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公开(公告)号：US20210386491A1
公开(公告)日：2021-12-16
申请号：US17341263
申请日：2021-06-07
Applicant: Mazor Robotics Ltd.
Inventor： Yizhaq Shmayahu , Eli Zehavi
Abstract: A system for endoscopic surgery, comprising a first robotic arm defining the pose of an endoscopic camera, a second robotic arm defining the pose of a surgical end effector, and an irrigation nozzle configured to inject fluid under a predetermined pressure into a preselected tissue region, to generate a cavity at a surgical site. The cavity enables the camera to take images of the features of the surgical site. A controller is used to control both robotic arms, such that the pose of the endoscopic camera and the pose of the surgical end effector are known to the controller. The camera can then acquire intraoperative images of the cavity, such that an endoscopic operation can be performed in the cavity with the surgical end effector guided using the intraoperative images. Anatomic features imaged intraoperatively by the camera can be identified from preoperative images, using image registration.
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公开(公告)号：US20210186615A1
公开(公告)日：2021-06-24
申请号：US17130516
申请日：2020-12-22
Applicant: Mazor Robotics Ltd.
Inventor： Yizhaq Shmayahu , Eliyahu Zehavi , Yonatan Ushpizin , Noam Weiss
Abstract: Systems and methods for monitoring a surgical procedure are provided. A coordinate system of a first robotic arm and a second robotic arm may be co-registered or correlated to each other. One or more poses of an imaging device may be determined to provide real-time intraoperative imaging of a region of interest during a surgical procedure. Anatomical elements may be identified in the real-time images of the region of interest from which a surgical tool should maintain a predetermined distance. The surgical tool may be prevented from approaching the identified anatomical elements by less than a predetermined distance using the co-registration of the coordinate systems.
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Patent Agency Ranking
13.发明公开公开(公告)号：US20240358461A1
公开(公告)日：2024-10-31
申请号：US18767847
申请日：2024-07-09
Applicant: Mazor Robotics Ltd.
Inventor： Noam Weiss , Yizhaq Shmayahu , Elad Rotman , Adi Ess
CPC classification number: A61B34/32 , A61B34/25 , G16H50/20 , A61B2034/302
Abstract: Multi-arm robotic systems and methods for monitoring a target are provided. The system may include a first robotic arm configured to orient a first component and a second robotic arm configured to orient a second component. The first robotic arm and the second robotic arm may be co-registered. The first robotic arm may be caused to orient the first component at a first pose. The second robotic arm may be caused to orient the second component at a second pose. At least one image may be received from the first component and the second component.
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公开(公告)号：US20240335242A1
公开(公告)日：2024-10-10
申请号：US18747255
申请日：2024-06-18
Applicant: Mazor Robotics Ltd.
Inventor： Moshe Shoham , Yizhaq Shmayahu
CPC classification number: A61B34/20 , A61B17/1622 , A61B17/1703 , A61B34/30 , A61B2034/105 , A61B2034/2057 , A61B2034/2065 , A61B2090/367 , A61B2090/371
Abstract: A system for tracking the position of a surgical tool manipulated by a surgical robotic system, to determine that the tool is correctly positioned and orientated. Miniature 3-D tracking cameras are mounted on the end effector of the robotic system, one viewing markers on the surgical tool, and the other markers attached to the anatomy part being operated on. The initial spatial position and orientation of the surgical tool on the surface of the anatomy part is measured, and the progress of the surgical tool into the anatomic body part is tracked using one of the miniature cameras. The cameras or sensors are close to the surgical region of interest, and all the mechanical and sensor elements necessary for the system operation are mounted within the realm of the robot. The system thus avoids interruption of communication between a remotely positioned navigation camera and the robot or patient.
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公开(公告)号：US12035979B2
公开(公告)日：2024-07-16
申请号：US17536312
申请日：2021-11-29
Applicant: Mazor Robotics Ltd.
Inventor： Moshe Shoham , Yizhaq Shmayahu
CPC classification number: A61B34/20 , A61B17/1622 , A61B17/1703 , A61B34/30 , A61B2034/105 , A61B2034/2057 , A61B2034/2065 , A61B2090/367 , A61B2090/371
Abstract: A system for tracking the position of a surgical tool manipulated by a surgical robotic system, to determine that the tool is correctly positioned and orientated. Miniature 3-D tracking cameras are mounted on the end effector of the robotic system, one viewing markers on the surgical tool, and the other markers attached to the anatomy part being operated on. The initial spatial position and orientation of the surgical tool on the surface of the anatomy part is measured, and the progress of the surgical tool into the anatomic body part is tracked using one of the miniature cameras. The cameras or sensors are close to the surgical region of interest, and all the mechanical and sensor elements necessary for the system operation are mounted within the realm of the robot. The system thus avoids interruption of communication between a remotely positioned navigation camera and the robot or patient.
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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
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.
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公开(公告)号：US20220168048A1
公开(公告)日：2022-06-02
申请号：US17536312
申请日：2021-11-29
Applicant: Mazor Robotics Ltd.
Inventor： Moshe Shoham , Yizhaq Shmayahu
Abstract: A system for tracking the position of a surgical tool manipulated by a surgical robotic system, to determine that the tool is correctly positioned and orientated. Miniature 3-D tracking cameras are mounted on the end effector of the robotic system, one viewing markers on the surgical tool, and the other markers attached to the anatomy part being operated on. The initial spatial position and orientation of the surgical tool on the surface of the anatomy part is measured, and the progress of the surgical tool into the anatomic body part is tracked using one of the miniature cameras. The cameras or sensors are close to the surgical region of interest, and all the mechanical and sensor elements necessary for the system operation are mounted within the realm of the robot. The system thus avoids interruption of communication between a remotely positioned navigation camera and the robot or patient.
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