Granted Patent B2

US 12,616,536 · App. 17/734,913 · Granted May 5, 2026

Inventors: Amir Keret (Atlit, IL); Ziv Seemann (Beit Ytzhack, IL); Nimrod Dori (Atlit, IL); Ron Visbrot (Hadera, IL); Adi Sandelson (Givatayim, IL); Dvir Kadshai (Tel Aviv, IL)

Assignee: Mazor Robotics Ltd.

A61B34/32A61B34/77B25J9/0009B25J9/162B25J9/1633B25J13/085B25J13/089B25J15/04

Abstract

Claims (53)

1 . A system, comprising:

a robot mounted to a base that is movable relative to a patient, the robot comprising one or more robotic arms;

a first mechanical attachment to connect to an anatomical element of the patient, a second mechanical attachment to detachably connect to a first end of the first mechanical attachment, and a third mechanical attachment that enables a non-rigid connection between the second mechanical attachment and the robot;

a processor;

a memory in electronic communication with the processor; and

instructions stored in the memory, the instructions being executable by the processor to cause the processor to:

monitor one or more parameters associated with movement of or force exerted on the anatomical element;

determine, during the monitoring, that the one or more parameters satisfy one or more criteria associated with the movement of or the force exerted on the anatomical element; and

control, in response to the determination:

the second mechanical attachment to detach from the first mechanical attachment; and

a pose of the robot to be adjusted relative to the patient.

2 . The system of claim 1 , wherein controlling the pose of the robot to be adjusted comprises at least one of:

adjusting a position of the robot or a position of the one or more robotic arms; and

adjusting an orientation of the robot or an orientation of the one or more robotic arms, or both.

3 . The system of claim 1 , wherein the instructions are further executable by the processor to at least one of:

output an alert based on the one or more parameters satisfying one or more second criteria; and

perform a registration process associated with the anatomical element and the robot based on the one or more parameters satisfying the one or more second criteria.

4 . The system of claim 1 , wherein:

the one or more parameters comprise at least one of movement information, positional information, and orientation information associated with the anatomical element.

5 . The system of claim 1 , wherein:

the one or more parameters comprise positional information associated with the anatomical element; and

the one or more criteria comprise a displacement threshold with respect to reference positional information associated with the anatomical element.

6 . The system of claim 1 , wherein the first mechanical attachment remains connected to the anatomical element after detaching from the second mechanical attachment.

7 . The system of claim 1 , further comprising:

one or more optical measurement devices, wherein the one or more optical measurement devices are coupled to the robot, the one or more robotic arms, or both.

8 . The system of claim 1 , further comprising at least one of:

a first acoustic transducer coupled to the robot or the one or more robotic arms; and

a second acoustic transducer coupled to the anatomical element.

9 . The system of claim 1 , further comprising:

a multi-sensor device coupled to the anatomical element.

10 . The system of claim 9 , wherein the multi-sensor device is a monolithic integrated multi-sensor (MIMS) device comprising at least one of:

a gyroscope; and

an accelerometer.

11 . The system of claim 1 , wherein the second mechanical attachment is further coupled with at least one robotic arm of the one or more robotic arms, and wherein the instructions are further executable by the processor to:

detect that the first mechanical attachment has been reattached with the second mechanical attachment; and

automatically perform a registration between the anatomical element and the at least one robotic arm upon detecting that the first mechanical attachment has been reattached with the second mechanical attachment.

12 . An apparatus, comprising:

a robot, the robot comprising one or more robotic arms;

a movable base coupled to the robot to enable movement of the robot relative to a patient;

a first mechanical attachment to connect to an anatomical element of the patient, a second mechanical attachment to detachably connect to a first end of the first mechanical attachment, and a third mechanical attachment that enables a non-rigid connection between the second mechanical attachment and the robot;

a processor;

a memory in electronic communication with the processor; and

instructions stored in the memory, the instructions being executable by the processor to:

monitor one or more parameters associated with movement of or force exerted on the anatomical element;

determine, during the monitoring, that the one or parameters satisfy one or more criteria associated with the movement of or the force exerted on the anatomical element; and

control, in response to the determination:

the second mechanical attachment to detach from the first mechanical attachment; and

a pose of the robot to be adjusted relative to the patient.

13 . The apparatus of claim 12 , wherein the first mechanical attachment remains connected to the anatomical element after detaching from the second mechanical attachment, and wherein the second mechanical attachment is further configured to detach from the first mechanical attachment when a second force value measured at the anatomical element exceeds a second threshold force value.

14 . The apparatus of claim 12 , further comprising at least one of:

one or more optical measurement devices, wherein the one or more optical measurement devices are coupled to the robot, the one or more robotic arms, or both;

one or more acoustic transducers, wherein the one or more acoustic transducers are coupled to the robot, the one or more robotic arms, the anatomical element, or a combination thereof; and

a multi-sensor device coupled to the anatomical element.

Assignments (1)

Continuity (1)

References Cited (48)