公开(公告)号：US12295668B2

公开(公告)日：2025-05-13

申请号：US17526967

申请日：2021-11-15

Applicant: Mazor Robotics Ltd.

Inventor： Avi Turgeman ,  Moshe Shoham ,  Eli Zehavi

IPC: A61B34/20 ,  A61B5/0205 ,  A61B5/08 ,  A61B17/00 ,  A61B34/00 ,  A61B34/10 ,  A61B34/30

Abstract: Systems and methods for accurate determination of the position of an anatomic part of a subject in robotic assisted image-based surgery, using an inertial measurement unit (IMU) to determine the position and orientation of the anatomical part of the subject. The intrinsic drift of the IMU, which would make the IMU position measurements inaccurate, can be reset to zero regularly, at points of time when the subject's body is stationary. This can be achieved when motion from the subject's breathing and from the heartbeat are essentially zero. Such positions occur respectively when the respiratory signal shows the position of the breathing cycle to be at the end of the expiration phase, and the heartbeat signal represents a time in the diastole period of the subject's electrocardiographic cycle. When these two signal moments coincide, the IMU is essentially stationary, and its drift reset to zero.

公开(公告)号：US20250082373A1

公开(公告)日：2025-03-13

申请号：US18957288

申请日：2024-11-22

Applicant: Mazor Robotics Ltd.

Inventor： Eli Zehavi ,  Yonatan Ushpizin ,  Aviv Ellman ,  Dany Junio ,  Elad Ratzabi ,  Yair Schwartz ,  Yuval Chen

IPC: A61B17/70 ,  A61B34/20 ,  A61B90/00 ,  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：US12076027B2

公开(公告)日：2024-09-03

申请号：US17339708

申请日：2021-06-04

Applicant: Mazor Robotics Ltd.

Inventor： Eli Zehavi ,  Arik Levy

IPC: A61B17/02 ,  A61B17/16 ,  A61B17/3209 ,  A61B34/30 ,  A61M29/00

CPC classification number: A61B17/1615 ,  A61B17/1637 ,  A61B17/32093 ,  A61B34/30 ,  A61M29/00

Abstract: A surgical tool comprises a dilator, a cutter, a retractable brush, and at least one retractable drill. The dilator is configured to dilate tissue of a patient and can be positioned in an undilated configuration or a dilated configuration. The cutter is configured to cut the tissue and is disposed at a distal end of the dilator. The cutter is configured to move between a cutting position when the dilator is in the undilated configuration and a non-cutting position when the dilator is in the dilated configuration. The retractable brush is configured to brush a surface of an anatomical element of the patient to remove matter from the surface. The at least one retractable drill is configured to drill into the anatomical element.

公开(公告)号：US12011237B2

公开(公告)日：2024-06-18

申请号：US17331081

申请日：2021-05-26

Applicant: Mazor Robotics Ltd.

Inventor： Avi Turgeman ,  Yonatan Ushpizin ,  Eli Zehavi ,  Ido Zucker

IPC: A61B34/30 ,  A61B17/86 ,  A61B34/00 ,  G06F3/01 ,  G06T7/50

CPC classification number: A61B34/30 ,  A61B17/86 ,  A61B34/25 ,  G06F3/017 ,  G06T7/50 ,  A61B2034/743 ,  A61B2034/744 ,  G06T2207/10028 ,  G06T2207/30012

Abstract: A system according to at least one embodiment of the present disclosure includes an imaging source; an imaging detector; a depth sensor; and a controller, where the controller receives image information from the depth sensor, determines a gesture in relation to a working volume, and moves the imaging source and the imaging detector relative to the working volume based on the gesture.

公开(公告)号：US20240122560A1

公开(公告)日：2024-04-18

申请号：US18393365

申请日：2023-12-21

Applicant: Mazor Robotics Ltd.

Inventor： Dany Junio ,  Eli Zehavi

IPC: A61B6/12 ,  A61B34/10 ,  A61B90/00 ,  G06V10/75

CPC classification number: A61B6/12 ,  A61B34/10 ,  A61B90/03 ,  G06V10/7515 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2090/363 ,  A61B2090/364 ,  A61B2090/374 ,  A61B2090/3762 ,  A61B2090/3966

Abstract: A low radiation, intra-operative method using two-dimensional imaging to register the positions of surgical implants relative to their pre-operative planned positions. Intraoperatively, a pair of two-dimensional fluoroscope images in different planes or a single three-dimensional image is acquired and compared to a set of three-dimensional preoperative images, to allow registration of the implant region anatomy. A second set of intraoperative fluoroscope images is acquired of the surgical area with implants in place. The second set of images is compared with the first set of intraoperative images to ascertain alignment of the implants. Registration between first and second intraoperative image sets is accomplished using the implants themselves as fiducial markers, and the process repeated until an acceptable configuration of the implants is obtained. The method is particularly advantageous for spinal surgery.

公开(公告)号：US20240008953A1

公开(公告)日：2024-01-11

申请号：US18371914

申请日：2023-09-22

Applicant: Mazor Robotics Ltd.

Inventor： Arik Levy ,  Eli Zehavi

IPC: A61B90/70 ,  B08B9/045 ,  B08B9/047 ,  B08B9/057 ,  A61F13/00

CPC classification number: A61B90/70 ,  B08B9/045 ,  B08B9/047 ,  B08B9/057 ,  A61F13/00068 ,  A61B34/30

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 brush slot for each brush. A motor is operable to rotate the shaft to cause the at least one brush to move from a closed position to a cleaning position. The at least one brush 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 brush as the at least one brush passes through the brush slot.

公开(公告)号：US11793599B2

公开(公告)日：2023-10-24

申请号：US16984490

申请日：2020-08-04

Applicant: MAZOR ROBOTICS LTD.

Inventor： Arik Levy ,  Eli Zehavi

IPC: A61B90/70 ,  B08B9/047 ,  B08B9/057 ,  B08B9/045 ,  A61F13/00 ,  A61B34/30 ,  A61M1/00

CPC classification number: A61B90/70 ,  A61F13/00068 ,  B08B9/045 ,  B08B9/047 ,  B08B9/057 ,  A61B34/30 ,  A61B2217/005 ,  A61B2217/007 ,  A61M1/88 ,  A61M1/90

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 brush slot for each brush. A motor is operable to rotate the shaft to cause the at least one brush to move from a closed position to a cleaning position. The at least one brush 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 brush as the at least one brush passes through the brush slot.

公开(公告)号：US20220175462A1

公开(公告)日：2022-06-09

申请号：US17526967

申请日：2021-11-15

Applicant: Mazor Robotics Ltd.

Inventor： Avi Turgeman ,  Moshe Shoham ,  Eli Zehavi

IPC: A61B34/20 ,  A61B34/00 ,  A61B34/30 ,  A61B34/10 ,  A61B5/0205

Abstract: Systems and methods for accurate determination of the position of an anatomic part of a subject in robotic assisted image-based surgery, using an inertial measurement unit (IMU) to determine the position and orientation of the anatomical part of the subject. The intrinsic drift of the IMU, which would make the IMU position measurements inaccurate, can be reset to zero regularly, at points of time when the subject's body is stationary. This can be achieved when motion from the subject's breathing and from the heartbeat are essentially zero. Such positions occur respectively when the respiratory signal shows the position of the breathing cycle to be at the end of the expiration phase, and the heartbeat signal represents a time in the diastole period of the subject's electrocardiographic cycle. When these two signal moments coincide, the IMU is essentially stationary, and its drift reset to zero.

公开(公告)号：US20240225758A1

公开(公告)日：2024-07-11

申请号：US18558750

申请日：2022-05-22

Applicant: Mazor Robotics Ltd.

Inventor： Eli Zehavi ,  Moshe Shoham ,  Yonatan Ushpizin ,  Yizhaq Shmayahu

IPC: A61B34/30 ,  A61B34/00 ,  A61B90/00

CPC classification number: A61B34/30 ,  A61B34/70 ,  A61B90/361

Abstract: Multi-arm surgical robotic platforms and systems are provided. The platforms and systems may comprise a support structure or a frame and an operating table mounted to the support structure or the frame. A plurality of robotic arms may be mounted to the support structure or the frame and may be capable of manipulating an emitter and a detector to obtain between and including 0 to 360-degree imaging of a patient on the operating table.

公开(公告)号：US11813108B2

公开(公告)日：2023-11-14

申请号：US17353342

申请日：2021-06-21

Applicant: Mazor Robotics Ltd.

Inventor： Ido Zucker ,  Avi Turgeman ,  Yonatan Ushpizin ,  Eli Zehavi ,  Eitan Detinis

IPC: A61B6/00 ,  A61B6/06 ,  A61B90/00

CPC classification number: A61B6/548 ,  A61B6/06 ,  A61B6/4452 ,  A61B6/4458 ,  A61B2090/064

Abstract: A system according to at least one embodiment of the present disclosure includes an imaging source; an imaging detector; a sensor coupled to at least one of the imaging source and imaging detector; and a controller that adjusts a relative position of the imaging source and the imaging detector based on an output of the sensor.