公开(公告)号：US12268457B2

公开(公告)日：2025-04-08

申请号：US17285374

申请日：2019-10-15

Applicant: MAZOR ROBOTICS LTD.

Inventor： Eliyahu Zehavi ,  Moshe Shoham ,  Yonatan Ushpizin

IPC: A61B34/30 ,  A61B6/00 ,  A61B8/00 ,  A61B34/20 ,  B25J9/16 ,  B25J13/08 ,  G01T1/161 ,  G06T7/30

Abstract: A robotic surgical system comprising at least two robotic arms having co-ordinate systems known relative to each other, one of the arms carrying an X-ray source, and the other an imaging detector plate. The arms are disposed to enable an image to be generated on the region of interest of a subject. One of the arms can additionally or alternatively carry a surgical tool or tool holder, such that the pose of the tool is known in the same co-ordinate system as that of an image generated by the X-ray source and detector. Consequently, any surgical procedure planned on such an X-ray image can be executed by the tool with high accuracy, since the tool position is known in the image frame of reference. This enables the surgeon to accurately position his tool in a real-time image without the need for an external registration procedure.

公开(公告)号：US12263026B2

公开(公告)日：2025-04-01

申请号：US18434312

申请日：2024-02-06

Applicant: Mazor Robotics Ltd.

Inventor： Noam Weiss

IPC: G06T5/50 ,  A61B6/00 ,  G06T5/90

Abstract: Systems, methods, and devices for capturing a single image with multiple exposures is provided. An imaging device may be provided comprising a source configured to emit a wave for a time period and a detector configured to receive a signal indicative of the wave. A wave may be emitted for a time period and a signal may be received indicative of the emitted wave. A first image dataset may be saved with a first timestamp referencing a first time within the time period. A second image dataset may be saved with a second timestamp referencing a second time within the time period. The second time may occur after the first time.

公开(公告)号：US20250009464A1

公开(公告)日：2025-01-09

申请号：US18894779

申请日：2024-09-24

Applicant: Mazor Robotics Ltd.

Inventor： Dany Junio

IPC: A61B90/00 ,  A61B34/00

Abstract: A system and method for generating a corrected image is provided. A plurality of poses for an imaging device may be calculated based on information about an object within a patient's anatomy. An image may be received from the imaging device at each pose of the plurality of poses to yield an image set. Each image may depict at least a portion of an anatomical element of the patient and an object. A set of saturated areas in which the object has caused saturated attenuation, and a set of unsaturated areas in which the object has not caused saturated attenuation may be identified in the images of the image set. A corrected image may be generated by combining data from the set of unsaturated areas, the corrected image depicting the anatomical feature with fewer than all of the saturated areas in the set of saturated areas.

公开(公告)号：US12156705B2

公开(公告)日：2024-12-03

申请号：US17697799

申请日：2022-03-17

Applicant: Mazor Robotics Ltd.

Inventor： Dany Junio

IPC: A61B34/20 ,  A61B34/32 ,  A61B90/00

Abstract: Systems and methods for generating multiple registrations is provided. An image depicting a portion of a patient's anatomy and a tracking device affixed to an accurate robot may be received. A first registration of a patient coordinate space to a robotic coordinate space may be generated based on the image. A second registration of the patient coordinate space to a navigation coordinate space based at least in part on a position of second markers on the tracking device detected by a navigation system may be generated. The first registration and the second registration may be independent of each other.

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：US12109075B2

公开(公告)日：2024-10-08

申请号：US17464356

申请日：2021-09-01

Applicant: Mazor Robotics Ltd.

Inventor： Dany Junio

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

CPC classification number: A61B90/361 ,  A61B34/70 ,  A61B90/37 ,  A61B2090/363 ,  A61B2090/376

Abstract: A system and method for generating a corrected image is provided. A plurality of poses for an imaging device may be calculated based on information about an object within a patient's anatomy. An image may be received from the imaging device at each pose of the plurality of poses to yield an image set. Each image may depict at least a portion of an anatomical element of the patient and an object. A set of saturated areas in which the object has caused saturated attenuation, and a set of unsaturated areas in which the object has not caused saturated attenuation may be identified in the images of the image set. A corrected image may be generated by combining data from the set of unsaturated areas, the corrected image depicting the anatomical feature with fewer than all of the saturated areas in the set of saturated areas.

公开(公告)号：US20240307131A1

公开(公告)日：2024-09-19

申请号：US18184394

申请日：2023-03-15

Applicant: Mazor Robotics Ltd.

Inventor： Gad HARPAZ ,  Gillan M. Grimberg ,  Leonid Kleyman

IPC: A61B34/30 ,  G06T7/246 ,  G06T7/73

CPC classification number: A61B34/30 ,  G06T7/246 ,  G06T7/73 ,  A61B6/4458 ,  A61B2034/2065 ,  A61B2090/363 ,  A61B2090/376 ,  G06T2207/10116 ,  G06T2207/30004 ,  G06T2207/30204

Abstract: Registering a robotic coordinate system defined by a robotic system and a navigation coordinate system defined by a tracking system localizer. The registration includes: determining a robotic coordinate system between a first portion of the robotic system and a subject separate from the first portion of the robotic system; connecting a fiducial marker at a first known position relative to the robotic coordinate system and relative to the first portion of the robotic system; acquiring a fiducial image at an initial time with an imaging system of the fiducial marker; detecting the acquisition of the fiducial image with the imaging system at the initial time with a detector; and sending a command to determine or record an initial position of at least one of the first portion of the robotic system or the robotic coordinate system at the initial time.

公开(公告)号：US12089856B2

公开(公告)日：2024-09-17

申请号：US18160252

申请日：2023-01-26

Applicant: Mazor Robotics Ltd.

Inventor： Eitan Detinis

IPC: A61B17/16 ,  A61B34/30 ,  A61B90/00 ,  A61B17/00 ,  A61M39/22

CPC classification number: A61B17/1644 ,  A61B17/1626 ,  A61B17/1628 ,  A61B34/30 ,  A61B90/03 ,  A61B2017/00123 ,  A61B2090/064 ,  A61M2039/226

Abstract: Devices, systems, and methods for drilling an anatomical element are provided. A drill bit may comprise a coaxial hollow shaft in communication with a plurality of apertures disposed on a surface of the drill bit. A fluid inlet may be in fluid communication with the coaxial hollow shaft via a selectively openable valve. The fluid inlet may be configured to receive pressurized fluid. When the valve is opened, the pressurized fluid may be released into the coaxial hollow shaft, and when at least one of the plurality of apertures is not blocked, the pressurized fluid may be released through the at least one aperture of the plurality of apertures.

公开(公告)号：US20240277415A1

公开(公告)日：2024-08-22

申请号：US18171792

申请日：2023-02-21

Applicant: Mazor Robotics Ltd.

Inventor： Ido ZUCKER

IPC: A61B34/20 ,  A61B34/10

CPC classification number: A61B34/20 ,  A61B34/10 ,  A61B2034/105 ,  A61B2034/2072

Abstract: 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 to assist in movement of the robotic systems.

公开(公告)号：US12067653B2

公开(公告)日：2024-08-20

申请号：US18203463

申请日：2023-05-30

Applicant: Mazor Robotics Ltd.

Inventor： Noam Weiss ,  Ben Yosef Hai Ezair

IPC: G06T11/00 ,  A61B6/02

CPC classification number: G06T11/005 ,  A61B6/027

Abstract: Systems, methods, and devices for generating a corrected image are provided. A first robotic arm may be configured to orient a source at a first pose and a second robotic arm may be configured to orient a detector at a plurality of second poses. An image dataset may be received from the detector at each of the plurality of second poses to yield a plurality of image datasets. The plurality of datasets may comprise an initial image having a scatter effect. The plurality of image datasets may be saved. A scatter correction may be determined and configured to correct the scatter effect. The correction may be applied to the initial image to correct the scatter effect.