117 patents
Utility
Surgical Cleaning Tool, Systems, and Methods
11 Jan 24
A surgical tool, systems, and method for cleaning an anatomical space is provided.
Arik Levy, Eli Zehavi
Filed: 22 Sep 23
Utility
Minimally Invasive Intervertebral Rod Insertion
28 Dec 23
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.
Edo ZUCKER, Moshe SHOHAM, Yuval CHEN
Filed: 11 Sep 23
Utility
Cost Effective Robotic System Architecture
21 Dec 23
Systems, techniques, and embodiments are provided herein that are configured to interchangeably couple any surgical tool of a plurality of surgical tools to a robotic arm.
Yonatan Ushpizin, Eliyahu Zehavi, Avraham Turgeman
Filed: 21 Jun 22
Utility
Systems, Methods, and Devices for Generating a Corrected Image
14 Dec 23
Systems, methods, and devices for generating a corrected image are provided.
Noam Weiss, Ben Yosef Hai Ezair
Filed: 24 Aug 23
Utility
Robotic Arm Navigation Using Virtual Bone Mount
9 Nov 23
A system according to at least one embodiment of the present disclosure includes a processor; and a memory storing data thereon that, when processed by the processor, cause the processor to: determine, based on a navigation element of a first type and a navigation element of a second type both disposed on a navigation tracker, a first registration between the navigation tracker and an anatomical element; determine, based on a navigation element of a third type disposed on the navigation tracker, a second registration between a robotic arm and the navigation tracker; and navigate, based on the first registration and the second registration, the robotic arm relative to the anatomical element.
Amir Keret, Ziv Seemann, Ori Ben Zeev, Adi Sandelson, Gal Barazani, Nimrod Dori
Filed: 3 May 22
Utility
Replaceable Arm Guide and End Effector for Surgical Systems
9 Nov 23
A surgical system according to at least one embodiment of the present disclosure includes an interface block disposed at a distal end of a robot arm and an end-effector block that attaches to the interface block via a nut.
Ziv Seemann, Gal Barazani, Nir Ofer, Amir Keret, Dvir Kadshai, Adam David Glaser, Daniel Paxton Wall
Filed: 3 May 22
Utility
Robotic Surgical System with Floating Patient Mount
2 Nov 23
A system includes a robot mounted to a movable base, the robot including one or more robotic arms.
Amir Keret, Ziv Seemann, Nimrod Dori, Ron Visbrot, Adi Sandelson, Dvir Kadshai
Filed: 2 May 22
Utility
Retraction Systems, Assemblies, and Devices
19 Oct 23
Retraction systems, assemblies, and devices for retracting an end unit are provided.
Ziv Seemann, Dor Kopito, Jaffar Hleihil, Nimrod Dori, Ron Visbrot
Filed: 22 Jun 23
Utility
Systems, Methods, and Devices for Generating a Corrected Image
5 Oct 23
Systems, methods, and devices for generating a corrected image are provided.
Noam Weiss, Ben Yosef Hai Ezair
Filed: 30 May 23
Utility
Surgical Platform and Trolley Assembly
28 Sep 23
A surgical platform and trolley assembly and an interface of a robotic system are provided.
Roy K. Lim, Arik A. Levy, Katharine E. Darling, Mark C. Dace, Yonatan Ushpizin
Filed: 25 Mar 22
Utility
Shaper for Vertebral Fixation Rods
21 Sep 23
A system for rod bending for use in robotic spinal surgery, enabling the correct bending of a fusion rod to match the shape required to accurately pass through the heads of the pedicle screws.
Edo Zucker, Moshe Shoham
Filed: 22 May 23
Utility
Systems and Methods for Hybrid Motion Planning
21 Sep 23
A system according to at least one embodiment of the present disclosure includes a processor; and a memory storing data thereon that, when processed by the processor, cause the processor to: move a first robotic arm from a first state to a second state; update, based on the moving of the first robotic arm from the first state to the second state, a first status identifier associated with the first robotic arm in a combination state table, the combination state table associated with the first robotic arm and a second robotic arm; determine, based on the first status identifier and the combination state table, a set of permissive states and a set of non-permissive states for the second robotic arm; and prevent the second robotic arm in a third state from performing one or more actions that interfere with the first robotic arm being in the second state.
Avraham Turgeman, Yaniv Ben Zriham, Ben Yosef Hai Ezair, Eliyahu Zehavi, Moshe Shoham
Filed: 14 Feb 23
Utility
System and Method for Independently Positioning an Ablation Tool and Imaging Device
14 Sep 23
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.
Noam WEISS, Yizhaq SHMAYAHU
Filed: 13 May 21
Utility
Rotatable Fixation Bridge
7 Sep 23
A rotatable fixation bridge as described herein may include a first end fixedly connectable to a reference and defining at least a portion of a first joint; a second end fixedly connectable to an anchor and defining at least a portion of a second joint; and a bridge member extending between and rotatably secured to the first end and the second end, the bridge member rotatable relative to an axis and comprising a central portion offset from the axis.
Elad Ratzabi, Yonatan Ushpizin, Yuval Chen, Dany Junio
Filed: 24 Jun 21
Utility
Systems and Methods for Controlling a Robotic Arm
7 Sep 23
Systems and methods for controlling a robotic arm are provided.
Ido Zucker, Yonatan Ushpizin, Avraham Turgeman, Eliyahu Zehavi, Adi Ess
Filed: 2 Feb 22
Utility
Segemental Tracking Combining Optical Tracking and Inertial Measurements
31 Aug 23
A system according to at least one embodiment of the present disclosure includes a processor; and a memory storing instructions thereon that, when executed by the processor, cause the processor to: receive, from an inertial sensor disposed proximate an anatomical element, a reading indicative of a first movement of the anatomical element; determine a second movement of a fiducial marker being positioned with a known physical relationship to the inertial sensor; and determine, based on the first movement and the second movement, a change in pose of the anatomical element.
Eliyahu Zehavi, Yonatan Ushpizin, Ido Zucker, Avraham Turgeman, Elad Rotman, Adi Ess
Filed: 3 Feb 22
Utility
Registration of Multiple Robotic Arms Using Single Reference Frame
31 Aug 23
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.
Dany Junio
Filed: 25 Aug 21
Utility
Systems and Methods for Validating a Pose of a Marker
17 Aug 23
Systems and methods for validating a pose of a marker are provided.
Ziv Seemann, Dvir Kadshai, Itamar Eshel, Yuval A. Chen, Nimrod Dori, Nicholas J. Rawluk
Filed: 15 Feb 22
Utility
Time-spaced Robotic Reference Frames
17 Aug 23
A robotic navigation system includes a robot base (140); a robotic arm (144) comprising a proximal portion secured to the robot base, a distal portion movable relative to the proximal portion, and a tracking marker (156) secured to the robotic arm proximate the distal portion; at least one processor; a navigation system including a tracking marker sensor configured to identify positions of the tracking marker in a first coordinate space; and a memory.
Aviv Ellman, Dany Junio, Katherine M. Puckett
Filed: 30 Jun 21
Utility
Robotic Arm Guide As a Depth Stop
3 Aug 23
Disclosed herein are systems and methods for a robotic arm guide used as a depth stop.
Mark C. Dace, Adam D. Glaser, Aviv Ellman, Dany Junio, Elad Ratzabi, Gillan M. Grimberg
Filed: 2 Feb 22