公开(公告)号：WO2022175939A1

公开(公告)日：2022-08-25

申请号：PCT/IL2022/050172

申请日：2022-02-14

Applicant: MAZOR ROBOTICS LTD.

Inventor： JUNIO, Dany ,  OFER, Nir ,  SANDELSON, Adi ,  SCHWARTZ, Yair S. ,  GRIMBERG, Gillan M. ,  DORI, Nimrod ,  SVIRI, Maor ,  KERET, Amir ,  SEEMANN, Ziv

IPC: A61B34/20

Abstract: A system for skive avoidance includes a sensor configured to measure a force exerted on a surgical tool; 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: project a tool trajectory onto a three-dimensional (3D) model of bone tissue; and estimate an expected normal force direction and magnitude upon contact of the surgical tool with the bone tissue.

公开(公告)号：WO2022168087A1

公开(公告)日：2022-08-11

申请号：PCT/IL2022/050141

申请日：2022-02-02

Applicant: MAZOR ROBOTICS LTD.

Inventor： SHOHAM, Moshe ,  TURGEMAN, Avi ,  SHMAYAHU, Yizhaq

IPC: A61B5/00 ,  A61B34/30 ,  B06B1/06 ,  G01H11/00 ,  A61B17/00 ,  A61B34/20

Abstract: A device comprises at least one processor and a memory comprising instructions that when executed by the at least one processor cause the at least one processor to: generate a first signal that causes a vibration device to vibrate, the vibration device being in force-transmitting contact with a first anatomical element; receive, from a sensor, a second signal based on sensed vibration in a second anatomical element proximate the first anatomical element; and determine, based on the second signal, an amount of mechanical coupling between the second anatomical element and the first anatomical element.

公开(公告)号：WO2022162671A1

公开(公告)日：2022-08-04

申请号：PCT/IL2022/050129

申请日：2022-01-30

Applicant: MAZOR ROBOTICS LTD.

Inventor： JUNIO, Dany

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

Abstract: Systems and methods for inserting a rod is provided. At least one tower extending from a head of a corresponding implanted pedicle screw may be tracked to identify a tower movement. An insertion point and a path from the insertion point to the at least one tower may be calculated. The rod may be inserted at the insertion point and along the rod and the path may be adjusted during insertion of the rod based on identified tower movement.

公开(公告)号：WO2022162670A1

公开(公告)日：2022-08-04

申请号：PCT/IL2022/050128

申请日：2022-01-30

Applicant: MAZOR ROBOTICS LTD.

Inventor： JUNIO, Dany ,  SHOHAM, Moshe

IPC: A61B90/00

Abstract: A method for verifying a bone entry point includes receiving a surgical plan that defines a target bone entry point and a first portion of a bone surface at least partially surrounding the target bone entry point; positioning an imaging device near an identified bone entry point; receiving, from the imaging device, an image of a second portion of the bone surface surrounding the identified bone entry point; comparing at least one feature of the first portion to at least one feature of the second portion to quantify a degree of similarity therebetween; and generating, when the quantified degree of similarity between the first portion and the second portion exceeds a threshold, a confirmation.

公开(公告)号：WO2022162668A1

公开(公告)日：2022-08-04

申请号：PCT/IL2022/050126

申请日：2022-01-30

Applicant: MAZOR ROBOTICS LTD.

Inventor： ZUCKER, Ido ,  SHMAYAHU, Yizhaq ,  USHPIZIN, Yonatan ,  ZEHAVI, Eli ,  JUNIO, Dany

IPC: A61B34/20 ,  A61B5/00 ,  A61B34/30 ,  A61B90/00 ,  G16H50/00 ,  A61B34/10

Abstract: Systems and methods for tracking a pose of a target and/or tracking the target is provided. A first robotic arm may be configured to orient a first imaging device and a second robotic arm may be configured to orient a second imaging device. The first robotic arm and the second robotic arm may operate in a shared or common coordinate space. A first image may be received from the first imaging device and a second image may be received from the second imaging device. The first image and the second image may depict at least one target. A pose of the at least one target may be determined in the coordinate space based on the first image, a corresponding first pose, the second image, and a corresponding second pose.

公开(公告)号：WO2022034581A1

公开(公告)日：2022-02-17

申请号：PCT/IL2021/050967

申请日：2021-08-09

Applicant: MAZOR ROBOTICS LTD.

Inventor： LEVY, Arik

IPC: A61B34/30 ,  A61B17/34

Abstract: A cannulation tool, systems, and methods for placing a cannula is provided. The tool includes a body and a plurality of tubes (110) removably secured to the body. Each tube is moveable from a retracted position to an extended position. The plurality of tubes may include an inner tube (110A), an outer tube (HOB), and a set of tubes (110C,D,E) positioned between the inner tube and the outer tube. Each tube of the set of tubes is nested in an adjacent tube, the outer tube is positioned external to the set of tubes, and the inner tube is positioned internal to the set of tubes. The tool also includes a gripper rod (118) having a gripper disposed on an end thereof for forcibly moving each tube of the set of tubes, in sequence, from the retracted position to the extended position.

公开(公告)号：WO2022029765A1

公开(公告)日：2022-02-10

申请号：PCT/IL2021/050931

申请日：2021-08-01

Applicant: MAZOR ROBOTICS LTD.

Inventor： LEVY, Arik ,  ZEHAVI, Eli

IPC: A61B17/32 ,  A61B17/16 ,  A46B7/02 ,  A46B9/10 ,  A46B11/06 ,  A61B17/3207 ,  A46B13/00 ,  A46D1/00 ,  A61C17/22 ,  A46B13/003 ,  A46B7/023 ,  A46D1/0207 ,  A61B2017/320012 ,  A61B2017/320733 ,  A61B2217/007 ,  A61B34/30 ,  A61B90/70 ,  B08B9/045 ,  B08B9/047 ,  B08B9/057

Abstract: A surgical tool, systems, and method for cleaning an anatomical space is provided. At least one brush is disposed on a shaft extending through a tube. The tube includes a corresponding bmsh slot for each bmsh. A motor is operable to rotate the shaft to cause the at least one bmsh to move from a closed position to a cleaning position. The at least one bmsh is positioned entirely inside of the tube when in the closed position and at least partially outside of the tube when in the cleaning position. A fluid source is operable to supply fluid to the at least one bmsh as the at least one bmsh passes through the bmsh slot.

公开(公告)号：WO2021257246A1

公开(公告)日：2021-12-23

申请号：PCT/US2021/033850

申请日：2021-05-24

Applicant: MAZOR ROBOTICS LTD.

Inventor： ZUCKER, Ido

IPC: A61B90/00 ,  A61B17/88 ,  A61B17/16 ,  A61B34/10 ,  G01L3/10 ,  A61B17/1655 ,  A61B17/86 ,  A61B17/8875 ,  A61B2017/00123 ,  A61B2034/256 ,  A61B2090/066 ,  A61B34/25 ,  G01L5/26

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.

公开(公告)号：WO2021252263A1

公开(公告)日：2021-12-16

申请号：PCT/US2021/035667

申请日：2021-06-03

Applicant: MAZOR ROBOTICS LTD

Inventor： ELLMAN, Aviv ,  JUNIO, Dany ,  PUCKETT, Katherine M.

IPC: A61B34/20 ,  A61B90/00 ,  A61B90/50 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2090/3945 ,  A61B2090/3983 ,  A61B90/39

Abstract: A robotic navigation system includes a robot base; a robotic arm with a proximal end secured to the robot base, a distal end movable relative to the proximal end, and one or more arm segments between the proximal end and the distal end; and a plurality of tracking markers secured to the robotic arm.

公开(公告)号：WO2021240296A1

公开(公告)日：2021-12-02

申请号：PCT/IB2021/054214

申请日：2021-05-17

Applicant: MAZOR ROBOTICS LTD.

Inventor： OFER, Nir ,  BEN ZEEV, Ori

IPC: A61B34/00 ,  A61B46/10

Abstract: A system for controlling a volume of a drape according to one embodiment of the present disclosure comprises a drape (102) operable to substantially cover an articulated member (104) and having a pressure source opening (121) and at least one tool opening (117), the pressure source opening defining a path for a fluid to flow into or out of a volume substantially enclosed by the drape, the at least one tool opening enabling a tool (106) to be supported by the articulated member outside of the volume substantially enclosed by the drape; at least one sensor (114) operable to monitor a characteristic of the system; and a controller (112) that causes the volume substantially enclosed by the drape to increase to a maximum volume, decrease to a minimum volume, or maintain an operating volume, and wherein the drape increasingly conforms to the articulated member as the volume substantially enclosed by the drape is decreased.