公开(公告)号：US11141227B2

公开(公告)日：2021-10-12

申请号：US16068947

申请日：2017-01-11

Applicant: MAZOR ROBOTICS LTD.

Inventor： Moshe Shoham ,  Eliyahu Zehavi ,  Yossi Bar

IPC: A61B34/30 ,  A61B90/50 ,  A61F2/44 ,  A61F2/46 ,  A61B17/00 ,  A61B90/00 ,  A61F2/30

Abstract: 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：US11410767B2

公开(公告)日：2022-08-09

申请号：US17017283

申请日：2020-09-10

Applicant: MAZOR ROBOTICS LTD.

Inventor： Eliyahu Zehavi ,  Yossi Bar ,  Shlomit Steinberg ,  Leonid Kleyman ,  Isador Lieberman

IPC: G16H20/40 ,  G16H30/40 ,  A61B6/03 ,  A61B6/00 ,  A61B34/10 ,  G06T7/11 ,  G06T7/70 ,  G06T7/73 ,  G06T7/00 ,  G16H50/50 ,  G16H50/20

Abstract: 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：US20220022981A1

公开(公告)日：2022-01-27

申请号：US17498609

申请日：2021-10-11

Applicant: Mazor Robotics Ltd.

Inventor： Moshe Shoham ,  Eliyahu Zehavi ,  Yossi Bar

IPC: A61B34/30 ,  A61B34/10 ,  A61B34/20 ,  A61B90/00 ,  A61B90/50

Abstract: A robotic surgical system is provided. An illustrative robotic surgical system includes a base having a known position relative to an operating table; an end effector configured to hold and align a surgical tool for performing a procedure on a subject on said operating table; at least one robotic arm connecting said base with said end effector; and a target attached to the end effector, wherein an image of the target attached to the end effector is used to determine a pose of the end effector.

公开(公告)号：US10806527B2

公开(公告)日：2020-10-20

申请号：US15104529

申请日：2014-12-15

Applicant: Mazor Robotics Ltd.

Inventor： Yossi Bar ,  Eliyahu Zehavi ,  Yonatan Ushpizin

IPC: A61B34/30 ,  A61B34/20 ,  A61B90/00 ,  A61B17/00

Abstract: 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：US10777315B2

公开(公告)日：2020-09-15

申请号：US15765720

申请日：2016-10-13

Applicant: MAZOR ROBOTICS LTD.

Inventor： Eliyahu Zehavi ,  Yossi Bar ,  Shlomit Steinberg ,  Leonid Kleyman ,  Isador Lieberman

IPC: G16H20/40 ,  G16H30/40 ,  A61B34/10 ,  A61B6/03 ,  A61B6/00 ,  G06T7/00 ,  G06T7/73 ,  G06T7/11 ,  G06T7/70 ,  G16H50/50 ,  G16H50/20

Abstract: 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：US10595899B2

公开(公告)日：2020-03-24

申请号：US15023409

申请日：2014-09-22

Applicant: MAZOR ROBOTICS LTD.

Inventor： Yossi Bar ,  Eliyahu Zehavi ,  Yonatan Ushpizin ,  Nadav Shoham

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

Abstract: 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.