US 12,268,457 B2
Versatile multi-arm robotic surgical system
Eliyahu Zehavi, Haifa (IL); Moshe Shoham, Hoshaya (IL); and Yonatan Ushpizin, Kibbutz Glil Yam (IL)
Assigned to MAZOR ROBOTICS LTD., Caesarea (IL)
Appl. No. 17/285,374
Filed by MAZOR ROBOTICS LTD., Caesarea (IL)
PCT Filed Oct. 15, 2019, PCT No. PCT/IB2019/058795
§ 371(c)(1), (2) Date Apr. 15, 2021,
PCT Pub. No. WO2020/079596, PCT Pub. Date Apr. 23, 2020.
Claims priority of provisional application 62/745,497, filed on Oct. 15, 2018.
Prior Publication US 2021/0338348 A1, Nov. 4, 2021
Int. Cl. A61B 34/30 (2016.01); A61B 6/00 (2006.01); A61B 8/00 (2006.01); A61B 34/20 (2016.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01); G01T 1/161 (2006.01); G06T 7/30 (2017.01)
CPC A61B 34/30 (2016.02) [A61B 6/4458 (2013.01); A61B 8/4218 (2013.01); A61B 34/20 (2016.02); B25J 9/1697 (2013.01); B25J 13/08 (2013.01); G01T 1/161 (2013.01); G06T 7/30 (2017.01); A61B 2034/2063 (2016.02); G06T 2207/10116 (2013.01); G06T 2207/10132 (2013.01); G06T 2207/30004 (2013.01); G06T 2207/30241 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A robotic surgical system comprising:
a first robotic arm configured to carry an imager source; and
a second robotic arm mounted in a known position relative to the first robotic arm, and configured to carry an imager detection element, the first robotic arm and the second robotic arm mounted such that when a subject is positioned between the first robotic arm and the second robotic arm, images of a region of interest of the subject can be generated,
wherein the known position of the second robotic arm relative to the first robotic arm is based on a known mechanical arrangement connecting the first robotic arm and the second robotic arm,
wherein the known mechanical arrangement is defined by the first robotic arm connected to a common base with the second robotic arm, and
wherein the second robotic arm is further configured to carry a surgical tool or a surgical tool holder and the imager detection element in a fixed spatial relationship, such that a pose of the surgical tool or the surgical tool holder is known relative to the images generated of the subject.