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公开(公告)号：US20240341876A1
公开(公告)日：2024-10-17
申请号：US18754066
申请日：2024-06-25
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
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.
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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
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：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
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.
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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
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.
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公开(公告)号：US11918297B2
公开(公告)日：2024-03-05
申请号：US16244369
申请日：2019-01-10
Applicant: MAZOR ROBOTICS LTD.
Inventor： Victor D. Snyder , Matthew F. Dicorleto , Joseph Moctezuma , David E. Macht , Jeremiah R. Beers , Katherine M. Puckett , Katharine E. Darling , Leonid Kleyman , Dany Junio , Dana Gazit-Ankori , Eliyahu Zehavi , Elad Ratzabi , Aviv Ellman , Timothy M. Conkin
CPC classification number: A61B34/20 , A61B5/061 , A61B34/30 , G06T7/32 , A61B2034/2051 , A61B2034/2059 , G05B2219/39401
Abstract: Disclosed is a system for assisting in guiding and performing a procedure on a subject. The subject may be any appropriate subject such as inanimate object and/or an animate object. The guide and system may include various manipulable or movable members, such as robotic systems, and may be registered to selected coordinate systems.
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Patent Agency Ranking
公开(公告)号：US11638614B2
公开(公告)日：2023-05-02
申请号：US17191297
申请日：2021-03-03
Applicant: Mazor Robotics Ltd.
Inventor： Aviv Ellman , Eli Zehavi
Abstract: A method for verifying surgical tool placement includes attaching a guide sleeve to a surgical robot, the guide sleeve defining a guide sleeve axis; aligning the surgical robot such that the guide sleeve axis is directed at a predetermined target location; and attaching an aiming rod to the guide sleeve such that the aiming rod can rotate around the guide sleeve axis, the aiming rod having apertures along its length. The aiming rod is attached to the guide sleeve at an angle and position such that when the surgical robot is adjusted to align the guide sleeve axis with the predetermined target location, a center of each aperture of the apertures of the aiming rod and a center of the predetermined target location are collinear, independent of a rotational position of the aiming rod around the guide sleeve axis.
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公开(公告)号：US20220096188A1
公开(公告)日：2022-03-31
申请号：US17464300
申请日：2021-09-01
Applicant: Mazor Robotics Ltd.
Inventor： Aviv Ellman , Moshe Shoham
Abstract: Methods and systems for detecting, monitoring, and accounting for anatomical motion is provided. An initial contact between a first robotic arm and an anatomical element of a patient may be detected based on information received from at least one internal sensor of the first robotic arm. A position of the anatomical element may be determined based on the information. The determined position may be compared to an expected position of the anatomical element. A tool trajectory of a second robotic arm may be updated when the determined position is offset from the expected position.
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公开(公告)号：US20210186626A1
公开(公告)日：2021-06-24
申请号：US17191297
申请日：2021-03-03
Applicant: Mazor Robotics Ltd.
Inventor： Aviv Ellman , Eli Zehavi
Abstract: A method for verifying surgical tool placement includes attaching a guide sleeve to a surgical robot, the guide sleeve defining a guide sleeve axis; aligning the surgical robot such that the guide sleeve axis is directed at a predetermined target location; and attaching an aiming rod to the guide sleeve such that the aiming rod can rotate around the guide sleeve axis, the aiming rod having apertures along its length. The aiming rod is attached to the guide sleeve at an angle and position such that when the surgical robot is adjusted to align the guide sleeve axis with the predetermined target location, a center of each aperture of the apertures of the aiming rod and a center of the predetermined target location are collinear, independent of a rotational position of the aiming rod around the guide sleeve axis.
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公开(公告)号：US12274525B2
公开(公告)日：2025-04-15
申请号：US17464300
申请日：2021-09-01
Applicant: Mazor Robotics Ltd.
Inventor： Aviv Ellman , Moshe Shoham
Abstract: Methods and systems for detecting, monitoring, and accounting for anatomical motion is provided. An initial contact between a first robotic arm and an anatomical element of a patient is detected based on information received from at least one internal sensor of the first robotic arm. A position of the anatomical element is determined based on the information. The determined position is compared to an expected position of the anatomical element. A tool trajectory of a second robotic arm is updated when the determined position is offset from the expected position.
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公开(公告)号：US12186914B2
公开(公告)日：2025-01-07
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
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.
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