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.