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    Retraction systems, assemblies, and devices
    11.
    发明授权
    Retraction systems, assemblies, and devices 有权

    公开(公告)号：US11723528B1

    公开(公告)日：2023-08-15

    申请号：US17590945

    申请日：2022-02-02

    Applicant: Mazor Robotics Ltd.

    Inventor： Ziv Seemann ,  Dor Kopito ,  Jaffar Hleihil ,  Nimrod Dori ,  Ron Visbrot

    IPC: A61B1/32 ,  A61B17/02

    CPC classification number: A61B1/32 ,  A61B17/0206

    Abstract: Retraction systems, assemblies, and devices for retracting an end unit are provided. A retraction assembly may be configured to move the end unit of a robot between a first state and a second state. A first signal may be received indicating a working condition. A first instruction may be generated to move the end unit from the second state to the first state. The retraction assembly may be caused to move the end unit from the second state to the first state based on receiving the first signal and the first instruction. The end unit may be held in the first state when the first signal is being received and the retraction assembly may move the end unit from the first state to the second state when the first signal is not received.

    Systems and methods for robotic collision avoidance using medical imaging
    12.
    发明授权
    Systems and methods for robotic collision avoidance using medical imaging 有权

    公开(公告)号：US12295683B2

    公开(公告)日：2025-05-13

    申请号：US17590891

    申请日：2022-02-02

    Applicant: Mazor Robotics Ltd.

    Inventor： Adi Sandelson ,  Nimrod Dori

    IPC: A61B34/32

    Abstract: Systems and methods according to embodiments of the present disclosure include: receiving registration data including information about a location of an anatomical element in a surgical environment; defining, based on the registration data, a three-dimensional (3D) volume in the surgical environment including the anatomical element; and controlling a robotic arm inside the surgical environment based on the defined 3D volume such that at least the robotic arm or one or more components attached to the robotic arm avoids passing through the defined 3D volume during a movement of the robotic arm.

    SYSTEMS AND METHODS FOR ROBOTIC COLLISION AVOIDANCE USING MEDICAL IMAGING
    14.
    发明公开
    SYSTEMS AND METHODS FOR ROBOTIC COLLISION AVOIDANCE USING MEDICAL IMAGING 审中-公开

    公开(公告)号：US20230240774A1

    公开(公告)日：2023-08-03

    申请号：US17590891

    申请日：2022-02-02

    Applicant: Mazor Robotics Ltd.

    Inventor： Adi Sandelson ,  Nimrod Dori

    IPC: A61B34/32

    CPC classification number: A61B34/32

    Abstract: Systems and methods according to embodiments of the present disclosure include: receiving registration data including information about a location of an anatomical element in a surgical environment; defining, based on the registration data, a three-dimensional (3D) volume in the surgical environment including the anatomical element; and controlling a robotic arm inside the surgical environment based on the defined 3D volume such that at least the robotic arm or one or more components attached to the robotic arm avoids passing through the defined 3D volume during a movement of the robotic arm.

    SAFETY MECHANISM FOR ROBOTIC BONE CUTTING
    16.
    发明申请
    SAFETY MECHANISM FOR ROBOTIC BONE CUTTING 有权

    公开(公告)号：US20220218421A1

    公开(公告)日：2022-07-14

    申请号：US17569957

    申请日：2022-01-06

    Applicant: Mazor Robotics Ltd.

    Inventor： Dany Junio ,  Aviv Ellman ,  Eli Zehavi ,  Moshe Shoham ,  Yonatan Ushpizin ,  Ido Zucker ,  Elad Ratzabi ,  Gillan Grimberg ,  Nir Ofer ,  Yair Schwartz ,  Nimrod Dori

    IPC: A61B34/30 ,  A61B17/17 ,  G16H40/63 ,  G16H20/40

    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.

    SYSTEMS AND METHODS FOR DEFINING A WORK VOLUME
    17.
    发明申请
    SYSTEMS AND METHODS FOR DEFINING A WORK VOLUME 有权

    公开(公告)号：US20220183766A1

    公开(公告)日：2022-06-16

    申请号：US17490753

    申请日：2021-09-30

    Applicant: Mazor Robotics Ltd.

    Inventor： Ziv Seemann ,  Adi Sandelson ,  Dor Kopito ,  Nimrod Dori ,  Gal Eshed ,  Dany Junio ,  Elad Ratzabi

    IPC: A61B34/20 ,  A61B34/30

    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.

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