公开(公告)号：WO2022264133A1

公开(公告)日：2022-12-22

申请号：PCT/IL2022/050632

申请日：2022-06-13

Applicant: MAZOR ROBOTICS LTD.

Inventor： KOPITO, Dor ,  SEEMANN, Ziv ,  ESHED, Gal ,  KERET, Amir ,  DORI, Nimrod ,  ESHEL, Itamar ,  CHEN, Yuval ,  OFER, Nir ,  BEN ZEEV, Ori

IPC: A61B34/30 ,  A61B90/50 ,  A47C19/00 ,  A61B6/04 ,  A61B90/57 ,  A61G7/00 ,  A61G13/00 ,  A61B2090/571 ,  A61B6/0407 ,  A61G13/101 ,  A61G2210/50 ,  B25J17/02 ,  G16H30/40 ,  G16H40/63

Abstract: A surgical mount system according to at least one embodiment of the present disclosure includes a bed mount, a tubular base attached to the bed mount and comprising a telescoping member slidably coupled with the tubular base, the telescoping member comprising a first end and a second end, wherein the first end is disposed inside the tubular base, and wherein the telescoping member translates linearly along an axis of the tubular base; and a support arm attached to the second end of the telescoping member, the support arm having a length running from a proximal end to a distal end, wherein the support arm rotates relative to the bed mount about the axis of the tubular base.

公开(公告)号：WO2022259245A1

公开(公告)日：2022-12-15

申请号：PCT/IL2022/050603

申请日：2022-06-07

Applicant: MAZOR ROBOTICS LTD.

Inventor： WEISS, Noam ,  SHMAYAHU, Yizhaq

IPC: A61B34/32 ,  A61B34/37

Abstract: Multi-arm robotic systems and methods for monitoring a target are provided. The system may include a first robotic arm configured to orient a first component and a second robotic arm configured to orient a second component. The first robotic arm and the second robotic arm may be co-registered. The first robotic arm may be caused to orient the first component at a first pose. The second robotic arm may be caused to orient the second component at a second pose. At least one image may be received from the first component and the second component.

公开(公告)号：WO2022249163A1

公开(公告)日：2022-12-01

申请号：PCT/IL2022/050529

申请日：2022-05-22

Applicant: MAZOR ROBOTICS LTD.

Inventor： TURGEMAN, Avi ,  USHPIZIN, Yonatan ,  ZEHAVI, Eli ,  ZUCKER, Ido

IPC: A61B90/00

Abstract: A system according to at least one embodiment of the present disclosure includes an imaging source; an imaging detector; a depth sensor; and a controller, where the controller receives image information from the depth sensor, determines a gesture in relation to a working volume, and moves the imaging source and the imaging detector relative to the working volume based on the gesture.

公开(公告)号：WO2022215075A1

公开(公告)日：2022-10-13

申请号：PCT/IL2022/050362

申请日：2022-04-07

Applicant: MAZOR ROBOTICS LTD.

Inventor： SHMAYAHU, Yizhaq ,  BHARADWAJ, Jeetendra S.

IPC: A61B34/20 ,  A61B90/00

Abstract: Systems and methods for detecting motion of soft tissue are provided. An illustrative method is described to include attaching a flexible material to an object, where the flexible material includes one or more tracking markers distributed thereon and where the object includes soft tissue. The method is also disclosed to include obtaining a first image of the object that includes the one or more tracking markers in a first position, obtaining a second image of the object that includes the one or more tracking markers in a second position, and determining a motion of the soft tissue based on a comparison of the one or more tracking markers in the first position with the one or more tracking markers in the second position.

公开(公告)号：WO2022130370A1

公开(公告)日：2022-06-23

申请号：PCT/IL2021/051450

申请日：2021-12-07

Applicant: MAZOR ROBOTICS LTD.

Inventor： SEEMANN, Ziv ,  SANDELSON, Adi ,  KOPITO, Dor ,  DORI, Nimrod ,  ESHED, Gal ,  JUNIO, Dany ,  RATZABI, Elad

IPC: A61B34/30 ,  A61B46/20

Abstract: A method for determining a work volume includes receiving image information from an imaging device corresponding to an array of tracking markers fixed to a flexible mesh, the mesh placed over a patient and over at least one surgical instrument adjacent to or connected to the patient; determining a position of each tracking marker in the array of tracking markers based on the image information; defining a boundary for movement of a robotic arm based on determined tracking marker positions, such that the robotic arm does not contact the patient or the at least one surgical instrument during movement of the robotic arm; and controlling the robotic arm based on the defined boundary.

公开(公告)号：WO2022107121A1

公开(公告)日：2022-05-27

申请号：PCT/IL2021/051295

申请日：2021-11-02

Applicant: MAZOR ROBOTICS LTD.

Inventor： SHMAYAHU, Yizhaq ,  MERKIER, Diego

IPC: G06T7/00 ,  G06T7/30

Abstract: A method of generating a virtual MRI image includes receiving an initial MRI image of a patient in a first position, the initial MRI image depicting at least a portion of an anatomy of the patient; receiving a plurality of images of the patient in a second position, each of the plurality of images depicting at least a plurality of bony elements within the portion of the patient's anatomy; receiving soft tissue information corresponding to at least a plurality of soft tissue elements within the portion of the patient's anatomy; segmenting the initial MRI image to identify a depiction of each of the plurality of bony elements and each of the plurality of soft tissue elements within the initial MRI image; and generating a virtual MRI image based on the MRI image, the plurality of images, and the soft tissue information.

公开(公告)号：WO2022107120A1

公开(公告)日：2022-05-27

申请号：PCT/IL2021/051294

申请日：2021-11-02

Applicant: MAZOR ROBOTICS LTD.

Inventor： ZEHAVI, Eli ,  SHOHAM, Moshe ,  USHPIZIN, Yonatan ,  TURGEMAN, Avi

IPC: A61B17/02 ,  A61B34/30 ,  A61B90/00 ,  A61B34/20

Abstract: Systems and methods for robotic retraction of tissues in a surgical field. Two retractor mechanisms are used on either side of an incision. Each retractor is adapted to be held by a robotic arm, which applies force on the retractor mechanism to pull dissected tissue away from the incision, thus revealing the operative field. A force sensor is employed to measure the force on the retractor, an optional tracking sensor may be used to measure the extent of tissue retraction in two or three dimensions, and both sources of information provided to the robotic controller. By monitoring feedback from either the force sensor or the tracking sensor, the system is able to maintain equal retraction on both sides of the incision. The retractor elements incorporate mechanisms that move down the tissue as the retractors are pulled laterally.

公开(公告)号：WO2022091081A1

公开(公告)日：2022-05-05

申请号：PCT/IL2021/051259

申请日：2021-10-25

Applicant: MAZOR ROBOTICS LTD.

Inventor： ZUCKER, Ido

IPC: A61B34/10 ,  A61B34/00 ,  A61B90/00

Abstract: Embodiments include systems and methods for determining the treatment option most likely to result in a favorable long-term outcome in a subject with spinal pain. Using forms of computer learning and artificial intelligence, databases are generated and mined for information matching a subject of interest. Once the appropriate treatment option has been selected for the subject, if a surgical procedure is indicated, further methods are employed to select the optimal type of operation to eliminate the source of the pain and stabilize the spine. After the type of surgical procedure and approach to the area of interest have been determined, methods are described for selecting the optimal interbody for insertion under the control of a robotic surgical system. Additional methods are used for planning the minimal amount of bone that must be removed to allow insertion of intervertebral hardware such as an interbody.

公开(公告)号：WO2022074471A1

公开(公告)日：2022-04-14

申请号：PCT/IB2021/056405

申请日：2021-07-15

Applicant: MAZOR ROBOTICS LTD.

Inventor： WEISS, Noam ,  SHMAYAHU, Yizhaq

IPC: A61B34/20 ,  A61B34/30 ,  A61B90/00 ,  A61B34/10

Abstract: A method, device, and system for obtaining time of flight images is provided. A surgical plan may be received and a first path for a first robotic arm and a second path for a second robotic arm may be determined based on the surgical plan. The first robotic arm may be caused to move on the first path and may be configured to hold a transducer. The second robotic arm may be caused to move on the second path and may be configured to hold a receiver. At least one image may be received from the receiver, the image depicting patient anatomy and generated using time-of-flight measurements.

公开(公告)号：WO2022029758A1

公开(公告)日：2022-02-10

申请号：PCT/IL2021/050899

申请日：2021-07-26

Applicant: MAZOR ROBOTICS LTD.

Inventor： OFER, Nir ,  SEEMANN, Ziv ,  KOPITO, Dor ,  SCHWARTZ, Yair ,  DAHAN, Ofir ,  ESHED, Gal ,  KADSHAI, Dvir ,  KERET, Amir ,  SVIRI, Maor ,  TALMOR, Adi ,  VISBROT, Ron ,  SHNEIDERMAN, Arie ,  ELLMAN, Aviv ,  BARAZANI, Gal

IPC: A61B34/20 ,  A61B34/10 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2034/2048 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2034/2063 ,  A61B34/25 ,  A61B34/30

Abstract: A surgical positioning system includes an emitter secured to a medical implant; at least three microphones; at least one processor; and a memory. The emitter has a speaker and a power source. The memory stores instructions for execution by the processor that, when executed, cause the processor to receive, from each of the at least three microphones, information about a detected sound; and calculate, based on position information corresponding to each of the at least three microphones and the received information, a position of the implant.