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    BALLOON DILATOR
    61.
    发明申请
    BALLOON DILATOR 审中-公开
    气球扩张器

    公开(公告)号：WO2017199242A1

    公开(公告)日：2017-11-23

    申请号：PCT/IL2017/050539

    申请日：2017-05-15

    Applicant: MAZOR ROBOTICS LTD.

    Inventor： BAR, Yossef ,  SHOHAM, Moshe

    IPC: A61B17/02 ,  A61M29/00 ,  A61M29/02

    Abstract: A balloon dilator device, comprising an annularly shaped, cylindrical type structure having walls that are expandable from a radially collapsed state to a radially expanded state by inflation of a balloon inserted within the annular structure. Once the walls have been expanded, they remain in the expanded state even if the balloon is deflated, because the radially expanded state is a state of minimum mechanical potential energy, and in order to return to the collapsed state, the structure would have to pass a state of higher potential energy. The device walls require sufficient stiffness in their longitudinal direction to enable the device to be pushed into a minimally invasive incision made in the subject. This device stiffness can be achieved either by its mechanical material properties, or by its substantially closed wall structure, or by use of a stiff protector sheath used to protect the walls during insertion.

    Abstract translation: 一种球囊扩张器装置，包括具有壁的环形形状的圆柱形结构，所述壁通过插入所述环形结构内的球囊膨胀而从径向收缩状态扩张到径向扩张状态。 一旦壁膨胀，即使气囊放气，它们仍保持膨胀状态，因为径向膨胀状态是最小机械势能的状态，并且为了返回到塌陷状态，结构必须通过 具有较高势能的状态。 装置壁在其纵向方向上需要足够的刚度，以使装置能够被推入受试者中的微创切口中。 该装置的刚度可以通过其机械材料特性或其基本上封闭的壁结构来实现，或者通过在插入过程中使用用于保护壁的坚硬护套来实现。

    SEMI-RIGID BONE ATTACHMENT ROBOTIC SURGERY SYSTEM
    62.
    发明申请
    SEMI-RIGID BONE ATTACHMENT ROBOTIC SURGERY SYSTEM 审中-公开
    半刚性骨骼附件机器人手术系统

    公开(公告)号：WO2015087335A1

    公开(公告)日：2015-06-18

    申请号：PCT/IL2014/051096

    申请日：2014-12-15

    Applicant: MAZOR ROBOTICS LTD.

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

    IPC: A61B17/00 ,  A61B19/00

    CPC classification number: A61B34/30 ,  A61B34/20 ,  A61B90/06 ,  A61B2017/00477 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2090/064

    Abstract: A bone connection system for attaching a surgical robot having its base mounted in the vicinity of a patient, to a bone of the patient. The system incorporates a switchable bone connection unit attached between the bone and a support element of the robot. This unit has a locked state in which the bone is attached essentially rigidly to the support element, and a released state in which the bone can move relative to the support element. The unit comprises a force sensor for determining the force exerted between the bone and the support element of the robot, and a position sensor for measuring the position of the bone relative to the support element of said robot. The unit switches from its locked state to its released state when the force exceeds a predetermined level, selected to ensure that the bone can move without detaching any bone connection elements.

    Abstract translation: 一种用于将其基部安装在患者附近的手术机器人附接到患者的骨骼的骨连接系统。 该系统包括可连接在骨骼和机器人的支撑元件之间的可切换骨骼连接单元。 该单元具有锁定状态，其中骨基本上刚性地附接到支撑元件，以及释放状态，其中骨可相对于支撑元件移动。 该单元包括用于确定施加在骨骼和机器人的支撑元件之间的力的力传感器和用于测量骨骼相对于所述机器人的支撑元件的位置的位置传感器。 当力超过预定水平时，单元从其锁定状态切换到其释放状态，其被选择以确保骨骼能够移动而不脱离任何骨骼连接元件。

    Systems and methods for single image registration update
    63.
    发明专利
    Systems and methods for single image registration update 未知

    公开(公告)号：AU2021286411A1

    公开(公告)日：2022-07-21

    申请号：AU2021286411

    申请日：2021-12-17

    Applicant: MAZOR ROBOTICS LTD

    Inventor： JUNIO DANY

    IPC: A61B34/20 ,  G06T7/73 ,  G06T19/00

    Abstract: A method including receiving information about a pose of each of a plurality of fiducials positioned on or within a patient; causing an imaging device to generate a single image of a portion of the patient, the single image depicting at least a portion of each of the plurality of fiducials; determining, based on the information and the image, a pose of one or more anatomical elements represented in the image; and comparing the determined pose of the one or more anatomical elements to a predetermined pose of the one or more anatomical elements. ARM(S) IMAGING DEVICE(S) NAVIGATION PROCESSOR(S) MEMORY IMAGEPROCESSING 120 POSE ALGORITHM12 REGISTRATION 124 USER ALGORITHM INTERFACE(S) IMAGE UPDATE OR 126 112 COMPARISON REGISTRATION 128 ALGORITHM 134 COMMUNCATIONSURGICAL PLAN14 COMMUNICATION INTERFACE(S) *0 INSTRUCTIONS 10_6 DATABASE CLOUD

    VERSATILE MULTI-ARM ROBOTIC SURGICAL SYSTEM
    64.
    发明专利
    VERSATILE MULTI-ARM ROBOTIC SURGICAL SYSTEM 未知

    公开(公告)号：CA3116287A1

    公开(公告)日：2020-04-23

    申请号：CA3116287

    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.

    SEMI-RIGID BONE ATTACHMENT ROBOTIC SURGERY SYSTEM
    65.
    发明专利
    SEMI-RIGID BONE ATTACHMENT ROBOTIC SURGERY SYSTEM 未知

    公开(公告)号：CA2932600A1

    公开(公告)日：2015-06-18

    申请号：CA2932600

    申请日：2014-12-15

    Applicant: MAZOR ROBOTICS LTD

    Inventor： BAR YOSSI ,  ZEHAVI ELIYAHU ,  USHPIZIN YONATAN

    IPC: A61B17/00

    Abstract: A bone connection system for attaching a surgical robot having its base mounted in the vicinity of a patient, to a bone of the patient. The system incorporates a switchable bone connection unit attached between the bone and a support element of the robot. This unit has a locked state in which the bone is attached essentially rigidly to the support element, and a released state in which the bone can move relative to the support element. The unit comprises a force sensor for determining the force exerted between the bone and the support element of the robot, and a position sensor for measuring the position of the bone relative to the support element of said robot. The unit switches from its locked state to its released state when the force exceeds a predetermined level, selected to ensure that the bone can move without detaching any bone connection elements.

    ARM MOVEMENT SAFETY LAYER
    66.
    发明申请
    ARM MOVEMENT SAFETY LAYER 审中-公开

    公开(公告)号：WO2023073716A1

    公开(公告)日：2023-05-04

    申请号：PCT/IL2022/051148

    申请日：2022-10-30

    Applicant: MAZOR ROBOTICS LTD.

    Inventor： SEEMANN, Ziv ,  BARAZANI, Gal ,  BEN ZEEV, Ori ,  KADSHAI, Dvir ,  ESHEL, Itamar

    IPC: B25J9/16 ,  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.

    SYSTEMS FOR DEFINING OBJECT GEOMETRY USING ROBOTIC ARMS
    67.
    发明申请
    SYSTEMS FOR DEFINING OBJECT GEOMETRY USING ROBOTIC ARMS 审中-公开

    公开(公告)号：WO2023062624A1

    公开(公告)日：2023-04-20

    申请号：PCT/IL2022/051059

    申请日：2022-10-06

    Applicant: MAZOR ROBOTICS LTD.

    Inventor： ZUCKER, Ido ,  TURGEMAN, Avi

    IPC: A61B17/17 ,  A61B34/20

    Abstract: A system according to at least one embodiment of the present disclosure includes a processor; at least one robotic arm; and a memory storing data for processing by the processor that, when processed by the processor, cause the processor to: manipulate the at least one robotic arm when holding an object; and determine a configuration of the object based on a position of the at least one robotic arm and information describing another point of the object relative to the at least one robotic arm.

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