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：WO2022149139A1

公开(公告)日：2022-07-14

申请号：PCT/IL2022/050029

申请日：2022-01-09

Applicant: MAZOR ROBOTICS LTD.

Inventor： JUNIO, Dany ,  ELLMAN, Aviv ,  ZEHAVI, Eli ,  SHOHAM, Moshe ,  USHPIZIN, Yonatan ,  ZUCKER, Ido ,  RATZABI, Elad ,  GRIMBERG, Gillan ,  OFER, Nir ,  SCHWARTZ, Yair ,  DORI, Nimrod

IPC: A61B34/20 ,  A61B34/30 ,  A61B34/10 ,  A61B18/00 ,  A61B17/00 ,  A61B90/00

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：WO2022162669A1

公开(公告)日：2022-08-04

申请号：PCT/IL2022/050127

申请日：2022-01-30

Applicant: MAZOR ROBOTICS LTD.

Inventor： SANDELSON, Adi ,  KOPITO, Dor ,  DORI, Nimrod ,  ESHED, Gal ,  RATZABI, Elad ,  KERET, Amir ,  SEEMANN, Ziv ,  PAITEL, Yvan ,  RAWLUK, Nicholas ,  JUNIO, Dany

IPC: A61B34/20

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; a base set of tracking markers secured to the robot base; and at least one additional set of tracking markers secured to the robotic arm.

公开(公告)号：WO2022264133A1

公开(公告)日：2022-12-22

申请号：PCT/IL2022/050632

申请日：2022-06-13

Applicant: MAZOR ROBOTICS LTD.

Inventor： KOPITO, Dor ,  SEEMANN, Ziv ,  ESHED, Gal ,  KERET, Amir ,  DORI, Nimrod ,  ESHEL, Itamar ,  CHEN, Yuval ,  OFER, Nir ,  BEN ZEEV, Ori

IPC: A61B34/30 ,  A61B90/50 ,  A47C19/00 ,  A61B6/04 ,  A61B90/57 ,  A61G7/00 ,  A61G13/00 ,  A61B2090/571 ,  A61B6/0407 ,  A61G13/101 ,  A61G2210/50 ,  B25J17/02 ,  G16H30/40 ,  G16H40/63

Abstract: A surgical mount system according to at least one embodiment of the present disclosure includes a bed mount, a tubular base attached to the bed mount and comprising a telescoping member slidably coupled with the tubular base, the telescoping member comprising a first end and a second end, wherein the first end is disposed inside the tubular base, and wherein the telescoping member translates linearly along an axis of the tubular base; and a support arm attached to the second end of the telescoping member, the support arm having a length running from a proximal end to a distal end, wherein the support arm rotates relative to the bed mount about the axis of the tubular base.

公开(公告)号：WO2022130370A1

公开(公告)日：2022-06-23

申请号：PCT/IL2021/051450

申请日：2021-12-07

Applicant: MAZOR ROBOTICS LTD.

Inventor： SEEMANN, Ziv ,  SANDELSON, Adi ,  KOPITO, Dor ,  DORI, Nimrod ,  ESHED, Gal ,  JUNIO, Dany ,  RATZABI, Elad

IPC: A61B34/30 ,  A61B46/20

Abstract: A method for determining a work volume includes receiving image information from an imaging device corresponding to an array of tracking markers fixed to a flexible mesh, the mesh placed over a patient and over at least one surgical instrument adjacent to or connected to the patient; determining a position of each tracking marker in the array of tracking markers based on the image information; defining a boundary for movement of a robotic arm based on determined tracking marker positions, such that the robotic arm does not contact the patient or the at least one surgical instrument during movement of the robotic arm; and controlling the robotic arm based on the defined boundary.