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公开(公告)号：US11701186B2
公开(公告)日：2023-07-18
申请号：US17039597
申请日：2020-09-30
Applicant: MAZOR ROBOTICS LTD.
Inventor： Yossef Bar , Eliyahu Zehavi , Yonatan Ushpizin
CPC classification number: A61B34/30 , A61B34/20 , A61B90/06 , A61B2017/00477 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2090/064
Abstract: A bone connection system for attaching a surgical robot having its base mounted in the vicinity of a patient, to a bone of the patient. The system incorporates a switchable bone connection unit attached between the bone and a support element of the robot. This unit has a locked state in which the bone is attached essentially rigidly to the support element, and a released state in which the bone can move relative to the support element. The unit comprises a force sensor for determining the force exerted between the bone and the support element of the robot, and a position sensor for measuring the position of the bone relative to the support element of said robot. The unit switches from its locked state to its released state when the force exceeds a predetermined level, selected to ensure that the bone can move without detaching any bone connection elements.
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公开(公告)号：US11596567B2
公开(公告)日：2023-03-07
申请号：US17063299
申请日：2020-10-05
Applicant: MAZOR ROBOTICS LTD.
Inventor： Yonatan Ushpizin , Arik Levy
Abstract: Methods and systems for determining and maintaining a center of rotation are provided. A center of rotation may be determined based on first information about a robotic region of interest of a robot and second information about a patient region of interest. An operating table having multiple degrees of freedom may be caused to rotate about the center of rotation from a first position to a second position. A control system may be caused to control the robot based on the operating table being in the second position.
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公开(公告)号：US20220401056A1
公开(公告)日：2022-12-22
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
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.
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公开(公告)号：US20220378521A1
公开(公告)日：2022-12-01
申请号：US17331081
申请日：2021-05-26
Applicant: Mazor Robotics Ltd.
Inventor： Avi Turgeman , Yonatan Ushpizin , Eli Zehavi , Ido Zucker
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.
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公开(公告)号：US20220346882A1
公开(公告)日：2022-11-03
申请号：US17713873
申请日：2022-04-05
Applicant: Mazor Robotics Ltd.
Inventor： Eli Zehavi , Yonatan Ushpizin , Ido Zucker , Adi Ess
Abstract: A system comprises a robotic arm in a robotic arm coordinate system, a camera in a fixed pose in a navigation coordinate system, at least one processor, and memory including instructions that when executed by the at least one processor, cause the at least one processor to determine a pose of the robotic arm within the navigation coordinate system, map the robotic arm coordinate system to the navigation coordinate system based on the pose of the robotic arm, and control, based on output of the camera, the robotic arm in the navigation coordinate system.
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Patent Agency Ranking
公开(公告)号：US20220241032A1
公开(公告)日：2022-08-04
申请号：US17575404
申请日：2022-01-13
Applicant: Mazor Robotics Ltd.
Inventor： Ido Zucker , Yizhaq Shmayahu , Yonatan Ushpizin , Eliyahu Zehavi , Dany Junio
Abstract: Systems and methods for tracking a pose of a target and/or tracking the target is provided. A first robotic arm may be configured to orient a first imaging device and a second robotic arm may be configured to orient a second imaging device. The first robotic arm and the second robotic arm may operate in a shared or common coordinate space. A first image may be received from the first imaging device and a second image may be received from the second imaging device. The first image and the second image may depict at least one target. A pose of the at least one target may be determined in the coordinate space based on the first image, a corresponding first pose, the second image, and a corresponding second pose.
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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
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.
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公开(公告)号：US20220192773A1
公开(公告)日：2022-06-23
申请号：US17526873
申请日：2021-11-15
Applicant: Mazor Robotics Ltd.
Inventor： Ido Zucker , Yonatan Ushpizin , Eliyahu Zehavi
Abstract: Methods and systems for monitoring a rod reduction process is provided. The methods and systems include determining, based on at least one parameter, a threshold for forces exerted by a tool on a rod or a pedicle screw and receiving data corresponding to a magnitude of the forces exerted by the tool on the pedicle screw or the rod during reduction of the rod into a head of the pedicle screw. A surgical plan may be updated when the monitored magnitude meets the threshold.
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公开(公告)号：US20220031370A1
公开(公告)日：2022-02-03
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
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.
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公开(公告)号：US10806527B2
公开(公告)日：2020-10-20
申请号：US15104529
申请日：2014-12-15
Applicant: Mazor Robotics Ltd.
Inventor： Yossi Bar , Eliyahu Zehavi , Yonatan Ushpizin
Abstract: A bone connection system for attaching a surgical robot having its base mounted in the vicinity of a patient, to a bone of the patient. The system incorporates a switchable bone connection unit attached between the bone and a support element of the robot. This unit has a locked state in which the bone is attached essentially rigidly to the support element, and a released state in which the bone can move relative to the support element. The unit comprises a force sensor for determining the force exerted between the bone and the support element of the robot, and a position sensor for measuring the position of the bone relative to the support element of said robot. The unit switches from its locked state to its released state when the force exceeds a predetermined level, selected to ensure that the bone can move without detaching any bone connection elements.
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