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：WO2022024130A2

公开(公告)日：2022-02-03

申请号：PCT/IL2021/050918

申请日：2021-07-29

Applicant: MAZOR ROBOTICS LTD.

Inventor： JUNIO, Dany ,  ELLMAN, Aviv ,  RATZABI, Elad ,  ZUCKER, Ido ,  ZEHAVI, Eli ,  KLEYMAN, Leonid

IPC: A61B34/30 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2090/3937 ,  A61B34/10 ,  A61B34/20

Abstract: A surgical robotic system includes a robot with a robotic arm; a processor; and a memory storing instructions for execution by the processor. The instructions cause the processor to receive a surgical plan with first information about a planned position of at least one object relative to a patient's anatomy and second information about a surgical objective, and calculate a movement path for the robotic arm based on the first information and the second information.

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：WO2022024128A2

公开(公告)日：2022-02-03

申请号：PCT/IL2021/050916

申请日：2021-07-29

Applicant: MAZOR ROBOTICS LTD.

Inventor： ZEHAVI, Eli ,  USHPIZIN, Yonatan ,  ELLMAN, Aviv ,  JUNIO, Dany ,  RATZABI, Elad ,  SCHWARTZ, Yair ,  CHEN, Yuval

IPC: A61B17/70 ,  A61B90/00 ,  A61B17/7047 ,  A61B17/7056 ,  A61B17/7062 ,  A61B17/7076 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2090/3937 ,  A61B2090/397 ,  A61B2090/3983 ,  A61B2090/571 ,  A61B34/20 ,  A61B90/39 ,  A61B90/57

Abstract: A spinal stabilization system includes a plurality of anchors and at least one bridge. Each anchor includes a clamp configured to engage an anatomical element, the clamp movable between a fully open position and a fully closed position; a locking screw configured to selectively prevent the clamp from being moved into the fully open position; and a bridge interface. The at least one bridge is a rigid member having a first end and a second end opposite the first end, each of the first end and the second end having an anchor interface. The bridge interface is configured to receive the anchor interface.

公开(公告)号：WO2022029758A1

公开(公告)日：2022-02-10

申请号：PCT/IL2021/050899

申请日：2021-07-26

Applicant: MAZOR ROBOTICS LTD.

Inventor： OFER, Nir ,  SEEMANN, Ziv ,  KOPITO, Dor ,  SCHWARTZ, Yair ,  DAHAN, Ofir ,  ESHED, Gal ,  KADSHAI, Dvir ,  KERET, Amir ,  SVIRI, Maor ,  TALMOR, Adi ,  VISBROT, Ron ,  SHNEIDERMAN, Arie ,  ELLMAN, Aviv ,  BARAZANI, Gal

IPC: A61B34/20 ,  A61B34/10 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2034/2048 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2034/2063 ,  A61B34/25 ,  A61B34/30

Abstract: A surgical positioning system includes an emitter secured to a medical implant; at least three microphones; at least one processor; and a memory. The emitter has a speaker and a power source. The memory stores instructions for execution by the processor that, when executed, cause the processor to receive, from each of the at least three microphones, information about a detected sound; and calculate, based on position information corresponding to each of the at least three microphones and the received information, a position of the implant.

公开(公告)号：WO2022069985A1

公开(公告)日：2022-04-07

申请号：PCT/IB2021/058420

申请日：2021-09-15

Applicant: MAZOR ROBOTICS LTD.

Inventor： ELLMAN, Aviv ,  SHOHAM, Moshe

IPC: A61B34/20 ,  A61B34/30

Abstract: Methods and systems for detecting, monitoring, and accounting for anatomical motion is provided. An initial contact between a first robotic arm and an anatomical element of a patient may be detected based on information received from at least one internal sensor of the first robotic arm. A position of the anatomical element may be determined based on the information. The determined position may be compared to an expected position of the anatomical element. A tool trajectory of a second robotic arm may be updated when the determined position is offset from the expected position.

公开(公告)号：WO2022003687A1

公开(公告)日：2022-01-06

申请号：PCT/IL2021/050804

申请日：2021-06-30

Applicant: MAZOR ROBOTICS LTD.

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

IPC: B25J9/00 ,  B25J9/16 ,  A61B34/20 ,  A61B34/30 ,  A61B90/96 ,  A61B17/00 ,  A61B90/00 ,  A61B2017/00119 ,  A61B2017/00725 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2034/2065 ,  A61B2090/067 ,  A61B2090/0818 ,  A61B2090/3945 ,  A61B34/74 ,  B25J13/089

Abstract: A robotic navigation system includes a robot base (140); a robotic arm (144) comprising a proximal portion secured to the robot base, a distal portion movable relative to the proximal portion, and a tracking marker (156) secured to the robotic arm proximate the distal portion; at least one processor; a navigation system including a tracking marker sensor configured to identify positions of the tracking marker in a first coordinate space; and a memory. The memory stores instructions that cause the at least one processor to: cause the robotic arm (144) to move to a plurality of different poses; receive information relating to a position of the tracking marker (156) in a second coordinate space when the robotic arm is in each of the plurality of different poses; and compare the positions of the tracking marker in the first coordinate space to the positions of the tracking marker in the second coordinate space.