公开(公告)号：US11751945B2

公开(公告)日：2023-09-12

申请号：US17096757

申请日：2020-11-12

Applicant: MAZOR ROBOTICS LTD.

Inventor： Edo Zucker ,  Moshe Shoham ,  Yuval Chen

IPC: A61B17/88 ,  A61B17/70 ,  A61B34/10 ,  A61B34/20 ,  A61B17/56 ,  A61B90/00 ,  A61B34/30 ,  A61B17/00

CPC classification number: A61B34/10 ,  A61B17/70 ,  A61B17/7013 ,  A61B17/7077 ,  A61B17/7089 ,  A61B34/20 ,  A61B2017/00238 ,  A61B2017/564 ,  A61B2017/568 ,  A61B2034/104 ,  A61B2034/107 ,  A61B2034/108 ,  A61B2034/2055 ,  A61B2034/2063 ,  A61B2034/2065 ,  A61B2034/2072 ,  A61B2034/301 ,  A61B2090/376 ,  A61B2090/3945 ,  A61B2090/3983

Abstract: A system and method for the minimally invasive insertion of an intervertebral rod into the vertebrae of a subject, according to a preoperative surgical plan also defining positions for the insertion of rod clamping screws into the vertebrae. The rod shape for connecting the heads of the screws is calculated, and a path planning algorithm used to determine whether the distal end of the rod can be threaded through the screw heads by longitudinal and rotational manipulation of the proximal end of the rod. If so, instructions are provided for forming that rod shape and for the robotic insertion of the screw holes and the rod. If not, either or both of the screw positions and the rod shape are adjusted, to moderate the bends in the rods, until insertion becomes possible. The insertion can be performed robotically, or, if a navigation tracking system is added, manually.

公开(公告)号：US20230293215A1

公开(公告)日：2023-09-21

申请号：US18200303

申请日：2023-05-22

Applicant: MAZOR ROBOTICS LTD.

Inventor： Edo Zucker ,  Moshe Shoham

IPC: A61B17/88 ,  B21D7/12 ,  B21D7/14 ,  A61B5/00 ,  A61B5/107 ,  A61B34/10

CPC classification number: A61B17/8863 ,  B21D7/12 ,  B21D7/14 ,  A61B5/0036 ,  A61B5/107 ,  A61B34/10 ,  A61B17/7002

Abstract: A system for rod bending for use in robotic spinal surgery, enabling the correct bending of a fusion rod to match the shape required to accurately pass through the heads of the pedicle screws. The system uses data generated by information provided to the robot by the surgeon's preoperative plan, optionally augmented by feedback from the robot control system of deviations encountered intraoperatively. Such deviations could occur, for example, when the surgeon decides intraoperatively on a different trajectory or even to skip screws on one vertebra, in which case, the robot will be commanded to perform the alternative procedure, with commensurate instructions relayed to the control system of the rod-bending machine. The system is also able to thin down the rod at predetermined locations along its length, adapted to be at selected intervertebral locations, for maintaining limited flexibility between vertebrae, instead of fixating them.

公开(公告)号：US11696788B2

公开(公告)日：2023-07-11

申请号：US16726720

申请日：2019-12-24

Applicant: MAZOR ROBOTICS LTD.

Inventor： Edo Zucker ,  Moshe Shoham

IPC: A61B17/88 ,  B21D7/12 ,  B21D7/14 ,  A61B5/00 ,  A61B5/107 ,  A61B34/10 ,  A61B17/70 ,  A61B17/00

CPC classification number: A61B17/8863 ,  A61B5/0036 ,  A61B5/107 ,  A61B34/10 ,  B21D7/12 ,  B21D7/14 ,  A61B17/70 ,  A61B17/7002 ,  A61B2017/00526 ,  A61B2034/108

Abstract: A system for rod bending for use in robotic spinal surgery, enabling the correct bending of a fusion rod to match the shape required to accurately pass through the heads of the pedicle screws. The system uses data generated by information provided to the robot by the surgeon's preoperative plan, optionally augmented by feedback from the robot control system of deviations encountered intraoperatively. Such deviations could occur, for example, when the surgeon decides intraoperatively on a different trajectory or even to skip screws on one vertebra, in which case, the robot will be commanded to perform the alternative procedure, with commensurate instructions relayed to the control system of the rod-bending machine. The system is also able to thin down the rod at predetermined locations along its length, adapted to be at selected intervertebral locations, for maintaining limited flexibility between vertebrae, instead of fixating them.

公开(公告)号：US10849691B2

公开(公告)日：2020-12-01

申请号：US16312296

申请日：2017-06-23

Applicant: MAZOR ROBOTICS LTD.

Inventor： Edo Zucker ,  Moshe Shoham ,  Yuval Chen

IPC: A61B34/10 ,  A61B17/70 ,  A61B34/20 ,  A61B17/56 ,  A61B90/00 ,  A61B34/30 ,  A61B17/00

Abstract: A system and method for the minimally invasive insertion of an intervertebral rod into the vertebrae of a subject, according to a preoperative surgical plan also defining positions for the insertion of rod clamping screws into the vertebrae. The rod shape for connecting the heads of the screws is calculated, and a path planning algorithm used to determine whether the distal end of the rod can be threaded through the screw heads by longitudinal and rotational manipulation of the proximal end of the rod. If so, instructions are provided for forming that rod shape and for the robotic insertion of the screw holes and the rod. If not, either or both of the screw positions and the rod shape are adjusted, to moderate the bends in the rods, until insertion becomes possible. The insertion can be performed robotically, or, if a navigation tracking system is added, manually.