公开(公告)号：US12178663B2

公开(公告)日：2024-12-31

申请号：US17526873

申请日：2021-11-15

Applicant: Mazor Robotics Ltd.

Inventor： Ido Zucker ,  Yonatan Ushpizin ,  Eliyahu Zehavi

IPC: A61B90/00 ,  A61B17/70 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B17/56

Abstract: Methods and systems for monitoring a rod reduction process is provided. The methods and systems include determining, based on at least one parameter, a threshold for forces exerted by a tool on a rod or a pedicle screw and receiving data corresponding to a magnitude of the forces exerted by the tool on the pedicle screw or the rod during reduction of the rod into a head of the pedicle screw. A surgical plan may be updated when the monitored magnitude meets the threshold.

公开(公告)号：US12011237B2

公开(公告)日：2024-06-18

申请号：US17331081

申请日：2021-05-26

Applicant: Mazor Robotics Ltd.

Inventor： Avi Turgeman ,  Yonatan Ushpizin ,  Eli Zehavi ,  Ido Zucker

IPC: A61B34/30 ,  A61B17/86 ,  A61B34/00 ,  G06F3/01 ,  G06T7/50

CPC classification number: A61B34/30 ,  A61B17/86 ,  A61B34/25 ,  G06F3/017 ,  G06T7/50 ,  A61B2034/743 ,  A61B2034/744 ,  G06T2207/10028 ,  G06T2207/30012

Abstract: A system according to at least one embodiment of the present disclosure includes an imaging source; an imaging detector; a depth sensor; and a controller, where the controller receives image information from the depth sensor, determines a gesture in relation to a working volume, and moves the imaging source and the imaging detector relative to the working volume based on the gesture.

公开(公告)号：US20230115849A1

公开(公告)日：2023-04-13

申请号：US17498488

申请日：2021-10-11

Applicant: Mazor Robotics Ltd.

Inventor： Ido Zucker ,  Avi Turgeman

IPC: A61B34/30 ,  A61B17/70 ,  A61B90/00

Abstract: A system according to at least one embodiment of the present disclosure includes a processor; at least one robotic arm; and a memory storing data for processing by the processor that, when processed by the processor, cause the processor to: manipulate the at least one robotic arm when holding an object; and determine a configuration of the object based on a position of the at least one robotic arm and information describing another point of the object relative to the at least one robotic arm.

公开(公告)号：US20220125602A1

公开(公告)日：2022-04-28

申请号：US17476166

申请日：2021-09-15

Applicant: Mazor Robotics Ltd.

Inventor： Ido Zucker

IPC: A61F2/46 ,  A61B34/10 ,  G16H20/40

Abstract: Embodiments include systems and methods for determining the treatment option most likely to result in a favorable long-term outcome in a subject with spinal pain. Using forms of computer learning and artificial intelligence, databases are generated and mined for information matching a subject of interest. Once the appropriate treatment option has been selected for the subject, if a surgical procedure is indicated, further methods are employed to select the optimal type of operation to eliminate the source of the pain and stabilize the spine. After the type of surgical procedure and approach to the area of interest have been determined, methods are described for selecting the optimal interbody for insertion under the control of a robotic surgical system. Additional methods are used for planning the minimal amount of bone that must be removed to allow insertion of intervertebral hardware such as an interbody.

公开(公告)号：US20240341876A1

公开(公告)日：2024-10-17

申请号：US18754066

申请日：2024-06-25

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 ,  A61B17/00 ,  A61B17/17 ,  A61B34/10 ,  A61B90/00 ,  G16H20/40 ,  G16H40/63

CPC classification number: A61B34/30 ,  A61B17/17 ,  G16H20/40 ,  G16H40/63 ,  A61B2017/0003 ,  A61B17/1757 ,  A61B2034/107 ,  A61B2090/062 ,  A61B2090/064 ,  A61B2562/0204

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：US20240225752A1

公开(公告)日：2024-07-11

申请号：US18559348

申请日：2022-05-23

Applicant: Mazor Robotics Ltd.

Inventor： Eli Zehavi ,  Yonatan Ushpizin ,  Ido Zucker ,  Adi Ess

IPC: A61B34/20 ,  A61B34/37 ,  A61B90/00

CPC classification number: A61B34/20 ,  A61B34/37 ,  A61B90/39 ,  A61B2034/2057 ,  A61B2090/3937 ,  A61B2090/3979

Abstract: Systems, methods, and devices for determining a tool pose are provided. A tracking device mounted to a tool may comprise a plurality of faces and a plurality of markers defining a plurality of sets of markers. Each set of markers may comprise one or more markers of the plurality of markers and each set of markers may be disposed on a corresponding face. Information about a set of markers of the plurality of markers may be received. A face of the plurality of faces having the set of markers disposed thereon may be determined. A pose of the tool based on the information and the determined face may be determined.

公开(公告)号：US20230096023A1

公开(公告)日：2023-03-30

申请号：US17482301

申请日：2021-09-22

Applicant: Mazor Robotics Ltd.

Inventor： Ido Zucker

IPC: A61B34/20 ,  A61B34/00 ,  A61B34/30 ,  G06N20/00

Abstract: A system according to at least one embodiment of the present disclosure includes a processor; and a memory coupled with the processor and including data stored thereon that, when processed by the processor, enables the processor to: predict, at a first time, a motion of an object during a surgical procedure and at a second time following the first time; and update, based on the predicted motion of the object, a surgical navigation path of a robotic arm.

公开(公告)号：US20220241015A1

公开(公告)日：2022-08-04

申请号：US17165575

申请日：2021-02-02

Applicant: Mazor Robotics Ltd.

Inventor： Ido Zucker

IPC: A61B34/10 ,  G06T7/11 ,  G06T19/00 ,  G06T7/70 ,  G06T5/50 ,  G06K9/62 ,  G06T7/00 ,  A61B5/00 ,  A61B5/11 ,  G16H50/20 ,  G16H30/40 ,  G16H30/20 ,  G16H50/50 ,  G16H20/40

Abstract: Systems and methods for planning a surgical procedure are provided. Information corresponding to an examination of a patient and an image of patient may be received. The information and the image may be inputted into an analytical model figured to identify a pathology location. A needed surgical modification of the patient anatomy may be automatically identified. At least a portion of an anatomical element in a three-dimensional model of the patient anatomy may be automatically labeled.

公开(公告)号：US20220079655A1

公开(公告)日：2022-03-17

申请号：US17407637

申请日：2021-08-20

Applicant: Mazor Robotics Ltd.

Inventor： Ido Zucker ,  Prakash Manley ,  Yahia Laouar ,  Xiaoming Cheng ,  Mohammad Miri ,  Matthew Palm

IPC: A61B18/14 ,  A61B18/12

Abstract: A surgical tool may include a mechanical tool for selectively cutting or removing anatomical tissue, and an electrosurgery device selectively operable to apply an electric current to anatomical tissue. The mechanical tool may include a tool bit and a driver operatively connected to the tool bit, and the electrosurgery device may include a first electrode and a second electrode different than the first electrode.

公开(公告)号：US20240024045A1

公开(公告)日：2024-01-25

申请号：US18377168

申请日：2023-10-05

Applicant: Mazor Robotics Ltd.

Inventor： Ido Zucker

IPC: A61B34/00 ,  G01L5/26 ,  A61B17/88 ,  A61B34/10 ,  A61B17/16 ,  A61B17/86

CPC classification number: A61B34/25 ,  G01L5/26 ,  A61B17/8875 ,  A61B34/10 ,  A61B17/1655 ,  A61B17/86 ,  A61B2034/256 ,  A61B2090/066

Abstract: A surgical system includes a power tool that generates torque; a torque sensor for measuring a torque characteristic of the power tool; a user interface; 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: receive torque data from the torque sensor, the torque data corresponding to the measured torque characteristic; evaluate the torque data; and execute a predetermined action based on the evaluation.