公开(公告)号：EP3361958A1

公开(公告)日：2018-08-22

申请号：EP16855071.3

申请日：2016-10-13

申请人： Mazor Robotics Ltd.

发明人： ZEHAVI, Eliyahu ,  BAR, Yossi ,  STEINBERG, Shlomit ,  KLEYMAN, Leonid ,  LIEBERMAN, Isador H.

IPC分类号： A61B17/00

CPC分类号： G16H20/40 ,  A61B6/032 ,  A61B6/505 ,  A61B6/5217 ,  A61B6/5235 ,  A61B34/10 ,  A61B2034/104 ,  A61B2034/105 ,  G06F19/00 ,  G06T7/0012 ,  G06T7/11 ,  G06T7/70 ,  G06T7/73 ,  G06T2207/10081 ,  G06T2207/30012 ,  G16H30/40 ,  G16H50/20 ,  G16H50/50

摘要： A method of planning the correction of spinal deformations of a subject, by performing segmentation on a three dimensional image of the subject's spine in its erect neutral position, such that the positions and orientations of the vertebrae in a region of interest are characterized. Parameters relating to the alignment and position of the vertebrae are derived from the segmentation, followed by determining whether the parameters fall within an acceptable range desired for the spine of the subject. If not within the acceptable range, an alignment optimization is performed on the vertebrae to bring the parameters within the acceptable range, to reduce the spinal deformations of the subject's spine. The alignment optimization is performed by taking into consideration limitations arising from the dynamic range of motion of the vertebrae as determined by analyzing images of the subject's spine, while the subject is in positions of maximum bending.

公开(公告)号：EP3079599A1

公开(公告)日：2016-10-19

申请号：EP14869513.3

申请日：2014-12-15

申请人： Mazor Robotics Ltd.

发明人： BAR, Yossi ,  ZEHAVI, Eliyahu ,  USHPIZIN, Yonatan

IPC分类号： A61B17/00 ,  A61B90/00

摘要： A bone connection system for attaching a surgical robot having its base mounted in the vicinity of a patient, to a bone of the patient. The system incorporates a switchable bone connection unit attached between the bone and a support element of the robot. This unit has a locked state in which the bone is attached essentially rigidly to the support element, and a released state in which the bone can move relative to the support element. The unit comprises a force sensor for determining the force exerted between the bone and the support element of the robot, and a position sensor for measuring the position of the bone relative to the support element of said robot. The unit switches from its locked state to its released state when the force exceeds a predetermined level, selected to ensure that the bone can move without detaching any bone connection elements.

公开(公告)号：EP3079599B1

公开(公告)日：2020-09-30

申请号：EP14869513.3

申请日：2014-12-15

申请人： Mazor Robotics Ltd.

发明人： BAR, Yossi ,  ZEHAVI, Eliyahu ,  USHPIZIN, Yonatan

IPC分类号： A61B34/30 ,  A61B17/00

公开(公告)号：EP3046615B1

公开(公告)日：2020-03-04

申请号：EP14846495.1

申请日：2014-09-22

申请人： Mazor Robotics Ltd.

发明人： BAR, Yossi ,  ZEHAVI, Eliyahu ,  USHPIZIN, Yonatan ,  SHOHAM, Nadav

IPC分类号： A61M29/00 ,  A61B17/34 ,  A61B34/30

公开(公告)号：EP3402414A1

公开(公告)日：2018-11-21

申请号：EP17738286.8

申请日：2017-01-11

申请人： Mazor Robotics Ltd.

发明人： SHOHAM, Moshe ,  ZEHAVI, Eliyahu ,  BAR, Yossi

IPC分类号： A61B17/00 ,  B25J18/00

CPC分类号： A61B17/00 ,  A61B34/30 ,  A61B2017/00694 ,  A61B2017/00699 ,  A61B2090/064

摘要： A surgical robot system whose robotic arm is divided into two parts, and is connected to the patient at the junction of the two parts, by means of a bone connector. The section between the bone connector and the robotic base has a predetermined level of flexibility, enabling the bone connector limited movement. Consequently, the patient's body can also move without the bone connector exerting excess forces on the patient, and without detachment from the patient. The arm section between the bone connection link and the end actuator has high rigidity, such that the pose of the end actuator relative to the patient is accurately maintained. As the patient undergoes small movements, such as in breathing or coughing, the bone connector and base connection arm section, move together with motion of the patient's bone, while the pose of the end actuator relative to the patient is accurately maintained.

公开(公告)号：EP3046615A1

公开(公告)日：2016-07-27

申请号：EP14846495.1

申请日：2014-09-22

申请人： Mazor Robotics Ltd.

发明人： BAR, Yossi ,  ZEHAVI, Eliyahu ,  USHPIZIN, Yonatan ,  SHOHAM, Nadav

IPC分类号： A61M29/00 ,  A61B17/00

摘要： Automatic dilator devices for generating minimally invasive access apertures for surgical procedures or endoscopic surveillance. The automatic dilators comprise a number of spreader tubes nested one inside the other. The devices deploy automatically by means of coupled mechanical mechanisms which insert one spreader after the other distally into the patient's tissue. Each spreader moves distally into the tissue by means of a screwing action, by which rotation is converted into linear motion of the neighboring spreader, immediately external to it, by means of interaction between a helical thread form on a surface of a spreader being engaged by a section of thread, or by one or more protrusions on the opposing face of the next spreader external to the rotating spreader. Such a combination of helical thread and follower enables a rotatory mechanism to be used to deploy one nested spreader tube after the other, by continuous rotary motion.

摘要翻译： 用于产生用于外科手术或内窥镜监视的微创进入孔的自动扩张器装置。 自动扩张器包括嵌套在另一个内的多个吊具管。 这些装置通过联接的机械机构自动部署，其将一个扩张器在另一个向远侧插入患者组织中之后。 每个吊具通过螺旋动作向远侧移动到组织中，通过螺旋动作，旋转通过螺旋螺旋形式在垂直于其的外部转动成直线运动，通过螺旋螺纹形式在吊架表面上的相互作用， 螺纹的一部分，或通过在旋转撒布机外部的下一个撒布机的相对面上的一个或多个突起。 螺旋螺纹和跟随器的这种组合使得旋转机构能够通过连续的旋转运动而被布置成一个嵌套的扩张管。