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公开(公告)号：AU2021277754A1
公开(公告)日：2022-07-07
申请号：AU2021277754
申请日：2021-12-03
Applicant: MAZOR ROBOTICS LTD
Inventor： ZUCKER IDO , USHPIZIN YONATAN , ZEHAVI ELI
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. 0z N w6 5 C~j U co co N NNc
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公开(公告)号：AU2018248134A1
公开(公告)日：2019-10-31
申请号：AU2018248134
申请日：2018-04-02
Applicant: MAZOR ROBOTICS LTD
Inventor： SHOHAM MOSHE
Abstract: A minimally invasive system using a surgical robot as a three-dimensional printer for fabrication of biological tissues inside the body of a subject. A preoperative plan is used to direct and control both the motion of the robot and the robotic bio-ink extrusion. The robotic motion is coordinated with the ink extrusion to form layers having the desired thickness and dimensions, and use of different types of ink enables composite elements to be laid down. Such systems have a small diameter bio-ink ejecting mechanism, generally in the form of a piston driven cannula, enabling access to regions such as joints, with limited space. The robotic control is programmed such that angular motion takes place around a pivot point at the point of insertion into the subject. The bio-inks can be stored in predetermined layers in the cannula to enable sequential dispensing from one cannula.
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公开(公告)号：CA2745210A1
公开(公告)日：2010-06-10
申请号：CA2745210
申请日：2009-12-01
Applicant: MAZOR ROBOTICS LTD
Inventor： BAR YOSSEF , ZEHAVI ELI , LIEBERMAN ISADORE , SHOHAM MOSHE
IPC: A61B17/17
Abstract: A robotic system for performing minimally invasive spinal stabilization, using two screws inserted in oblique trajectories from an inferior vertebra pedicle into the adjacent superior vertebra body. The procedure is less traumatic than such procedures performed using open back surgery, by virtue of the robot used to guide the surgeon along a safe trajectory, avoiding damage to nerves surrounding the vertebrae. The robot arm is advantageous since no access is provided in a minimally invasive procedure for direct viewing of the operation site, and the accuracy required for oblique entry can readily be achieved only using robotic control. This robotic system also obviates the need for a large number of fluoroscope images to check drill insertion position relative to the surrounding nerves. Disc cleaning tools with flexible wire heads are also described. The drilling trajectory is determined by comparing fluoroscope images to preoperative images showing the planned path.
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公开(公告)号：AU2005211244B2
公开(公告)日：2010-02-04
申请号：AU2005211244
申请日：2005-02-03
Applicant: MAZOR ROBOTICS LTD
Inventor： SHOHAM MOSHE
IPC: G05B15/00 , G05B19/4062
Abstract: An apparatus and method for assuring effective backup for sensor failure in robots, by utilizing a single extra sensor attached between the end actuator and the base. The single extra sensor provides absolute back-up for any single encoder failure that may occur in the system, and statistically significant back-up for any double encoder failure. A single additional sensor effectively provides the robotic system with one redundant information input to the robot control algorithm, which can be used in order to determine whether any of the other control sensors, or even the additional sensor itself, has failed and is delivering an erroneous reading, and hence to warn the operator of the failure. A single additional sensor also provides useful warning of the simultaneous failure of two sensors, since the likelihood that two sensors fail simultaneously in a mode that makes the failures undetectable, can be regarded as statistically insignificant.
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公开(公告)号：US20250152261A1
公开(公告)日：2025-05-15
申请号：US19025579
申请日：2025-01-16
Applicant: Mazor Robotics Ltd.
Inventor： Ofir Dahan , Nir Ofer , Yair S. Schwartz , Gal Barazani , Maor Sviri , Itay Jerby
Abstract: Systems and methods for registering one or more anatomical elements are provided. The system may comprise an imaging device and a navigation system configured to track a pose of a marker coupled to an object and configured to identify the marker. A first image may be received from a surgical plan. Pose information describing the pose of the marker and a marker identification of the marker may be obtained from the navigation system. An object identification based on the marker identification may be retrieved from a database. Image data of a second image depicting an anatomical element and the object may be obtained from the imaging device. The image data, the pose information, and the object identification may be input into a registration model. The registration model may be configured to register the anatomical element to the first image based on the pose information and the object identification.
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Patent Agency Ranking
公开(公告)号：US20250143811A1
公开(公告)日：2025-05-08
申请号：US18835987
申请日：2022-02-15
Applicant: Mazor Robotics Ltd.
Inventor： Zhinan Guo , Jiangfeng Zhang
IPC: A61B34/30
Abstract: A robotic registration kit according to at least one embodiment of the present disclosure includes an elongate arm (304) extending from a proximal end (302) to a distal end (306) including a target receiving surface (308) and a robot mount bracket (312) including a robot attachment surface (358), a clamp screw (316), including a bracket contact surface in contact with the robot mount bracket (312) and a threaded outer surface (322), rotationally attached to the robot mount bracket (312) allowing the clamp screw (316) to rotate and preventing axial movement of the clamp screw (316), and a clamp (320) including a plate (324) with a threaded hole (328) running therethrough and a finger (332) extending a distance to a clamp end including a hook portion (336) disposed proximally past the robot attachment surface (358) of the robot mount bracket (312). The clamp (320) is moveable between a clamped state and an unclamped state by a rotational movement of the clamp screw (316) relative to the clamp (320).
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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
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.
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公开(公告)号：US12263026B2
公开(公告)日：2025-04-01
申请号：US18434312
申请日：2024-02-06
Applicant: Mazor Robotics Ltd.
Inventor： Noam Weiss
Abstract: Systems, methods, and devices for capturing a single image with multiple exposures is provided. An imaging device may be provided comprising a source configured to emit a wave for a time period and a detector configured to receive a signal indicative of the wave. A wave may be emitted for a time period and a signal may be received indicative of the emitted wave. A first image dataset may be saved with a first timestamp referencing a first time within the time period. A second image dataset may be saved with a second timestamp referencing a second time within the time period. The second time may occur after the first time.
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公开(公告)号：US20250009464A1
公开(公告)日：2025-01-09
申请号：US18894779
申请日：2024-09-24
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio
Abstract: A system and method for generating a corrected image is provided. A plurality of poses for an imaging device may be calculated based on information about an object within a patient's anatomy. An image may be received from the imaging device at each pose of the plurality of poses to yield an image set. Each image may depict at least a portion of an anatomical element of the patient and an object. A set of saturated areas in which the object has caused saturated attenuation, and a set of unsaturated areas in which the object has not caused saturated attenuation may be identified in the images of the image set. A corrected image may be generated by combining data from the set of unsaturated areas, the corrected image depicting the anatomical feature with fewer than all of the saturated areas in the set of saturated areas.
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公开(公告)号：US12156705B2
公开(公告)日：2024-12-03
申请号：US17697799
申请日：2022-03-17
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio
Abstract: Systems and methods for generating multiple registrations is provided. An image depicting a portion of a patient's anatomy and a tracking device affixed to an accurate robot may be received. A first registration of a patient coordinate space to a robotic coordinate space may be generated based on the image. A second registration of the patient coordinate space to a navigation coordinate space based at least in part on a position of second markers on the tracking device detected by a navigation system may be generated. The first registration and the second registration may be independent of each other.
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