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1. WO2022044009 - REGISTRATION OF MULTIPLE ROBOTIC ARMS USING SINGLE REFERENCE FRAME

Publication Number WO/2022/044009
Publication Date 03.03.2022
International Application No. PCT/IL2021/051042
International Filing Date 25.08.2021
IPC
A61B 34/20 2016.1
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 34/30 2016.1
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
CPC
A61B 2034/2051
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
2046Tracking techniques
2051Electromagnetic tracking systems
A61B 2034/2055
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
2046Tracking techniques
2055Optical tracking systems
A61B 34/20
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 34/30
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
Applicants
  • MAZOR ROBOTICS LTD. [IL]/[IL]
Inventors
  • JUNIO, Dany
Agents
  • LIVNEH, Devorah N.
Priority Data
63/070,59126.08.2020US
Publication Language English (en)
Filing Language English (EN)
Designated States
Title
(EN) REGISTRATION OF MULTIPLE ROBOTIC ARMS USING SINGLE REFERENCE FRAME
(FR) ENREGISTREMENT DE MULTIPLES BRAS ROBOTIQUES À L'AIDE D'UN CADRE DE RÉFÉRENCE UNIQUE
Abstract
(EN) 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.
(FR) Un procédé d'enregistrement consiste à recevoir des informations d'image correspondant à un élément anatomique d'un patient ; à recevoir des informations de capteur concernant une pose simultanée de chacun d'un cadre de référence de patient, d'un premier robot et d'un second robot ; à déterminer, sur la base des informations d'image et des informations de capteur, une corrélation entre un système de coordonnées de patient, un premier système de coordonnées du premier robot et un second système de coordonnées du second robot ; et à commander le mouvement du premier robot et du second robot dans un volume de travail commun sur la base de la corrélation.
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