公开(公告)号：US20240122560A1

公开(公告)日：2024-04-18

申请号：US18393365

申请日：2023-12-21

Applicant: Mazor Robotics Ltd.

Inventor： Dany Junio ,  Eli Zehavi

IPC: A61B6/12 ,  A61B34/10 ,  A61B90/00 ,  G06V10/75

CPC classification number: A61B6/12 ,  A61B34/10 ,  A61B90/03 ,  G06V10/7515 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2090/363 ,  A61B2090/364 ,  A61B2090/374 ,  A61B2090/3762 ,  A61B2090/3966

Abstract: A low radiation, intra-operative method using two-dimensional imaging to register the positions of surgical implants relative to their pre-operative planned positions. Intraoperatively, a pair of two-dimensional fluoroscope images in different planes or a single three-dimensional image is acquired and compared to a set of three-dimensional preoperative images, to allow registration of the implant region anatomy. A second set of intraoperative fluoroscope images is acquired of the surgical area with implants in place. The second set of images is compared with the first set of intraoperative images to ascertain alignment of the implants. Registration between first and second intraoperative image sets is accomplished using the implants themselves as fiducial markers, and the process repeated until an acceptable configuration of the implants is obtained. The method is particularly advantageous for spinal surgery.

公开(公告)号：US20240065661A1

公开(公告)日：2024-02-29

申请号：US17900115

申请日：2022-08-31

Applicant: Mazor Robotics Ltd.

Inventor： Dany JUNIO

IPC: A61B6/00 ,  G06T1/00 ,  G06T7/00 ,  G06T7/73

CPC classification number: A61B6/5294 ,  A61B6/505 ,  A61B6/5211 ,  G06T1/0007 ,  G06T7/0012 ,  G06T7/73 ,  G06T2207/20084 ,  G06T2207/30012

Abstract: An imaging system and method of acquiring image data is disclosed. The imaging system is operable to acquire and/or generate image data at positions relative to a subject. The imaging system includes a drive system configured to move the imaging system.

公开(公告)号：US11908565B2

公开(公告)日：2024-02-20

申请号：US17288660

申请日：2019-10-15

Applicant: MAZOR ROBOTICS LTD.

Inventor： Shlomit Steinberg ,  Moshe Shoham

IPC: G06Q10/00 ,  G16H20/40 ,  A61B34/10 ,  G16H30/20

CPC classification number: G16H20/40 ,  A61B34/10 ,  G16H30/20 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2034/108

Abstract: A method for optimizing orthopedic spinal implant survival using preoperative finite element analysis combined with intraoperative stress analysis. Based on clinically relevant data, finite element analysis, and corrected values of spinal parameters, an acceptable long-term stress score is determined for an appropriate implant, which is selected from a set of potential implants, such that the shape of the implant minimizes predicted stress values. From a preoperative medical image set, values of selected spinal alignment parameters are determined; finite element analysis is performed on potential implants to determine stress values; and a selected implant is digitally positioned in the medical image set to create a virtual bone/implant configuration. After the selected implant is inserted and bent to shape, actual stress values are measured intraoperatively. The process of bending and measuring stress values is repeated until the bone/implant configuration falls within the acceptable long-term stress score range.

公开(公告)号：US20240008953A1

公开(公告)日：2024-01-11

申请号：US18371914

申请日：2023-09-22

Applicant: Mazor Robotics Ltd.

Inventor： Arik Levy ,  Eli Zehavi

IPC: A61B90/70 ,  B08B9/045 ,  B08B9/047 ,  B08B9/057 ,  A61F13/00

CPC classification number: A61B90/70 ,  B08B9/045 ,  B08B9/047 ,  B08B9/057 ,  A61F13/00068 ,  A61B34/30

Abstract: A surgical tool, systems, and method for cleaning an anatomical space is provided. At least one brush is disposed on a shaft extending through a tube. The tube includes a corresponding brush slot for each brush. A motor is operable to rotate the shaft to cause the at least one brush to move from a closed position to a cleaning position. The at least one brush is positioned entirely inside of the tube when in the closed position and at least partially outside of the tube when in the cleaning position. A fluid source is operable to supply fluid to the at least one brush as the at least one brush passes through the brush slot.

公开(公告)号：US20230404692A1

公开(公告)日：2023-12-21

申请号：US17845032

申请日：2022-06-21

Applicant: Mazor Robotics Ltd.

Inventor： Yonatan Ushpizin ,  Eliyahu Zehavi ,  Avraham Turgeman

IPC: A61B34/37

CPC classification number: A61B34/37 ,  A61B2017/00477

Abstract: Systems, techniques, and embodiments are provided herein that are configured to interchangeably couple any surgical tool of a plurality of surgical tools to a robotic arm. For example, a robotic surgical system is provided that includes an interface unit disposed at a distal end of the robotic arm and coupled to the robotic arm, where the interface unit includes a set of components configured to provide the coupling. In some embodiments, the set of components of the interface unit is configured to provide electrical coupling, communication coupling, mechanical coupling, pneumatic coupling, irrigation coupling, or a combination thereof, for coupling any surgical tool of the plurality of surgical tools to the robotic arm. Additionally, each surgical tool of the plurality of surgical tools may comprise an identification feature for the interface unit and/or a processor to identify which surgical tool is being coupled to the robotic arm.

公开(公告)号：US11793599B2

公开(公告)日：2023-10-24

申请号：US16984490

申请日：2020-08-04

Applicant: MAZOR ROBOTICS LTD.

Inventor： Arik Levy ,  Eli Zehavi

IPC: A61B90/70 ,  B08B9/047 ,  B08B9/057 ,  B08B9/045 ,  A61F13/00 ,  A61B34/30 ,  A61M1/00

CPC classification number: A61B90/70 ,  A61F13/00068 ,  B08B9/045 ,  B08B9/047 ,  B08B9/057 ,  A61B34/30 ,  A61B2217/005 ,  A61B2217/007 ,  A61M1/88 ,  A61M1/90

Abstract: A surgical tool, systems, and method for cleaning an anatomical space is provided. At least one brush is disposed on a shaft extending through a tube. The tube includes a corresponding brush slot for each brush. A motor is operable to rotate the shaft to cause the at least one brush to move from a closed position to a cleaning position. The at least one brush is positioned entirely inside of the tube when in the closed position and at least partially outside of the tube when in the cleaning position. A fluid source is operable to supply fluid to the at least one brush as the at least one brush passes through the brush slot.

公开(公告)号：US20230285095A1

公开(公告)日：2023-09-14

申请号：US18001838

申请日：2021-05-13

Applicant: MAZOR ROBOTICS LTD.

Inventor： Noam WEISS ,  Yizhaq SHMAYAHU

IPC: A61B34/32 ,  G06T7/10 ,  G06T7/70

CPC classification number: A61B34/32 ,  G06T7/10 ,  G06T7/70 ,  A61B2034/107

Abstract: A method for performing at least one ablation comprising receiving image data of a mass to be ablated; segmenting a volume of the mass to yield a plurality of sub-volumes, each of the plurality of sub-volumes corresponding to one of a plurality of ablation steps; identifying, for each of the plurality of ablation steps and based on the corresponding sub-volume, an ablation center; calculating, for each of the plurality of ablation steps, an ablation tool position and an imaging device position, the imaging device position being independent of the ablation tool position; causing both an ablation tool to be positioned based on the calculated ablation tool position and an imaging device to be positioned based on the calculated imaging device position for one ablation step of the plurality of ablation steps; and causing an ablation tool to activate based on the one ablation step.

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：US20230277402A1

公开(公告)日：2023-09-07

申请号：US18003144

申请日：2021-06-24

Applicant: Mazor Robotics Ltd.

Inventor： Elad Ratzabi ,  Yonatan Ushpizin ,  Yuval Chen ,  Dany Junio

IPC: A61G13/12 ,  A61G13/00

CPC classification number: A61G13/1285 ,  A61G13/0054 ,  A61G13/1295

Abstract: A rotatable fixation bridge as described herein may include a first end fixedly connectable to a reference and defining at least a portion of a first joint; a second end fixedly connectable to an anchor and defining at least a portion of a second joint; and a bridge member extending between and rotatably secured to the first end and the second end, the bridge member rotatable relative to an axis and comprising a central portion offset from the axis.

公开(公告)号：US20230255694A1

公开(公告)日：2023-08-17

申请号：US17671893

申请日：2022-02-15

Applicant: Mazor Robotics Ltd.

Inventor： Ziv Seemann ,  Dvir Kadshai ,  Itamar Eshel ,  Yuval A. Chen ,  Nimrod Dori ,  Nicholas J. Rawluk

IPC: A61B34/20 ,  A61B34/30

CPC classification number: A61B34/20 ,  A61B34/30 ,  A61B2034/2068 ,  A61B2034/2057

Abstract: Systems and methods for validating a pose of a marker are provided. First pose information and second pose information of the marker may be received. A pose difference between the first pose information and the second pose information may be determined. A pose of the marker may be validated in response to determining that the pose difference is less than a pose threshold.