Patent ID: 11931113
Assignee: MAZOR ROBOTICS LTD.
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 0:
1. A system for retractor interference avoidance comprising:
at least one retractor having a base and two or more elongate members extending from the base, the two or more elongate members being movable;
a memory for storing instructions; and
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 at least one retractor and the trajectory of the surgical device, at least one elongate member of the two or more elongate members in an initial position that obstructs movement of the surgical device along the trajectory; and
cause the at least one elongate member to move out of the initial position while at least one of the base and a second elongate member remains fixed so that the movement of the surgical device is no longer obstructed.