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：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：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.

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：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.