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.

公开(公告)号：US20220189047A1

公开(公告)日：2022-06-16

申请号：US17526935

申请日：2021-11-15

Applicant: Mazor Robotics Ltd.

Inventor： Amir Lev-Tov ,  Shay Shimon Peretz ,  Yaniv Ben Zriham ,  Moshe Shoham

IPC: G06T7/38 ,  G06K9/32 ,  G06T7/33 ,  G06T7/215 ,  G16H30/40 ,  G16H30/20

Abstract: A method according to one embodiment of the present disclosure comprises receiving a first image of a patient's anatomy, the first image generated at a first time and depicting a plurality of rigid elements; receiving a second image of the patient's anatomy, the second image generated at a second time after the first time and depicting the plurality of rigid elements; determining a transformation from the first image to the second image for each one of the plurality of rigid elements to yield a set of transformations; calculating a homography for each transformation in the set of transformations to yield a set of homographies; and identifying, using the set of homographies, a common portion of each transformation attributable to a change in camera pose, and an individual portion of each transformation attributable to a change in rigid element pose.