公开(公告)号：US20230277402A1

公开(公告)日：2023-09-07

申请号：US18003144

申请日：2021-06-24

Applicant: Mazor Robotics Ltd.

Inventor： Elad Ratzabi ,  Yonatan Ushpizin ,  Yuval Chen ,  Dany Junio

IPC: A61G13/12 ,  A61G13/00

CPC classification number: A61G13/1285 ,  A61G13/0054 ,  A61G13/1295

Abstract: A rotatable fixation bridge as described herein may include a first end fixedly connectable to a reference and defining at least a portion of a first joint; a second end fixedly connectable to an anchor and defining at least a portion of a second joint; and a bridge member extending between and rotatably secured to the first end and the second end, the bridge member rotatable relative to an axis and comprising a central portion offset from the axis.

公开(公告)号：US20230241775A1

公开(公告)日：2023-08-03

申请号：US17591390

申请日：2022-02-02

Applicant: MAZOR ROBOTICS, LTD.

Inventor： Mark C. Dace ,  Adam D. Glaser ,  Aviv Ellman ,  Dany Junio ,  Elad Ratzabi ,  Gillan M. Grimberg

IPC: B25J9/16 ,  B25J9/10 ,  A61B34/00 ,  A61B34/20 ,  A61B34/10

CPC classification number: B25J9/1676 ,  B25J9/1075 ,  A61B34/70 ,  A61B34/20 ,  A61B34/10 ,  A61B2034/2074

Abstract: Disclosed herein are systems and methods for a robotic arm guide used as a depth stop. For example, a system for positioning a surgical tool includes a surgical robotic system having a robot arm with a guide sleeve, the guide sleeve defining axial and lateral directions. The system is further configured to (i) receive a surgical plan associated with a subject, the surgical plan including three-dimensional preoperative data related to the subject, (ii) determine, based on the surgical plan, a desired trajectory of a distal end of the surgical tool as the surgical tool is inserted into the guide sleeve, and (iii) transmit one or more control signals to the surgical robotic system, causing the surgical robotic system to orient and position the guide sleeve such that the distal end of the surgical tool follows the desired trajectory when the surgical tool is inserted in the guide sleeve.

公开(公告)号：US20230113312A1

公开(公告)日：2023-04-13

申请号：US17500559

申请日：2021-10-13

Applicant: Mazor Robotics Ltd.

Inventor： Dany Junio

IPC: A61B34/00 ,  A61B34/20 ,  B25J9/16

Abstract: Systems, methods, and devices for defining a path for a robotic arm are provided. One or more no-fly zones may be generated. The one or more no-fly zones correspond to a section of a work volume defined as inaccessible to a robotic arm and the work volume is defined as accessible to the robotic arm. A pose of an object may be determined and an obstacles map based on the determined pose and known dimensions of the object may be generated. A path for the robotic arm may be defined that avoids collision with the object identified in the obstacles map and avoiding the one or more no-fly zones.

公开(公告)号：US20230020476A1

公开(公告)日：2023-01-19

申请号：US17376493

申请日：2021-07-15

Applicant: Mazor Robotics Ltd.

Inventor： Dany Junio ,  Moshe Shoham

IPC: A61B34/20 ,  A61B34/30 ,  A61B17/02

Abstract: Systems, methods, and devices for planning a path are provided. A work volume and one or more no-fly zones may be mapped. The work volume may define a volume in which a robot may access and each of the one or more no-fly zones may define at least one volume in which a robot is restricted from accessing. Information may be received about a position of at least one instrument and a void volume may be calculated based on the position of the at least one instrument. The work volume may be updated to include the void volume to yield an updated work volume. A path may be calculated for a robotic arm of a robot from outside a patient anatomy to within the patient anatomy that is within the updated work volume and avoids the one or more no-fly zones.

公开(公告)号：US20220280240A1

公开(公告)日：2022-09-08

申请号：US17671117

申请日：2022-02-14

Applicant: Mazor Robotics Ltd.

Inventor： Dor Artzi ,  Yizhaq Shmayahu ,  Diego Merkier ,  Or Riven ,  Dany Junio ,  Aviv Ellman ,  Leon Kleyman

IPC: A61B34/10 ,  A61B34/00 ,  A61B34/37 ,  A61B34/20 ,  G06T7/10

Abstract: A device comprises at least one processor and memory including instructions that when executed by the at least one processor cause the at least one processor to: generate, based on at least one image of a spine within a body, a set of possible screw poses for implanting at least one screw into the spine during a surgical procedure; evaluate each possible screw pose based on at least one consideration associated with the surgical procedure; select, based on the evaluation, at least one screw pose from the set of possible screw poses; and output an indication of the selected at least one screw pose to a user interface.

公开(公告)号：US20220241016A1

公开(公告)日：2022-08-04

申请号：US17575245

申请日：2022-01-13

Applicant: Mazor Robotics Ltd.

Inventor： Dany Junio ,  Moshe Shoham

IPC: A61B34/10 ,  A61B17/16 ,  A61B34/20

Abstract: A method for verifying a bone entry point includes receiving a surgical plan that defines a target bone entry point and a first portion of a bone surface at least partially surrounding the target bone entry point; positioning an imaging device near an identified bone entry point; receiving, from the imaging device, an image of a second portion of the bone surface surrounding the identified bone entry point; comparing at least one feature of the first portion to at least one feature of the second portion to quantify a degree of similarity therebetween; and generating, when the quantified degree of similarity between the first portion and the second portion exceeds a threshold, a confirmation.

公开(公告)号：US20220218428A1

公开(公告)日：2022-07-14

申请号：US17526985

申请日：2021-11-15

Applicant: Mazor Robotics Ltd.

Inventor： Dany Junio

IPC: A61B34/00 ,  A61B34/30 ,  A61B34/10 ,  A61B17/70

Abstract: A system for robotic spinal manipulation includes a first robotic arm comprising an end effector; a second robotic arm configured to hold a spinal rod; at least one processor; and a memory storing instructions for execution by the at least one processor. The instructions, when executed, cause the at least one processor to control the first robotic arm to link the end effector with at least one vertebral screw implanted in a vertebra of a spine of a patient; control the second robotic arm to hold the spinal rod in a predetermined pose; and cause the first robotic arm to move the at least one implanted vertebral screw into engagement with the spinal rod.

公开(公告)号：US20210322112A1

公开(公告)日：2021-10-21

申请号：US16853990

申请日：2020-04-21

Applicant: MAZOR ROBOTICS LTD.

Inventor： Dany Junio

IPC: A61B34/30 ,  G06T7/00 ,  A61B34/00

Abstract: A method of aligning an imaging device in connection with robotic surgery includes causing a robot to position a reference target over a body of a patient; receiving image data from an imaging device; identifying, with an image processing algorithm, at least a first portion of an anatomical element in the image data; identifying, with a target detection algorithm, at least a first portion of a reference target in the image data; comparing a determined location of the imaging device, the reference target, and the anatomical element to yield a location determination and causing at least one of the robot to re-position the reference target or the imaging device to re-position.

公开(公告)号：US12171470B2

公开(公告)日：2024-12-24

申请号：US16944553

申请日：2020-07-31

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：US12048497B2

公开(公告)日：2024-07-30

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 ,  A61B17/00 ,  A61B17/17 ,  A61B34/10 ,  A61B90/00 ,  G16H20/40 ,  G16H40/63

CPC classification number: A61B34/30 ,  A61B17/17 ,  G16H20/40 ,  G16H40/63 ,  A61B2017/0003 ,  A61B17/1757 ,  A61B2034/107 ,  A61B2090/062 ,  A61B2090/064 ,  A61B2562/0204

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.