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    REGISTRATION OF MULTIPLE ROBOTIC ARMS USING SINGLE REFERENCE FRAME
    41.
    发明申请
    REGISTRATION OF MULTIPLE ROBOTIC ARMS USING SINGLE REFERENCE FRAME 审中-公开

    公开(公告)号：WO2022044009A1

    公开(公告)日：2022-03-03

    申请号：PCT/IL2021/051042

    申请日：2021-08-25

    Applicant: MAZOR ROBOTICS LTD.

    Inventor： JUNIO, Dany

    IPC: A61B34/20 ,  A61B34/30

    Abstract: A registration method involves receiving image information corresponding to an anatomical element of a patient; receiving sensor information about a simultaneous pose of each of a patient reference frame, a first robot, and a second robot; determining, based on the image information and the sensor information, a correlation among a patient coordinate system, a first coordinate system of the first robot, and a second coordinate system of the second robot; and controlling movement of the first robot and the second robot within a common work volume based on the correlation.

    VERSATILE MULTI-ARM ROBOTIC SURGICAL SYSTEM
    43.
    发明申请
    VERSATILE MULTI-ARM ROBOTIC SURGICAL SYSTEM 审中-公开

    公开(公告)号：WO2020079596A1

    公开(公告)日：2020-04-23

    申请号：PCT/IB2019/058795

    申请日：2019-10-15

    Applicant: MAZOR ROBOTICS LTD.

    Inventor： ZEHAVI, Eliyahu ,  SHOHAM, Moshe ,  USHPIZIN, Yonatan

    IPC: A61B34/30 ,  A61B6/00

    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.

    IMAGE BASED PATHOLOGY PREDICTION USING ARTIFICIAL INTELLIGENCE
    44.
    发明申请
    IMAGE BASED PATHOLOGY PREDICTION USING ARTIFICIAL INTELLIGENCE 审中-公开

    公开(公告)号：WO2018131044A1

    公开(公告)日：2018-07-19

    申请号：PCT/IL2018/050051

    申请日：2018-01-11

    Applicant: MAZOR ROBOTICS LTD.

    Inventor： STEINBERG, Shlomit

    IPC: G06F17/00 ,  A61B90/00

    Abstract: A method for determining an acceptable spinal surgical plan for a subject using pathology prediction, comprising generating a potential spinal surgical plan, obtaining clinically relevant data of the subject, obtaining pre-operative three-dimensional images of a spinal region of the subject, determining relationships between pairs of vertebrae in the images, predicting relationships between pairs of vertebrae that are expected from the surgical plan, accessing a multiple patient database, obtaining sets of data from the database for patients with similar characteristics to the subject, determining risks of pathology types for the subject, using artificial intelligence to combine the determined risks to calculate an overall risk for pathology types for the subject, and if the overall risks are unacceptable, selecting an alternative spinal surgical plan, and If the said overall risks are acceptable, determining that said surgical plan is acceptable.

    MINIMALLY INVASIVE INTERVERTEBRAL ROD INSERTION
    45.
    发明申请
    MINIMALLY INVASIVE INTERVERTEBRAL ROD INSERTION 审中-公开
    微创介入椎间融合器

    公开(公告)号：WO2017221257A1

    公开(公告)日：2017-12-28

    申请号：PCT/IL2017/050699

    申请日：2017-06-23

    Applicant: MAZOR ROBOTICS LTD.

    Inventor： ZUKER, Edo ,  SHOHAM, Moshe ,  CHEN, Yuval

    IPC: A61B17/70 ,  A61B34/10 ,  B25J9/00

    Abstract: A system and method for the minimally invasive insertion of an intervertebral rod into the vertebrae of a subject, according to a preoperative surgical plan also defining positions for the insertion of rod clamping screws into the vertebrae. The rod shape for connecting the heads of the screws is calculated, and a path planning algorithm used to determine whether the distal end of the rod can be threaded through the screw heads by longitudinal and rotational manipulation of the proximal end of the rod. If so, instructions are provided for forming that rod shape and for the robotic insertion of the screw holes and the rod. If not, either or both of the screw positions and the rod shape are adjusted, to moderate the bends in the rods, until insertion becomes possible. The insertion can be performed robotically, or, if a navigation tracking system is added, manually.

    Abstract translation: 用于根据术前手术计划将椎间杆微创地插入到对象的椎骨内的系统和方法，该系统和方法还限定将杆夹紧螺钉插入椎骨中的位置。 计算用于连接螺钉头部的杆形状，并且路径规划算法用于通过对杆的近端进行纵向和旋转操纵来确定杆的远端是否可以穿过螺钉头。 如果是这样，则提供说明以形成该杆形状以及用于机器人插入螺钉孔和杆。 如果没有，则调整螺钉位置和杆形状中的任一个或两个，以调节杆中的弯曲，直到可以插入为止。 插入可以自动执行，或者，如果添加了导航跟踪系统，则可以手动执行。

    ACTIVE BED MOUNT FOR SURGICAL ROBOT
    46.
    发明申请
    ACTIVE BED MOUNT FOR SURGICAL ROBOT 审中-公开
    主动床装置用于手术机器人

    公开(公告)号：WO2013084221A1

    公开(公告)日：2013-06-13

    申请号：PCT/IL2012/000387

    申请日：2012-12-05

    Applicant: MAZOR ROBOTICS LTD.

    Inventor： BAR, Yosef ,  ZEHAVI, Eli ,  GROBERMAN, David

    IPC: A61B17/70 ,  A61B17/56 ,  A61B17/17 ,  A61B17/16 ,  A61B19/00

    CPC classification number: A61B34/30 ,  A61B17/1757 ,  A61B34/32 ,  A61B90/50 ,  A61B2017/00694 ,  A61B2090/064 ,  A61B2090/571 ,  Y10S901/09

    Abstract: A robotic surgical system incorporating a surgical robot attached to a patient's bone by an attachment member, such that motion of the bone induces corresponding motion of the robot, maintaining the robot/bone positional relationship. The robot is supported on a mechanical mounting member attached through a controlled joint to a bed-mounted base element. The controlled joint can alternatively enable the mechanical mounting member to move freely relative to the base element, or its position can be controlled by signal inputs adapted to prevent excessive force being applied in the system. Two modes of operation are available (i) free motion in which the control system is decoupled from the mounting member, which rides freely with patient bone motion, and (ii) servo-controlled motion, in which drive mechanisms control the joint motion to prevent application of excessive force on the patient bone or attachment member.

    Abstract translation: 一种机器人手术系统，其包括通过附接构件附接到患者骨骼的手术机器人，使得骨骼的运动引起机器人的相应运动，保持机器人/骨骼位置关系。 机器人被支撑在通过受控接头​​附接到床上安装的基座元件的机械安装构件上。 可控的接头可替代地使得机械安装构件相对于基座元件自由移动，或者其位置可以由适于防止在系统中施加过大的力的信号输入来控制。 有两种操作模式可用（i）自由运动，其中控制系统与安装构件脱离，骑自行与患者骨骼运动，以及（ii）伺服控制运动，其中驱动机构控制关节运动以防止 对患者骨骼或附着部件施加过大的力。

    SYSTEMS, METHODS, AND DEVICES FOR MULTIPLE EXPOSURES IMAGING
    47.
    发明申请
    SYSTEMS, METHODS, AND DEVICES FOR MULTIPLE EXPOSURES IMAGING 审中-公开

    公开(公告)号：WO2023031923A1

    公开(公告)日：2023-03-09

    申请号：PCT/IL2022/050945

    申请日：2022-08-30

    Applicant: MAZOR ROBOTICS LTD.

    Inventor： WEISS, Noam

    IPC: A61B6/00

    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.

    SYSTEMS, METHODS, AND DEVICES FOR DETERMINING AN OBJECT POSE
    49.
    发明申请
    SYSTEMS, METHODS, AND DEVICES FOR DETERMINING AN OBJECT POSE 审中-公开

    公开(公告)号：WO2022249168A1

    公开(公告)日：2022-12-01

    申请号：PCT/IL2022/050538

    申请日：2022-05-23

    Applicant: MAZOR ROBOTICS LTD.

    Inventor： ZEHAVI, Eli ,  USHPIZIN, Yonatan ,  ZUCKER, Ido ,  ESS, Adi

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

    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.

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