公开(公告)号：US20230240753A1

公开(公告)日：2023-08-03

申请号：US17590905

申请日：2022-02-02

Applicant: Mazor Robotics Ltd.

Inventor： Adi Sandelson ,  Ziv Seemann ,  Nimrod Dori

IPC: A61B34/20 ,  G06T7/73 ,  G06T7/246 ,  A61B90/00

CPC classification number: A61B34/20 ,  G06T7/74 ,  G06T7/248 ,  A61B90/39 ,  G06T2207/30204 ,  G06T2207/30012 ,  A61B2034/2055 ,  A61B2034/2051 ,  A61B2090/3945 ,  A61B2090/3979 ,  A61B2090/3958 ,  A61B2090/3987

Abstract: Systems and methods for tracking movement of an anatomical element are provided. A marker may be coupled to an anatomical element and may be tracked by a navigation system. Movement of the marker may be detected by the navigation system and a pose of the marker may be determined based on the movement. The pose of the marker may be validated when the pose substantially matches a desired predetermined pose.

公开(公告)号：US20220273386A1

公开(公告)日：2022-09-01

申请号：US17589991

申请日：2022-02-01

Applicant: Mazor Robotics Ltd.

Inventor： Ziv Seemann ,  Amir Keret ,  Adi Sandelson

IPC: A61B46/10 ,  A61B46/00 ,  A61B34/30 ,  A61B34/20

Abstract: A shrink sterile drape according to at least one embodiment of the present disclosure includes a first portion; a second portion configured to shrink relative to the first portion in the presence of heat; and an optical window disposed in the second portion and configured to permit passage of light therethrough.

公开(公告)号：US12094128B2

公开(公告)日：2024-09-17

申请号：US17591769

申请日：2022-02-03

Applicant: Mazor Robotics Ltd.

Inventor： Itamar Eshel ,  Ziv Seemann ,  Adi Sandelson ,  Gal Barazani ,  Nir Ofer

IPC: G06K9/00 ,  A61B34/10 ,  A61B34/30 ,  G06T7/246 ,  G06T11/00

CPC classification number: G06T7/246 ,  A61B34/10 ,  A61B34/30 ,  G06T11/00 ,  A61B2034/105 ,  G06T2207/10028 ,  G06T2207/30204

Abstract: Methods, systems, and devices for robot integrated segmental tracking are described. A system determines first positional information of one or more objects based on three-dimensional first image data captured by an imaging device, tracking information associated with the one or more objects, or both. The first positional information includes a real-time location of the one or more objects. The system generates an image including a graphical representation of the one or more objects. Generating the image includes positioning the graphical representation of the one or more objects based on a comparison result indicative of a deviation between the first positional information and reference positional information of the one or more objects. The reference positional information includes a registered location of the one or more objects. The system outputs an indication of the deviation between the first positional information and the reference positional information.

公开(公告)号：US20230240525A1

公开(公告)日：2023-08-03

申请号：US17590945

申请日：2022-02-02

Applicant: Mazor Robotics Ltd.

Inventor： Ziv Seemann ,  Dor Kopito ,  Jaffar Hleihil ,  Nimrod Dori ,  Ron Visbrot

IPC: A61B1/32 ,  A61B17/02

CPC classification number: A61B1/32 ,  A61B17/0206

Abstract: Retraction systems, assemblies, and devices for retracting an end unit are provided. A retraction assembly may be configured to move the end unit of a robot between a first state and a second state. A first signal may be received indicating a working condition. A first instruction may be generated to move the end unit from the second state to the first state. The retraction assembly may be caused to move the end unit from the second state to the first state based on receiving the first signal and the first instruction. The end unit may be held in the first state when the first signal is being received and the retraction assembly may move the end unit from the first state to the second state when the first signal is not received.

公开(公告)号：US20220322973A1

公开(公告)日：2022-10-13

申请号：US17225382

申请日：2021-04-08

Applicant: Mazor Robotics Ltd.

Inventor： Ziv Seemann ,  Gal Barazani ,  Bat-el Kagan ,  Amir Keret ,  Adi Sandelson

IPC: A61B5/11 ,  A61B5/00

Abstract: Systems and methods for monitoring patient movement are provided. A first dataset containing information about a first tracking device and a second tracking device may be received. A second dataset containing information about the first tracking device and the second tracking device may be received. The first dataset and the second dataset may be compared to determine if a relative pose of the first tracking device and the second tracking device has changed. A notification may be generated when the relative pose of the first tracking device and the second tracking device has changed.

公开(公告)号：US20220241033A1

公开(公告)日：2022-08-04

申请号：US17580298

申请日：2022-01-20

Applicant: Mazor Robotics Ltd.

Inventor： Adi Sandelson ,  Dor Kopito ,  Nimrod Dori ,  Gal Eshed ,  Elad Ratzabi ,  Amir Keret ,  Ziv Seemann ,  Yvan Paitel ,  Nicholas J. Rawluk ,  Dany Junio

IPC: A61B34/30

Abstract: A robotic navigation system includes a robot base; a robotic arm with a proximal end secured to the robot base, a distal end movable relative to the proximal end, and one or more arm segments between the proximal end and the distal end; a base set of tracking markers secured to the robot base; and at least one additional set of tracking markers secured to the robotic arm.

公开(公告)号：US12201377B2

公开(公告)日：2025-01-21

申请号：US17516408

申请日：2021-11-01

Applicant: Mazor Robotics Ltd.

Inventor： Ziv Seemann ,  Gal Barazani ,  Ori Ben Zeev ,  Dvir Kadshai ,  Itamar Eshel

IPC: A61B34/20 ,  A61B34/00 ,  A61B34/30

Abstract: A system according to at least one embodiment of the present disclosure includes a processor; and at least one inertial sensor having a known physical relationship with a tracked object in a first pose, the at least one inertial sensor providing a measurement indicative of a movement of the tracked object from the first pose to a second pose, wherein the processor determines the second pose of the tracked object based, at least in part, on the measurement provided by the at least one inertial sensor.

公开(公告)号：US20230245327A1

公开(公告)日：2023-08-03

申请号：US17591769

申请日：2022-02-03

Applicant: Mazor Robotics Ltd.

Inventor： Itamar Eshel ,  Ziv Seemann ,  Adi Sandelson ,  Gal Barazani ,  Nir Ofer

IPC: G06T7/246 ,  G06T11/00 ,  A61B34/30 ,  A61B34/10

CPC classification number: G06T7/246 ,  G06T11/00 ,  A61B34/30 ,  A61B34/10 ,  G06T2207/10028 ,  G06T2207/30204 ,  A61B2034/105

Abstract: Methods, systems, and devices for robot integrated segmental tracking are described. A system determines first positional information of one or more objects based on three-dimensional first image data captured by an imaging device, tracking information associated with the one or more objects, or both. The first positional information includes a real-time location of the one or more objects. The system generates an image including a graphical representation of the one or more objects. Generating the image includes positioning the graphical representation of the one or more objects based on a comparison result indicative of a deviation between the first positional information and reference positional information of the one or more objects. The reference positional information includes a registered location of the one or more objects. The system outputs an indication of the deviation between the first positional information and the reference positional information.

公开(公告)号：US20220257320A1

公开(公告)日：2022-08-18

申请号：US17179168

申请日：2021-02-18

Applicant: Mazor Robotics Ltd.

Inventor： Dany Junio ,  Nir Ofer ,  Adi Sandelson ,  Yair S. Schwartz ,  Gillan M. Grimberg ,  Nimrod Dori ,  Maor Sviri ,  Amir Keret ,  Ziv Seemann

IPC: A61B34/10 ,  A61B34/30 ,  A61B90/00 ,  A61B90/50 ,  A61B17/17 ,  G16H40/67 ,  G16H20/40 ,  G16H50/50 ,  G16H30/20 ,  G16H30/40 ,  G16H50/70 ,  G16H10/60 ,  G06F30/20 ,  G06T11/00

Abstract: A system for skive avoidance includes a sensor configured to measure a force exerted on a surgical tool; at least one processor; and a memory. The memory stores instructions for execution by the at least one processor that, when executed, cause the at least one processor to: project a tool trajectory onto a three-dimensional (3D) model of bone tissue; and estimate an expected normal force direction and magnitude upon contact of the surgical tool with the bone tissue.

公开(公告)号：US20220183766A1

公开(公告)日：2022-06-16

申请号：US17490753

申请日：2021-09-30

Applicant: Mazor Robotics Ltd.

Inventor： Ziv Seemann ,  Adi Sandelson ,  Dor Kopito ,  Nimrod Dori ,  Gal Eshed ,  Dany Junio ,  Elad Ratzabi

IPC: A61B34/20 ,  A61B34/30

Abstract: A method for determining a work volume includes receiving image information from an imaging device corresponding to an array of tracking markers fixed to a flexible mesh, the mesh placed over a patient and over at least one surgical instrument adjacent to or connected to the patient; determining a position of each tracking marker in the array of tracking markers based on the image information; defining a boundary for movement of a robotic arm based on determined tracking marker positions, such that the robotic arm does not contact the patient or the at least one surgical instrument during movement of the robotic arm; and controlling the robotic arm based on the defined boundary.