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公开(公告)号：WO2023286052A1
公开(公告)日：2023-01-19
申请号：PCT/IL2022/050742
申请日：2022-07-10
Applicant: MAZOR ROBOTICS LTD.
Inventor： JUNIO, Dany , SHOHAM, Moshe
Abstract: Systems, methods, and devices for planning a path are provided. A work volume and one or more no-fly zones may be mapped. The work volume may define a volume in which a robot may access and each of the one or more no-fly zones may define at least one volume in which a robot is restricted from accessing. Information may be received about a position of at least one instrument and a void volume may be calculated based on the position of the at least one instrument. The work volume may be updated to include the void volume to yield an updated work volume. A path may be calculated for a robotic arm of a robot from outside a patient anatomy to within the patient anatomy that is within the updated work volume and avoids the one or more no-fly zones.
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公开(公告)号：WO2022264125A1
公开(公告)日：2022-12-22
申请号：PCT/IL2022/050623
申请日：2022-06-12
Applicant: MAZOR ROBOTICS LTD.
Inventor： SEEMANN, Ziv , SANDELSON, Adi , KAGAN, Bat-El , RAWLUK, Nicholas J. , PAITEL, Yvan R.
IPC: A61B46/10 , A61B90/96 , A61B90/00 , A61B34/20 , A61B2034/2055 , A61B2090/0808 , A61B2090/3762
Abstract: Systems and methods for detecting and monitoring a drape configuration are provided. The system may include a drape and one or more indicia. The one or more indicia may be visible when at least a portion of the drape is in a predetermined configuration. Information about the one or more indicia may be received and whether or not the portion of the drape is in the predetermined configuration may be determined based on the information.
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公开(公告)号：WO2022234566A1
公开(公告)日：2022-11-10
申请号：PCT/IL2022/050446
申请日：2022-05-01
Applicant: MAZOR ROBOTICS LTD.
Inventor： ZEHAVI, Eli , USHPIZIN, Yonatan , ZUCKER, Ido , ESS, Adi
Abstract: A system comprises a robotic arm in a robotic arm coordinate system, a camera in a fixed pose in a navigation coordinate system, at least one processor, and memory including instructions that when executed by the at least one processor, cause the at least one processor to determine a pose of the robotic arm within the navigation coordinate system, map the robotic arm coordinate system to the navigation coordinate system based on the pose of the robotic arm, and control, based on output of the camera, the robotic arm in the navigation coordinate system.
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公开(公告)号：WO2022185301A1
公开(公告)日：2022-09-09
申请号：PCT/IL2022/050220
申请日：2022-02-27
Applicant: MAZOR ROBOTICS LTD.
Inventor： SEEMANN, Ziv , KERET, Amir , SANDELSON, Adi
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.
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公开(公告)号：WO2022180624A1
公开(公告)日：2022-09-01
申请号：PCT/IL2022/050197
申请日：2022-02-20
Applicant: MAZOR ROBOTICS LTD.
Inventor： JUNIO, Dany
Abstract: A method according to embodiments of the present disclosure includes receiving a computed tomography (CT) image of a patient; segmenting a first set of anatomical elements from the CT image; receiving a plurality of fluoroscopy images of the patient; segmenting a second set of anatomical elements from the plurality of fluoroscopy images; and creating a registration between the CT image and the plurality of fluoroscopy images based on the segmented first set of anatomical elements and the segmented second set of anatomical elements.
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Patent Agency Ranking
公开(公告)号：WO2022162674A1
公开(公告)日：2022-08-04
申请号：PCT/IL2022/050132
申请日：2022-01-30
Applicant: MAZOR ROBOTICS LTD.
Inventor： DETINIS, Eitan
IPC: A61B17/16
Abstract: Devices, systems, and methods for drilling an anatomical element are provided. A drill bit may comprise a coaxial hollow shaft in communication with a plurality of apertures disposed on a surface of the drill bit. A fluid inlet may be in fluid communication with the coaxial hollow shaft via a selectively openable valve. The fluid inlet may be configured to receive pressurized fluid. When the valve is opened, the pressurized fluid may be released into the coaxial hollow shaft, and when at least one of the plurality of apertures is not blocked, the pressurized fluid may be released through the at least one aperture of the plurality of apertures.
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公开(公告)号：WO2022130371A1
公开(公告)日：2022-06-23
申请号：PCT/IL2021/051452
申请日：2021-12-07
Applicant: MAZOR ROBOTICS LTD.
Inventor： LEV-TOV, Amir , PERETZ, Shay , BEN ZRIHAM, Yaniv , SHOHAM, Moshe
Abstract: A method according to one embodiment of the present disclosure comprises receiving a first image of a patient's anatomy, the first image generated at a first time and depicting a plurality of rigid elements; receiving a second image of the patient's anatomy, the second image generated at a second time after the first time and depicting the plurality of rigid elements; determining a transformation from the first image to the second image for each one of the plurality of rigid elements to yield a set of transformations; calculating a homography for each transformation in the set of transformations to yield a set of homographies; and identifying, using the set of homographies, a common portion of each transformation attributable to a change in camera pose, and an individual portion of each transformation attributable to a change in rigid element pose.
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公开(公告)号：WO2022101896A1
公开(公告)日：2022-05-19
申请号：PCT/IL2021/051293
申请日：2021-11-02
Applicant: MAZOR ROBOTICS LTD.
Inventor： ZUCKER, Ido
IPC: A61B34/10
Abstract: Systems and methods for automated path planning of a surgical procedure, such that the optimal approach is selected from among a series of potential choices. The system is configured to plan and carry out, using a robotic surgical system, access to a surgical site starting from selection of the skin entry point. The methods select the best surgical approach and plan the physical path for robotically performing a selected surgical procedure. The path finding method uses preoperative MRI or CT images and computer vision or other image processing method to identify specific organs and tissues. The method then assigns values to a variety of parameters that define the tissue compressibility, penetrability, flexibility, and other characteristics. The system then plans an optimal path to reach the surgical target area with minimum danger of tissue damage and maximum patient safety, and encodes this information for execution by a robotic system.
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公开(公告)号：WO2022069985A1
公开(公告)日：2022-04-07
申请号：PCT/IB2021/058420
申请日：2021-09-15
Applicant: MAZOR ROBOTICS LTD.
Inventor： ELLMAN, Aviv , SHOHAM, Moshe
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：WO2022058999A1
公开(公告)日：2022-03-24
申请号：PCT/IL2021/051103
申请日：2021-09-12
Applicant: MAZOR ROBOTICS LTD.
Inventor： JUNIO, Dany
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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