
申请日：2021-03-03
申请人： Mazor Robotics Ltd.
发明人： Aviv Ellman , Eli Zehavi
摘要： 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.
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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
申请人： Mazor Robotics Ltd.
发明人： Aviv Ellman , Moshe Shoham
摘要： 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：US20210186626A1
公开(公告)日：2021-06-24
申请号：US17191297
申请日：2021-03-03
申请人： Mazor Robotics Ltd.
发明人： Aviv Ellman , Eli Zehavi
摘要： 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.
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公开(公告)号：US12048497B2
公开(公告)日：2024-07-30
申请号：US17569957
申请日：2022-01-06
申请人： Mazor Robotics Ltd.
发明人： Dany Junio , Aviv Ellman , Eli Zehavi , Moshe Shoham , Yonatan Ushpizin , Ido Zucker , Elad Ratzabi , Gillan Grimberg , Nir Ofer , Yair Schwartz , Nimrod Dori
CPC分类号： A61B34/30 , A61B17/17 , G16H20/40 , G16H40/63 , A61B2017/0003 , A61B17/1757 , A61B2034/107 , A61B2090/062 , A61B2090/064 , A61B2562/0204
摘要： 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.
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