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：US11925586B2

公开(公告)日：2024-03-12

申请号：US17704759

申请日：2022-03-25

Applicant: Mazor Robotics Ltd.

Inventor： Roy K. Lim ,  Arik A. Levy ,  Katharine E. Darling ,  Mark C. Dace ,  Yonatan Ushpizin

IPC: A61G13/10 ,  A61B34/30 ,  A61G13/06 ,  B25J5/00

CPC classification number: A61G13/104 ,  A61G13/06 ,  B25J5/007 ,  A61B34/30

Abstract: A surgical platform and trolley assembly and an interface of a robotic system are provided. The surgical platform and trolley assembly includes a trolley portion and a surgical platform portion. The trolley portion supports the surgical platform portion, and affords positioning and repositioning of the surgical platform portion relative to the interface of the robotic system. An end portion of the surgical platform portion is attachable relative to the robotic system via engagement to the interface.

公开(公告)号：US20230240763A1

公开(公告)日：2023-08-03

申请号：US17590915

申请日：2022-02-02

Applicant: Mazor Robotics Ltd.

Inventor： Eliyahu Zehavi ,  Yonatan Ushpizin

IPC: A61B34/00 ,  A61B34/30 ,  A61B90/00 ,  A61B17/17 ,  A61B17/16

CPC classification number: A61B34/25 ,  A61B17/1615 ,  A61B17/1703 ,  A61B34/30 ,  A61B90/03 ,  A61B90/37 ,  A61B2017/00115 ,  A61B2034/252 ,  A61B2090/033 ,  A61B2090/3784 ,  A61B2217/005 ,  A61B2217/007

Abstract: Systems, methods, and devices for drilling and imaging an anatomical element are provided. An image may be received from an imaging device coupled to a housing. The image may depict hard tissue and/or soft tissue and the image may be processed using image processing to identify the hard tissue and/or soft tissue. A thickness of the hard tissue may be determined and instructions to perform a surgical step on the hard tissue when the thickness is less than a predetermined threshold may be transmitted.

公开(公告)号：US20220104986A1

公开(公告)日：2022-04-07

申请号：US17063299

申请日：2020-10-05

Applicant: MAZOR ROBOTICS LTD.

Inventor： Yonatan Ushpizin ,  Arik Levy

IPC: A61G13/10 ,  A61G13/02 ,  A61G99/00 ,  A61B34/20 ,  A61B34/37

Abstract: Methods and systems for determining and maintaining a center of rotation are provided. A center of rotation may be determined based on first information about a robotic region of interest of a robot and second information about a patient region of interest. An operating table having multiple degrees of freedom may be caused to rotate about the center of rotation from a first position to a second position. A control system may be caused to control the robot based on the operating table being in the second position.

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.

公开(公告)号：US11707292B2

公开(公告)日：2023-07-25

申请号：US17163880

申请日：2021-02-01

Applicant: Mazor Robotics Ltd.

Inventor： Yonatan Ushpizin

IPC: A61B17/32 ,  A61B17/16 ,  A61B34/30 ,  A61B17/00

CPC classification number: A61B17/32002 ,  A61B17/16 ,  A61B17/1604 ,  A61B17/1671 ,  A61B34/30 ,  A61B2017/00261 ,  A61B2017/32006 ,  A61B2017/320008

Abstract: A tool for cleaning a vertebral disc includes an elongated hollow shaft including a proximal end and a distal end; a first drum rotatably disposed in a housing secured to the proximal end of the shaft, the first drum having a first axis; a second drum rotatably disposed proximate the distal end of the shaft, the second drum having a second axis parallel to the first axis; and a belt extending through the hollow shaft and operatively coupled to the first drum and the second drum, the belt comprising a plurality of teeth configured to cut anatomical tissue, each tooth of the plurality of teeth remaining flush with an outer surface of the belt when a section of the belt comprising the tooth is substantially straight, and projecting beyond the outer surface when the section of the belt bends around the first drum or the second drum.

公开(公告)号：US20230149082A1

公开(公告)日：2023-05-18

申请号：US17528063

申请日：2021-11-16

Applicant: Mazor Robotics Ltd.

Inventor： Eliyahu Zehavi ,  Yonatan Ushpizin ,  Ido Zucker ,  Avraham Turgeman ,  Elad Rotman ,  Adi Ess

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

CPC classification number: A61B34/10 ,  A61B34/20 ,  A61B90/37 ,  A61B90/39 ,  A61B2034/102 ,  A61B2090/365 ,  A61B2090/363

Abstract: Systems, methods and devices for performing a surgical procedure using a virtual guide are provided. The system may include a display configured to display an augmented image in an environment. A surgical landmark may be tracked and a parameter of the surgical landmark may be determined. A virtual guide for presentation within the augmented image may be generated and the display may present the virtual guide within the augmented image.

公开(公告)号：US20220280982A1

公开(公告)日：2022-09-08

申请号：US17190283

申请日：2021-03-02

Applicant: Mazor Robotics Ltd.

Inventor： Yonatan Ushpizin ,  Royi Altman ,  Arik Asaf Levy ,  Ido Zucker

IPC: B08B1/04 ,  B08B3/02 ,  B08B1/00

Abstract: A tool cleaning station may include a housing. The housing may comprise a first end and a second end; an interior space; a tool aperture disposed between the first end and the second end and in communication with the interior space; a fluid aperture in fluid communication with a fluid source and in communication with the interior space; and a drainage aperture in communication with the interior space. The station may also include a first brush rotatably disposed in the interior space and secured between the first end and the second end and the first brush may have a first axis. The station may also include a second brush rotatably disposed in the interior space and secured between the first end and the second end and the second brush may have a second axis parallel to and offset from the first axis.

公开(公告)号：US20210186615A1

公开(公告)日：2021-06-24

申请号：US17130516

申请日：2020-12-22

Applicant: Mazor Robotics Ltd.

Inventor： Yizhaq Shmayahu ,  Eliyahu Zehavi ,  Yonatan Ushpizin ,  Noam Weiss

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