US 12,274,513 B2
Devices, methods, and systems for robot-assisted surgery
Eli Zehavi, Tel-Aviv (IL); Yonatan Ushpizin, Glil Yam (IL); Ido Zucker, Tel-Aviv (IL); and Adi Ess, Ramat Gan (IL)
Assigned to Mazor Robotics Ltd., Caesarea (IL)
Filed by Mazor Robotics Ltd., Caesarea (IL)
Filed on Apr. 5, 2022, as Appl. No. 17/713,873.
Claims priority of provisional application 63/183,486, filed on May 3, 2021.
Prior Publication US 2022/0346882 A1, Nov. 3, 2022
Int. Cl. A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 34/30 (2016.02); A61B 90/361 (2016.02); A61B 90/39 (2016.02); A61B 2034/2055 (2016.02); A61B 2090/3937 (2016.02)] 16 Claims
OG exemplary drawing
 
1. A system comprising:
a robotic arm in a robotic arm coordinate system;
a camera in a fixed pose in a navigation coordinate system;
at least one processor; and
memory including instructions that when executed by the at least one processor, cause the at least one processor to:
determine a pose of the robotic arm within the navigation coordinate system;
map the robotic arm coordinate system to the navigation coordinate system based on the pose of the robotic arm; and
control, based on output of the camera, the robotic arm in the navigation coordinate system,
wherein the output of the camera includes output generated based on at least one optical marker including an optical marker on a patient,
wherein the instructions include instructions that cause the at least one processor to:
generate a path within the navigation coordinate system for moving the robotic arm relative to the patient based on one or more considerations associated with a medical procedure, wherein the one or more considerations include preventing the robotic arm from entering a line of sight between the camera and the optical marker on the patient; and
control, during the medical procedure, the robotic arm based on the path.