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    SYSTEM AND METHOD FOR INDEPENDENTLY POSITIONING AN ABLATION TOOL AND IMAGING DEVICE
    24.
    发明申请
    SYSTEM AND METHOD FOR INDEPENDENTLY POSITIONING AN ABLATION TOOL AND IMAGING DEVICE 审中-公开

    公开(公告)号：WO2021234520A1

    公开(公告)日：2021-11-25

    申请号：PCT/IB2021/054120

    申请日：2021-05-13

    Applicant: MAZOR ROBOTICS LTD.

    Inventor： WEISS, Noam ,  SHMAYAHU, Yizhaq

    IPC: A61B34/20 ,  A61B18/00 ,  A61B34/10

    Abstract: A method for performing at least one ablation comprising receiving image data of a mass to be ablated; segmenting a volume of the mass to yield a plurality of sub-volumes, each of the plurality of sub-volumes corresponding to one of a plurality of ablation steps; identifying, for each of the plurality of ablation steps and based on the corresponding sub-volume, an ablation center; calculating, for each of the plurality of ablation steps, an ablation tool position and an imaging device position, the imaging device position being independent of the ablation tool position; causing both an ablation tool to be positioned based on the calculated ablation tool position and an imaging device to be positioned based on the calculated imaging device position for one ablation step of the plurality of ablation steps; and causing an ablation tool to activate based on the one ablation step.

    SYSTEM AND METHOD FOR ALIGNING AN IMAGING DEVICE
    25.
    发明申请
    SYSTEM AND METHOD FOR ALIGNING AN IMAGING DEVICE 审中-公开

    公开(公告)号：WO2021216295A1

    公开(公告)日：2021-10-28

    申请号：PCT/US2021/026429

    申请日：2021-04-08

    Applicant: MAZOR ROBOTICS LTD.

    Inventor： DANY, Junio

    IPC: A61B34/20 ,  A61B34/30 ,  A61B90/00

    Abstract: A method of aligning an imaging device in connection with robotic surgery includes causing a robot to position a reference target over a body of a patient; receiving image data from an imaging device; identifying, with an image processing algorithm, at least a first portion of an anatomical element in the image data; identifying, with a target detection algorithm, at least a first portion of a reference target in the image data; comparing a determined location of the imaging device, the reference target, and the anatomical element to yield a location determination and causing at least one of the robot to re-position the reference target or the imaging device to re-position.

    GENERIC SURGICAL NAVIGATION INTERFACE
    26.
    发明申请
    GENERIC SURGICAL NAVIGATION INTERFACE 审中-公开

    公开(公告)号：WO2019130314A1

    公开(公告)日：2019-07-04

    申请号：PCT/IL2018/051405

    申请日：2018-12-27

    Applicant: MAZOR ROBOTICS LTD.

    Inventor： JUNIO, Dany ,  POELSTRA, Kornelis

    IPC: A61B17/00 ,  A61B17/17 ,  B23B47/28

    Abstract: A depth-indicating device for determining the depth of insertion of a surgical tool comprising a pair of spaced apart end caps, separated by a compressed spring, with the surgical tool passing through axial openings in both end caps, and firmly attached to one of the end caps, but free to slide through the opening in the other. A guide tube is attached to the second endcap, such that the surgical tool can be guided to its operating position on a body part. The second end cap and guide tube are attached to a location having a known position relative to the body part. A tracking marker is attached to the first end cap such that its longitudinal position can be tracked using a remote racking camera. Since the surgical tool is attached to the first end cap, the tool position is also tracked by the tracking system.

    GLOBAL BALANCE USING DYNAMIC MOTION ANALYSIS
    27.
    发明申请
    GLOBAL BALANCE USING DYNAMIC MOTION ANALYSIS 审中-公开

    公开(公告)号：WO2018131045A1

    公开(公告)日：2018-07-19

    申请号：PCT/IL2018/050052

    申请日：2018-01-11

    Applicant: MAZOR ROBOTICS LTD.

    Inventor： SHOHAM, Moshe ,  STEINBERG, Shlomit

    IPC: A61B34/10 ,  A61B5/11 ,  A61B6/00 ,  G06F19/00 ,  G06T7/00 ,  G06T7/246

    Abstract: A method of determining a surgical spinal correction for a subject using analysis of motion capture images of the subject, which uses the steps of obtaining pre-operative three- dimensional images of a spinal region, obtaining a pre-operative time sequenced set of images of the subject during a movement progression of said subject, calculating in a plurality of the motion capture images, alignment parameters relating to upper and lower body regions of the subject, and determining if any of the calculated alignment parameters are outside their predetermined acceptable ranges in one or more of the images, iteratively adjusting anatomical elements in three-dimensional images until all of the calculated alignment parameters are within their predetermined acceptable ranges; and adjusting spinal anatomy in the three-dimensional images according to the degree of adjustment of spinal parameters in the motion capture images to determine a surgical spinal correction.

    ULTRASOUND GUIDED HAND HELD ROBOT
    28.
    发明申请
    ULTRASOUND GUIDED HAND HELD ROBOT 审中-公开
    超声导向手持机器人

    公开(公告)号：WO2015166487A1

    公开(公告)日：2015-11-05

    申请号：PCT/IL2015/050436

    申请日：2015-04-28

    Applicant: MAZOR ROBOTICS LTD.

    Inventor： SHOHAM, Moshe

    IPC: A61B8/00 ,  A61B19/00

    CPC classification number: A61B8/0841 ,  A61B8/085 ,  A61B17/3403 ,  A61B34/30 ,  A61B90/11 ,  A61B2017/3413 ,  A61B2018/1425 ,  A61B2034/2048 ,  A61B2034/2065 ,  A61B2034/304 ,  A61B2090/378

    Abstract: A system for insertion of a surgical tool along a trajectory to a target region in a patient's tissues, under the guidance of ultrasound imaging. The system includes a hand- held robot to whose base the probe of an ultrasound system is rigidly connected. The activated platform of the hand held robot carries a surgical tool guide. The alignment of the tool guide defines the trajectory which the tool takes within the subject's body. The position of the target region seen on the ultrasound display, can be recorded, and the robot coordinate frame of reference registered thereto. The system aligns the pose of the robot such that the surgical tool is aimed directly at the target region, independently of motion of the ultrasound probe and its associated robot. An inertial measurement unit can be incorporated to provide back-up positional information if the image of the lesion is lost.

    Abstract translation: 一种用于在超声成像的指导下将外科手术工具沿轨迹插入患者组织中的目标区域的系统。 该系统包括一个手持机器人，其基座是超声系统的探头刚性连接。 手持式机器人的激活平台携带外科手术工具导向器。 刀具导轨的对准确定了刀具在主体内部的轨迹。 可以记录在超声波显示器上看到的目标区域的位置，并且记录登记在其上的机器人坐标系参考系。 该系统使机器人的姿态对准，使得外科手术工具直接瞄准目标区域，而与超声探头及其相关机器人的运动无关。 如果损伤的图像丢失，则可以并入惯性测量单元以提供备用位置信息。

    AUTOMATIC DILATOR
    29.
    发明申请
    AUTOMATIC DILATOR 审中-公开
    自动脱水机

    公开(公告)号：WO2015040623A1

    公开(公告)日：2015-03-26

    申请号：PCT/IL2014/050845

    申请日：2014-09-22

    Applicant: MAZOR ROBOTICS LTD.

    Inventor： BAR, Yossi ,  ZEHAVI, Eliyahu ,  USHPIZIN, Yonatan ,  SHOHAM, Nadav

    IPC: A61M29/00 ,  A61B17/00

    CPC classification number: A61B17/3421 ,  A61B17/3476 ,  A61B34/30 ,  A61B2017/00991 ,  A61B2017/3433 ,  A61M29/00

    Abstract: Automatic dilator devices for generating minimally invasive access apertures for surgical procedures or endoscopic surveillance. The automatic dilators comprise a number of spreader tubes nested one inside the other. The devices deploy automatically by means of coupled mechanical mechanisms which insert one spreader after the other distally into the patient's tissue. Each spreader moves distally into the tissue by means of a screwing action, by which rotation is converted into linear motion of the neighboring spreader, immediately external to it, by means of interaction between a helical thread form on a surface of a spreader being engaged by a section of thread, or by one or more protrusions on the opposing face of the next spreader external to the rotating spreader. Such a combination of helical thread and follower enables a rotatory mechanism to be used to deploy one nested spreader tube after the other, by continuous rotary motion.

    Abstract translation: 用于产生用于外科手术或内窥镜监视的微创进入孔的自动扩张器装置。 自动扩张器包括嵌套在另一个内的多个吊具管。 这些装置通过耦合的机械机构自动部署，其将一个扩张器在另一个向远侧插入患者组织中之后。 每个撒布机通过螺旋动作向远侧移动到组织中，通过旋转动作，旋转通过螺旋螺纹形式被转换成立即在其外部的相邻吊具的线性运动 螺纹的一部分，或通过在旋转撒布机外部的下一个撒布机的相对面上的一个或多个突起。 螺旋螺纹和跟随器的这种组合使得能够使用旋转机构来通过连续的旋转运动将一个嵌套的扩张管彼此分开。

    SYSTEMS AND DEVICES FOR DEFINING A PATH FOR A ROBOTIC ARM
    30.
    发明申请
    SYSTEMS AND DEVICES FOR DEFINING A PATH FOR A ROBOTIC ARM 审中-公开

    公开(公告)号：WO2023062626A1

    公开(公告)日：2023-04-20

    申请号：PCT/IL2022/051069

    申请日：2022-10-06

    Applicant: MAZOR ROBOTICS LTD.

    Inventor： JUNIO, Dany

    IPC: A61B34/20 ,  A61B34/30 ,  A61B34/32

    Abstract: Systems, methods, and devices for defining a path for a robotic arm are provided. One or more no-fly zones may be generated. The one or more no-fly zones correspond to a section of a work volume defined as inaccessible to a robotic arm and the work volume is defined as accessible to the robotic arm. A pose of an object may be determined and an obstacles map based on the determined pose and known dimensions of the object may be generated. A path for the robotic arm may be defined that avoids collision with the object identified in the obstacles map and avoiding the one or more no-fly zones.

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