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    SYSTEMS AND METHODS FOR HYBRID MOTION PLANNING
    1.
    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.

    COST EFFECTIVE ROBOTIC SYSTEM ARCHITECTURE
    6.
    发明公开
    COST EFFECTIVE ROBOTIC SYSTEM ARCHITECTURE 审中-公开

    公开(公告)号：US20230404692A1

    公开(公告)日：2023-12-21

    申请号：US17845032

    申请日：2022-06-21

    Applicant: Mazor Robotics Ltd.

    Inventor： Yonatan Ushpizin ,  Eliyahu Zehavi ,  Avraham Turgeman

    IPC: A61B34/37

    CPC classification number: A61B34/37 ,  A61B2017/00477

    Abstract: Systems, techniques, and embodiments are provided herein that are configured to interchangeably couple any surgical tool of a plurality of surgical tools to a robotic arm. For example, a robotic surgical system is provided that includes an interface unit disposed at a distal end of the robotic arm and coupled to the robotic arm, where the interface unit includes a set of components configured to provide the coupling. In some embodiments, the set of components of the interface unit is configured to provide electrical coupling, communication coupling, mechanical coupling, pneumatic coupling, irrigation coupling, or a combination thereof, for coupling any surgical tool of the plurality of surgical tools to the robotic arm. Additionally, each surgical tool of the plurality of surgical tools may comprise an identification feature for the interface unit and/or a processor to identify which surgical tool is being coupled to the robotic arm.

    Global spinal alignment method
    7.
    发明授权
    Global spinal alignment method 有权

    公开(公告)号：US11410767B2

    公开(公告)日：2022-08-09

    申请号：US17017283

    申请日：2020-09-10

    Applicant: MAZOR ROBOTICS LTD.

    Inventor： Eliyahu Zehavi ,  Yossi Bar ,  Shlomit Steinberg ,  Leonid Kleyman ,  Isador Lieberman

    IPC: G16H20/40 ,  G16H30/40 ,  A61B6/03 ,  A61B6/00 ,  A61B34/10 ,  G06T7/11 ,  G06T7/70 ,  G06T7/73 ,  G06T7/00 ,  G16H50/50 ,  G16H50/20

    Abstract: A method of planning the correction of spinal deformations of a subject, by performing segmentation on a three dimensional image of the subject's spine in its erect neutral position, such that the positions and orientations of the vertebrae in a region of interest are characterized. Parameters relating to the alignment and position of the vertebrae are derived from the segmentation, followed by determining whether the parameters fall within an acceptable range desired for the spine of the subject. If not within the acceptable range, an alignment optimization is performed on the vertebrae to bring the parameters within the acceptable range, to reduce the spinal deformations of the subject's spine. The alignment optimization is performed by taking into consideration limitations arising from the dynamic range of motion of the vertebrae as determined by analyzing images of the subject's spine, while the subject is in positions of maximum bending.

    SURGICAL ROBOTIC SYSTEM
    8.
    发明申请
    SURGICAL ROBOTIC SYSTEM 有权

    公开(公告)号：US20220022981A1

    公开(公告)日：2022-01-27

    申请号：US17498609

    申请日：2021-10-11

    Applicant: Mazor Robotics Ltd.

    Inventor： Moshe Shoham ,  Eliyahu Zehavi ,  Yossi Bar

    IPC: A61B34/30 ,  A61B34/10 ,  A61B34/20 ,  A61B90/00 ,  A61B90/50

    Abstract: A robotic surgical system is provided. An illustrative robotic surgical system includes a base having a known position relative to an operating table; an end effector configured to hold and align a surgical tool for performing a procedure on a subject on said operating table; at least one robotic arm connecting said base with said end effector; and a target attached to the end effector, wherein an image of the target attached to the end effector is used to determine a pose of the end effector.

    Multi-arm robotic system for spine surgery with imaging guidance
    9.
    发明授权
    Multi-arm robotic system for spine surgery with imaging guidance 有权

    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

    IPC: A61B34/30 ,  A61B34/10 ,  A61B34/20 ,  B25J9/16 ,  G06N20/00

    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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