公开(公告)号：US12268457B2

公开(公告)日：2025-04-08

申请号：US17285374

申请日：2019-10-15

Applicant: MAZOR ROBOTICS LTD.

Inventor： Eliyahu Zehavi ,  Moshe Shoham ,  Yonatan Ushpizin

IPC: A61B34/30 ,  A61B6/00 ,  A61B8/00 ,  A61B34/20 ,  B25J9/16 ,  B25J13/08 ,  G01T1/161 ,  G06T7/30

Abstract: A robotic surgical system comprising at least two robotic arms having co-ordinate systems known relative to each other, one of the arms carrying an X-ray source, and the other an imaging detector plate. The arms are disposed to enable an image to be generated on the region of interest of a subject. One of the arms can additionally or alternatively carry a surgical tool or tool holder, such that the pose of the tool is known in the same co-ordinate system as that of an image generated by the X-ray source and detector. Consequently, any surgical procedure planned on such an X-ray image can be executed by the tool with high accuracy, since the tool position is known in the image frame of reference. This enables the surgeon to accurately position his tool in a real-time image without the need for an external registration procedure.

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

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.

公开(公告)号：US20240225752A1

公开(公告)日：2024-07-11

申请号：US18559348

申请日：2022-05-23

Applicant: Mazor Robotics Ltd.

Inventor： Eli Zehavi ,  Yonatan Ushpizin ,  Ido Zucker ,  Adi Ess

IPC: A61B34/20 ,  A61B34/37 ,  A61B90/00

CPC classification number: A61B34/20 ,  A61B34/37 ,  A61B90/39 ,  A61B2034/2057 ,  A61B2090/3937 ,  A61B2090/3979

Abstract: Systems, methods, and devices for determining a tool pose are provided. A tracking device mounted to a tool may comprise a plurality of faces and a plurality of markers defining a plurality of sets of markers. Each set of markers may comprise one or more markers of the plurality of markers and each set of markers may be disposed on a corresponding face. Information about a set of markers of the plurality of markers may be received. A face of the plurality of faces having the set of markers disposed thereon may be determined. A pose of the tool based on the information and the determined face may be determined.

公开(公告)号：US11925586B2

公开(公告)日：2024-03-12

申请号：US17704759

申请日：2022-03-25

Applicant: Mazor Robotics Ltd.

Inventor： Roy K. Lim ,  Arik A. Levy ,  Katharine E. Darling ,  Mark C. Dace ,  Yonatan Ushpizin

IPC: A61G13/10 ,  A61B34/30 ,  A61G13/06 ,  B25J5/00

CPC classification number: A61G13/104 ,  A61G13/06 ,  B25J5/007 ,  A61B34/30

Abstract: A surgical platform and trolley assembly and an interface of a robotic system are provided. The surgical platform and trolley assembly includes a trolley portion and a surgical platform portion. The trolley portion supports the surgical platform portion, and affords positioning and repositioning of the surgical platform portion relative to the interface of the robotic system. An end portion of the surgical platform portion is attachable relative to the robotic system via engagement to the interface.

公开(公告)号：US20230240763A1

公开(公告)日：2023-08-03

申请号：US17590915

申请日：2022-02-02

Applicant: Mazor Robotics Ltd.

Inventor： Eliyahu Zehavi ,  Yonatan Ushpizin

IPC: A61B34/00 ,  A61B34/30 ,  A61B90/00 ,  A61B17/17 ,  A61B17/16

CPC classification number: A61B34/25 ,  A61B17/1615 ,  A61B17/1703 ,  A61B34/30 ,  A61B90/03 ,  A61B90/37 ,  A61B2017/00115 ,  A61B2034/252 ,  A61B2090/033 ,  A61B2090/3784 ,  A61B2217/005 ,  A61B2217/007

Abstract: Systems, methods, and devices for drilling and imaging an anatomical element are provided. An image may be received from an imaging device coupled to a housing. The image may depict hard tissue and/or soft tissue and the image may be processed using image processing to identify the hard tissue and/or soft tissue. A thickness of the hard tissue may be determined and instructions to perform a surgical step on the hard tissue when the thickness is less than a predetermined threshold may be transmitted.

公开(公告)号：US20220104986A1

公开(公告)日：2022-04-07

申请号：US17063299

申请日：2020-10-05

Applicant: MAZOR ROBOTICS LTD.

Inventor： Yonatan Ushpizin ,  Arik Levy

IPC: A61G13/10 ,  A61G13/02 ,  A61G99/00 ,  A61B34/20 ,  A61B34/37

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.

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

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：US12178663B2

公开(公告)日：2024-12-31

申请号：US17526873

申请日：2021-11-15

Applicant: Mazor Robotics Ltd.

Inventor： Ido Zucker ,  Yonatan Ushpizin ,  Eliyahu Zehavi

IPC: A61B90/00 ,  A61B17/70 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B17/56

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.

公开(公告)号：US12011237B2

公开(公告)日：2024-06-18

申请号：US17331081

申请日：2021-05-26

Applicant: Mazor Robotics Ltd.

Inventor： Avi Turgeman ,  Yonatan Ushpizin ,  Eli Zehavi ,  Ido Zucker

IPC: A61B34/30 ,  A61B17/86 ,  A61B34/00 ,  G06F3/01 ,  G06T7/50

CPC classification number: A61B34/30 ,  A61B17/86 ,  A61B34/25 ,  G06F3/017 ,  G06T7/50 ,  A61B2034/743 ,  A61B2034/744 ,  G06T2207/10028 ,  G06T2207/30012

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.

公开(公告)号：US20230404692A1

公开(公告)日：2023-12-21

申请号：US17845032

申请日：2022-06-21

Applicant: Mazor Robotics Ltd.

Inventor： Yonatan Ushpizin ,  Eliyahu Zehavi ,  Avraham Turgeman

IPC: A61B34/37

CPC classification number: A61B34/37 ,  A61B2017/00477

Abstract: Systems, techniques, and embodiments are provided herein that are configured to interchangeably couple any surgical tool of a plurality of surgical tools to a robotic arm. For example, a robotic surgical system is provided that includes an interface unit disposed at a distal end of the robotic arm and coupled to the robotic arm, where the interface unit includes a set of components configured to provide the coupling. In some embodiments, the set of components of the interface unit is configured to provide electrical coupling, communication coupling, mechanical coupling, pneumatic coupling, irrigation coupling, or a combination thereof, for coupling any surgical tool of the plurality of surgical tools to the robotic arm. Additionally, each surgical tool of the plurality of surgical tools may comprise an identification feature for the interface unit and/or a processor to identify which surgical tool is being coupled to the robotic arm.