Patents Assigned to Robotical Ltd.
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Patent number: 12182929Abstract: 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: identify, based on first imaging data associated with an object, a boundary region corresponding to a shape of the object; identify at least one voxel included in second imaging data associated with the object, where the at least one voxel is located outside the boundary region; and generate a multidimensional image volume corresponding to the object using the second imaging data, where generating the multidimensional image volume is with respect to one or more criteria associated with voxels located outside the boundary region.Type: GrantFiled: November 30, 2022Date of Patent: December 31, 2024Assignee: Mazor Robotics Ltd.Inventor: Noam Weiss
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Patent number: 12178663Abstract: Methods and systems for monitoring a rod reduction process is provided. The methods and systems include determining, based on at least one parameter, a threshold for forces exerted by a tool on a rod or a pedicle screw and receiving data corresponding to a magnitude of the forces exerted by the tool on the pedicle screw or the rod during reduction of the rod into a head of the pedicle screw. A surgical plan may be updated when the monitored magnitude meets the threshold.Type: GrantFiled: November 15, 2021Date of Patent: December 31, 2024Assignee: Mazor Robotics Ltd.Inventors: Ido Zucker, Yonatan Ushpizin, Eliyahu Zehavi
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Patent number: 12156705Abstract: Systems and methods for generating multiple registrations is provided. An image depicting a portion of a patient's anatomy and a tracking device affixed to an accurate robot may be received. A first registration of a patient coordinate space to a robotic coordinate space may be generated based on the image. A second registration of the patient coordinate space to a navigation coordinate space based at least in part on a position of second markers on the tracking device detected by a navigation system may be generated. The first registration and the second registration may be independent of each other.Type: GrantFiled: March 17, 2022Date of Patent: December 3, 2024Assignee: Mazor Robotics Ltd.Inventor: Dany Junio
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Publication number: 20240385330Abstract: Disclosed herein is a Real Time Kinematics (RTK) brokering system for distributing RTK positioning data to one or more vehicles, comprising an RTK server adapted to receive positioning data of a plurality of vehicles, dynamically define, based on the positioning data, a plurality of dynamically defined zones each associated with a respective group of vehicles located within borders of the respective dynamically defined zone and contained within a coverage area of one or more RTK base stations, receive RTK positioning correction data relating to each dynamically defined zone from one or more of the RTK base stations covering the respective dynamically defined zone, and distribute the RTK positioning correction data relating to each dynamically defined zone to the respective group of vehicles associated with the respective dynamically defined zone. Wherein one or more of the vehicles computes its location with improved accuracy based on the related RTK positioning correction data.Type: ApplicationFiled: May 15, 2023Publication date: November 21, 2024Applicant: Blue White Robotics LtdInventors: Aviram SHMUELI, Alon ASCHER, Ben ALFI, Dor HALPERIN, Paz ARANYI, Ron BERENSTEIN
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Patent number: 12130623Abstract: Disclosed here are methods and systems for automatically operating automated vehicles moving through vegetation obstacles with minimal damage, comprising receiving image(s) depicting vegetation obstacle(s) blocking at least partially a path of an automated vehicle executing a mission, analyzing the image(s) to extract one or more obstacle attributes of the vegetation obstacle(s), computing a plurality of movement patterns for operating the automated to cross the vegetation obstacle(s) based on one or more vehicle attributes of the automated vehicle with respect to one or more of the obstacle attributes where each movement pattern defines one or more movement parameters of the automated vehicle, selecting one of the movement patterns estimated to reduce a cost of damage to the automated vehicle and/or to the one or more vegetation obstacles, and outputting instructions for operating the automated vehicle to move through the vegetation obstacle(s) according to the selected movement pattern.Type: GrantFiled: July 12, 2021Date of Patent: October 29, 2024Assignee: Blue White Robotics LtdInventors: Aviram Shmueli, Alon Ascher, Ben Alfi, Shmuel Ur
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Patent number: 12121490Abstract: A locomotion assisting exoskeleton device includes a plurality of braces, including a trunk support for affixing to the part of the torso of a person and leg segment braces each leg segment brace for connecting to a section of a leg of the person. The device further includes at least one motorized joint for connecting two of the braces and for providing relative angular movement between the two braces. The device includes at least one tilt sensor mounted on the exoskeleton device for sensing a tilt of the exoskeleton, and a controller for receiving sensed signals from the tilt sensor and programmed with an algorithm with instructions for actuating the motorized joints in accordance with the sensed signals.Type: GrantFiled: November 30, 2020Date of Patent: October 22, 2024Assignee: ReWalk Robotics LTD.Inventors: Amit Goffer, Oren Tamari
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Patent number: 12109075Abstract: 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.Type: GrantFiled: September 1, 2021Date of Patent: October 8, 2024Assignee: Mazor Robotics Ltd.Inventor: Dany Junio
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Publication number: 20240315162Abstract: Method, device and computer program product for controlling an autonomous vehicle coupled to an implement, the method comprising: by at least one processing circuitry of a device adapted to be in communication with an autonomous vehicle coupled to an implement, executing code for: receiving sensory data relating to the implement acquired by at least one sensor deployed in an environment of the implement and configured for operating during working of the implement in the environment; determining, based on analyzing the sensory data, at least one of: instructions to modify a motion vector of the autonomous vehicle, and instructions to perform an actuation operation on the implement by the autonomous vehicle; generating at least one control command encoding the instructions; and communicating the at least one control command to the autonomous vehicle, wherein the autonomous vehicle applying the instructions in response to the at least one control command.Type: ApplicationFiled: March 26, 2023Publication date: September 26, 2024Applicant: Blue White Robotics LtdInventors: Aviram SHMUELI, Alon ASCHER, Ben ALFI, Rony SHEMA, Yinon HARARI
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Publication number: 20240307131Abstract: Registering a robotic coordinate system defined by a robotic system and a navigation coordinate system defined by a tracking system localizer. The registration includes: determining a robotic coordinate system between a first portion of the robotic system and a subject separate from the first portion of the robotic system; connecting a fiducial marker at a first known position relative to the robotic coordinate system and relative to the first portion of the robotic system; acquiring a fiducial image at an initial time with an imaging system of the fiducial marker; detecting the acquisition of the fiducial image with the imaging system at the initial time with a detector; and sending a command to determine or record an initial position of at least one of the first portion of the robotic system or the robotic coordinate system at the initial time.Type: ApplicationFiled: March 15, 2023Publication date: September 19, 2024Applicant: Mazor Robotics Ltd.Inventors: Gad HARPAZ, Gillan M. Grimberg, Leonid Kleyman
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Publication number: 20240308160Abstract: A mould tool is disclosed, for use in repairing the eroded leading edge of a wind turbine blade. The mould tool comprises a flexible sheet and a framework which is flexible in one direction, for conforming to the curved edge of the blade, but rigid in the other direction. The mould tool may include tapered side walls. Preferably, a method or repair involves use of a mould tool with tapered side walls, and use of a similar mould tool which lacks the tapered side walls. To repair a section of the edge of a turbine blade, first stripes of resin are injected, spaced apart along the length of the section, using the mould with side walls. The gaps between the stripes are then filled using the mould without side walls.Type: ApplicationFiled: April 26, 2022Publication date: September 19, 2024Applicant: Green Energy Robotics LtdInventors: Jack MUNRO, Harri LEWIS, David Lee-Jones
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Patent number: 12089856Abstract: 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.Type: GrantFiled: January 26, 2023Date of Patent: September 17, 2024Assignee: Mazor Robotics Ltd.Inventor: Eitan Detinis
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Patent number: 12094128Abstract: Methods, systems, and devices for robot integrated segmental tracking are described. A system determines first positional information of one or more objects based on three-dimensional first image data captured by an imaging device, tracking information associated with the one or more objects, or both. The first positional information includes a real-time location of the one or more objects. The system generates an image including a graphical representation of the one or more objects. Generating the image includes positioning the graphical representation of the one or more objects based on a comparison result indicative of a deviation between the first positional information and reference positional information of the one or more objects. The reference positional information includes a registered location of the one or more objects. The system outputs an indication of the deviation between the first positional information and the reference positional information.Type: GrantFiled: February 3, 2022Date of Patent: September 17, 2024Assignee: Mazor Robotics Ltd.Inventors: Itamar Eshel, Ziv Seemann, Adi Sandelson, Gal Barazani, Nir Ofer
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Patent number: 12076027Abstract: A surgical tool comprises a dilator, a cutter, a retractable brush, and at least one retractable drill. The dilator is configured to dilate tissue of a patient and can be positioned in an undilated configuration or a dilated configuration. The cutter is configured to cut the tissue and is disposed at a distal end of the dilator. The cutter is configured to move between a cutting position when the dilator is in the undilated configuration and a non-cutting position when the dilator is in the dilated configuration. The retractable brush is configured to brush a surface of an anatomical element of the patient to remove matter from the surface. The at least one retractable drill is configured to drill into the anatomical element.Type: GrantFiled: June 4, 2021Date of Patent: September 3, 2024Assignee: Mazor Robotics Ltd.Inventors: Eli Zehavi, Arik Levy
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Publication number: 20240285347Abstract: Systems and methods to correct the working volume of a surgical tool operating under automatic control to ablate within a baseline working volume of tissue subject to shifting and/or shrinkage during ablation. Early ablation may be performed in regions of the target which remain safe with respect to a risk of tissue shifting. At least once after early ablation, the working volume is reset to account for volume shifts, and ablation restarted. In some embodiments, information guiding the working volume reset comprises 2-D imaging results. In some embodiments, early ablation generates fiducial marks used to reset the working volume. In some embodiments, an imager is rotationally coupled to the surgical tool.Type: ApplicationFiled: July 28, 2021Publication date: August 29, 2024Applicant: Tamar Robotics LTDInventors: Tom SHTENDEL, Hadas ZISO, Noam HASSIDOV
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Patent number: 12070865Abstract: Disclosed is a method for controlling cleaning at least a portion of a building facade (104a). A multi-dimensional map of a facade (104a) is cleaned from an elevator platform (200) of an elevator system is received. According to the map, an ordered sequence of instructions is determined. The instructions comprise robotic arm instructions and elevator platform instructions that are temporally intertwined to execute a cleaning pattern covering at least part of facade (104a). The robotic arm instructions are forwarded to control one or more robotic arms (206) and the elevator platform instructions are forwarded to control the elevation of the elevator platform (200). A corresponding device (221, 213) and non-transient memory (223), and a system having the device, are also disclosed.Type: GrantFiled: February 7, 2019Date of Patent: August 27, 2024Assignee: Skyline Robotics Ltd.Inventors: Avi Abadi, Yaron Schwarcz
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Patent number: 12067653Abstract: Systems, methods, and devices for generating a corrected image are provided. A first robotic arm may be configured to orient a source at a first pose and a second robotic arm may be configured to orient a detector at a plurality of second poses. An image dataset may be received from the detector at each of the plurality of second poses to yield a plurality of image datasets. The plurality of datasets may comprise an initial image having a scatter effect. The plurality of image datasets may be saved. A scatter correction may be determined and configured to correct the scatter effect. The correction may be applied to the initial image to correct the scatter effect.Type: GrantFiled: May 30, 2023Date of Patent: August 20, 2024Assignee: Mazor Robotics Ltd.Inventors: Noam Weiss, Ben Yosef Hai Ezair
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Patent number: 12048497Abstract: Methods and systems for providing a safety mechanism for a robotically controlled surgical tool. Embodiments of the methods use sensors to detect parameters that vary by the tissue traversed by a surgical tool. The sensors detect signals arising from the interaction of the surgical tool with the tissue and provide this information to a robotic controller. For example, during drilling, the sensors may measure power, vibration, sound frequency, mechanical load, electrical impedance, and distance traversed according to preoperative measurements on a three-dimensional image set used for planning the tool trajectory. By comparing the detected output with that expected for the tool position based on the planned trajectory, identified discrepancies in output would indicate that the tool has veered from the planned trajectory. The robotic controller may then alter the tool trajectory, change the speed of the tool, or discontinue power to the tool, thereby preventing damage to underlying tissue.Type: GrantFiled: January 6, 2022Date of Patent: July 30, 2024Assignee: Mazor Robotics Ltd.Inventors: Dany Junio, Aviv Ellman, Eli Zehavi, Moshe Shoham, Yonatan Ushpizin, Ido Zucker, Elad Ratzabi, Gillan Grimberg, Nir Ofer, Yair Schwartz, Nimrod Dori
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Patent number: 12042171Abstract: A method for robot-assisted minimally invasive surgery involves calculating, based on a surgical plan, an insertion vector for an MIS port; causing a robotic arm to hold the MIS port in a pose that corresponds to the insertion vector; detecting, with a sensor on the robotic arm, a force applied to the robotic arm via the MIS port; maintaining the MIS port in the pose when the detected force is lower than a predetermined threshold; and generating an alert when the detected force exceeds the predetermined threshold.Type: GrantFiled: September 14, 2021Date of Patent: July 23, 2024Assignee: Mazor Robotics Ltd.Inventor: Dany Junio
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Patent number: 12035979Abstract: A system for tracking the position of a surgical tool manipulated by a surgical robotic system, to determine that the tool is correctly positioned and orientated. Miniature 3-D tracking cameras are mounted on the end effector of the robotic system, one viewing markers on the surgical tool, and the other markers attached to the anatomy part being operated on. The initial spatial position and orientation of the surgical tool on the surface of the anatomy part is measured, and the progress of the surgical tool into the anatomic body part is tracked using one of the miniature cameras. The cameras or sensors are close to the surgical region of interest, and all the mechanical and sensor elements necessary for the system operation are mounted within the realm of the robot. The system thus avoids interruption of communication between a remotely positioned navigation camera and the robot or patient.Type: GrantFiled: November 29, 2021Date of Patent: July 16, 2024Assignee: Mazor Robotics Ltd.Inventors: Moshe Shoham, Yizhaq Shmayahu
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Patent number: 12023798Abstract: A method and system for customizing setup of features of an electronic device. The method includes collecting user data related to a user using the electronic device, wherein the user data is collected, in part, using at least one sensor connected to the electronic device; analyzing the collected user data to determine for each user action of a plurality of user actions a corresponding probability score, wherein a probability score is a probability that the user chooses to perform a particular subsequent user action from the plurality of user actions, wherein a user action of the plurality of user actions is enabled by a setup plan; selecting based on the probability scores at least one setup plan corresponding to an action having the highest probability score; and configuring a feature of the electronic device based on the selected setup plan.Type: GrantFiled: February 8, 2021Date of Patent: July 2, 2024Assignee: Intuition Robotics, Ltd.Inventors: Shay Zweig, David Edery, Eldar Ron, Alex Keagel, Itai Mendelsohn