US 11,701,186 B2
Semi-rigid bone attachment robotic surgery system
Yossef Bar, Haifa (IL); Eliyahu Zehavi, Haifa (IL); and Yonatan Ushpizin, Glil Yam (IL)
Assigned to MAZOR ROBOTICS LTD., Caesarea (IL)
Filed by MAZOR ROBOTICS LTD., Caesarea (IL)
Filed on Sep. 30, 2020, as Appl. No. 17/39,597.
Application 17/039,597 is a continuation of application No. 15/104,529, granted, now 10,806,527, previously published as PCT/IL2014/051096, filed on Dec. 15, 2014.
Claims priority of provisional application 61/916,240, filed on Dec. 15, 2013.
Prior Publication US 2021/0059774 A1, Mar. 4, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/30 (2016.01); A61B 34/20 (2016.01); A61B 90/00 (2016.01); A61B 17/00 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 34/20 (2016.02); A61B 90/06 (2016.02); A61B 2017/00477 (2013.01); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2059 (2016.02); A61B 2090/064 (2016.02)] 19 Claims
OG exemplary drawing
 
1. A bone connection system, comprising:
a support element configured to remain stationary notwithstanding movement of a bone;
a connection link configured to connect to the bone;
a switchable bone connection unit connected to the connection link and to the support element, the switchable bone connection unit having a locked state in which the connection link is fixed to at least one of the support element and the switchable bone connection unit, and a released state in which the connection link can move relative to at least one of the support element and the switchable bone connection unit while the connection link is attached to the bone, the switchable bone connection unit being adapted to automatically, without manual intervention, switch from the locked state to the released state when a force exerted between the bone and the support element exceeds a predetermined level, the switchable bone connection unit comprising:
a force sensor configured to determine the force exerted between the bone and the support element; and
a position sensor configured to determine a position of the bone relative to the support element; and
an electronic controller configured to utilize the determined position to instruct an activated arm attached to the support element and configured to guide a surgical tool to a known position relative to the switchable bone connection unit, such that the position of the surgical tool relative to the bone is maintained when the switchable bone connection unit is in the released state.