Systems, devices, and methods for retractor interference avoidance
AssigneeMazor Robotics Ltd.
InventorsShmuel Azulay, Moshe Shoham
Life of this patent
Estimating the term…
Abstract
Systems and methods for retractor interference avoidance is provided. At least one retractor includes a base and one or more elongate members extending from the base. The one or more elongate members are movable. A position of the at least one retractor may be determined and a trajectory of a surgical device may be received. At least one elongate member of the one or more elongate members positioned to interfere with movement of the device along a trajectory may be identified based on the position of the retractor and the trajectory of the surgical device.
Claims20
A system for retractor interference avoidance comprising:
- at least one retractor having a base and one or more elongate members extending from the base, the one or more elongate members being movable;
- a memory for storing instructions;
- a processor executing instructions stored in the memory that cause the processor to:
- determine a position of the at least one retractor;
- receive a trajectory of a surgical device;
- identify, based on the position of the retractor and the trajectory of the surgical device, at least one elongate member of the one or more elongate members positioned to interfere with movement of the device along the trajectory.
A method for avoiding retractor interference comprising:
- determining a position of at least one retractor, the at least one retractor having a base and one or more elongate members extending from the base, the one or more elongate members being movable;
- receiving a trajectory of a surgical device;
- identifying based on the position of the retractor and the trajectory of the surgical device, at least one elongate member of the one or more elongate members positioned to interfere with movement of the device along the trajectory;
- and
- causing the at least one elongate member to move from an initial position and away from the trajectory.
A surgical retractor comprising:
- a base;
- a plurality of elongate members extending from the base and configured to engage an anatomy of a patient;
- and
- a motor configured to selectively retract at least one elongate member of the plurality of elongate members towards the base upon receipt of a first signal, and to extend the at least one elongate member of the plurality of elongate members from the base upon receipt of a second signal received after the first signal.
Dependencies are inferred from the claim text.