US 12,465,441 B2
Multi-arm robotic systems and methods for identifying a target
Ido Zucker, Tel Aviv (IL); Yizhaq Shmayahu, Ramat HaSharon (IL); Yonatan Ushpizin, Glil Yam (IL); Eliyahu Zehavi, Tel Aviv (IL); and Dany Junio, Tel Aviv-Jaffa (IL)
Assigned to Mazor Robotics Ltd., Caesarea (IL)
Filed by Mazor Robotics Ltd., Caesarea (IL)
Filed on Jan. 13, 2022, as Appl. No. 17/575,404.
Claims priority of provisional application 63/144,073, filed on Feb. 1, 2021.
Prior Publication US 2022/0241032 A1, Aug. 4, 2022
Int. Cl. A61B 34/30 (2016.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 34/10 (2016.02); A61B 34/20 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2055 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A system for tracking a pose of at least one target comprising:
a first robotic arm including a first sensor configured to orient a first imaging device;
a second robotic arm including a second sensor configured to orient a second imaging device, wherein the first robotic arm and the second robotic arm operate in a shared coordinate space, wherein a first pose of the first robotic arm and a second pose of the second robotic arm in the shared coordinate space is determined based on the first sensor and the second sensor, and wherein the first sensor and the second sensor are position sensors;
at least one processor; and
at least one memory storing instructions for execution by the at least one processor that, when executed, cause the at least one processor to:
receive a first image from the first imaging device, the first image depicting the at least one target;
receive a second image from the second imaging device, the second image depicting the at least one target, wherein at least one of the first robotic arm and the second robotic arm is depicted in at least one of the first image and the second image;
determine the pose of the at least one target in the shared coordinate space based on the first image, the first pose, the second image, and the second pose; and
confirm or update the first pose of the first robotic arm or the second pose of the second robotic arm based on at least one of the first image and the second image.