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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.
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公开(公告)号：US20220241079A1
公开(公告)日：2022-08-04
申请号：US17538985
申请日：2021-11-30
Applicant: Mazor Robotics Ltd.
Inventor： Yizhaq Shmayahu
Abstract: An in-situ fusion system includes at least one robotic arm; a bioprinter; a polymerization tool; at least one processor; and a memory storing instructions for execution by the at least one processor. The instructions, when executed, cause the at least one processor to: control the at least one robotic arm to prepare at least two bone surfaces to support cellular growth; cause the bioprinter to print, from a scaffold material, a scaffold between the at least two bone surfaces; and cause the polymerization tool to induce the scaffold material to polymerize.
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公开(公告)号：US20220241016A1
公开(公告)日：2022-08-04
申请号：US17575245
申请日：2022-01-13
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio , Moshe Shoham
Abstract: A method for verifying a bone entry point includes receiving a surgical plan that defines a target bone entry point and a first portion of a bone surface at least partially surrounding the target bone entry point; positioning an imaging device near an identified bone entry point; receiving, from the imaging device, an image of a second portion of the bone surface surrounding the identified bone entry point; comparing at least one feature of the first portion to at least one feature of the second portion to quantify a degree of similarity therebetween; and generating, when the quantified degree of similarity between the first portion and the second portion exceeds a threshold, a confirmation.
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公开(公告)号：US20220241014A1
公开(公告)日：2022-08-04
申请号：US17163924
申请日：2021-02-01
Applicant: Mazor Robotics Ltd.
Inventor： Leonid Kleyman , Ofer Regev , Adi Sandelson , Adam D. Glaser , Shane Lars Riding
Abstract: Systems and methods for predicting surgical outcomes are provided. A surgical plan comprising information about a planned surgery and at least one preoperative image depicting a planned surgical result and at least one postoperative image depicting an actual surgical result resulting from execution of the planned surgery may be received. The postoperative image may be registered to the preoperative image. One or more features may be automatically identified in each of the postoperative image and the preoperative image. A difference may be automatically measured in at least one parameter of each of the one or more features to yield training data. A function for predicting the difference may be generated using artificial intelligence and based on the training data. The function may be applied to an unexecuted surgical plan.
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公开(公告)号：US20220240967A1
公开(公告)日：2022-08-04
申请号：US17163880
申请日：2021-02-01
Applicant: Mazor Robotics Ltd.
Inventor： Yonatan Ushpizin
IPC: A61B17/32
Abstract: A tool for cleaning a vertebral disc includes an elongated hollow shaft including a proximal end and a distal end; a first drum rotatably disposed in a housing secured to the proximal end of the shaft, the first drum having a first axis; a second drum rotatably disposed proximate the distal end of the shaft, the second drum having a second axis parallel to the first axis; and a belt extending through the hollow shaft and operatively coupled to the first drum and the second drum, the belt comprising a plurality of teeth configured to cut anatomical tissue, each tooth of the plurality of teeth remaining flush with an outer surface of the belt when a section of the belt comprising the tooth is substantially straight, and projecting beyond the outer surface when the section of the belt bends around the first drum or the second drum.
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Patent Agency Ranking
公开(公告)号：US20220240951A1
公开(公告)日：2022-08-04
申请号：US17163951
申请日：2021-02-01
Applicant: Mazor Robotics Ltd.
Inventor： Eitan Detinis
Abstract: Devices, systems, and methods for drilling an anatomical element are provided. A drill bit may comprise a coaxial hollow shaft in communication with a plurality of apertures disposed on a surface of the drill bit. A fluid inlet may be in fluid communication with the coaxial hollow shaft via a selectively openable valve. The fluid inlet may be configured to receive pressurized fluid. When the valve is opened, the pressurized fluid may be released into the coaxial hollow shaft, and when at least one of the plurality of apertures is not blocked, the pressurized fluid may be released through the at least one aperture of the plurality of apertures.
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公开(公告)号：US20220218428A1
公开(公告)日：2022-07-14
申请号：US17526985
申请日：2021-11-15
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio
Abstract: A system for robotic spinal manipulation includes a first robotic arm comprising an end effector; a second robotic arm configured to hold a spinal rod; at least one processor; and a memory storing instructions for execution by the at least one processor. The instructions, when executed, cause the at least one processor to control the first robotic arm to link the end effector with at least one vertebral screw implanted in a vertebra of a spine of a patient; control the second robotic arm to hold the spinal rod in a predetermined pose; and cause the first robotic arm to move the at least one implanted vertebral screw into engagement with the spinal rod.
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公开(公告)号：US20220189047A1
公开(公告)日：2022-06-16
申请号：US17526935
申请日：2021-11-15
Applicant: Mazor Robotics Ltd.
Inventor： Amir Lev-Tov , Shay Shimon Peretz , Yaniv Ben Zriham , Moshe Shoham
Abstract: A method according to one embodiment of the present disclosure comprises receiving a first image of a patient's anatomy, the first image generated at a first time and depicting a plurality of rigid elements; receiving a second image of the patient's anatomy, the second image generated at a second time after the first time and depicting the plurality of rigid elements; determining a transformation from the first image to the second image for each one of the plurality of rigid elements to yield a set of transformations; calculating a homography for each transformation in the set of transformations to yield a set of homographies; and identifying, using the set of homographies, a common portion of each transformation attributable to a change in camera pose, and an individual portion of each transformation attributable to a change in rigid element pose.
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公开(公告)号：US20220175462A1
公开(公告)日：2022-06-09
申请号：US17526967
申请日：2021-11-15
Applicant: Mazor Robotics Ltd.
Inventor： Avi Turgeman , Moshe Shoham , Eli Zehavi
IPC: A61B34/20 , A61B34/00 , A61B34/30 , A61B34/10 , A61B5/0205
Abstract: Systems and methods for accurate determination of the position of an anatomic part of a subject in robotic assisted image-based surgery, using an inertial measurement unit (IMU) to determine the position and orientation of the anatomical part of the subject. The intrinsic drift of the IMU, which would make the IMU position measurements inaccurate, can be reset to zero regularly, at points of time when the subject's body is stationary. This can be achieved when motion from the subject's breathing and from the heartbeat are essentially zero. Such positions occur respectively when the respiratory signal shows the position of the breathing cycle to be at the end of the expiration phase, and the heartbeat signal represents a time in the diastole period of the subject's electrocardiographic cycle. When these two signal moments coincide, the IMU is essentially stationary, and its drift reset to zero.
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公开(公告)号：US20220156928A1
公开(公告)日：2022-05-19
申请号：US17490895
申请日：2021-09-30
Applicant: Mazor Robotics Ltd.
Inventor： Yizhaq Shmayahu , Diego Merkier
Abstract: A method of generating a virtual MRI image includes receiving an initial MRI image of a patient in a first position, the initial MRI image depicting at least a portion of an anatomy of the patient; receiving a plurality of images of the patient in a second position, each of the plurality of images depicting at least a plurality of bony elements within the portion of the patient's anatomy; receiving soft tissue information corresponding to at least a plurality of soft tissue elements within the portion of the patient's anatomy; segmenting the initial MRI image to identify a depiction of each of the plurality of bony elements and each of the plurality of soft tissue elements within the initial MRI image; and generating a virtual MRI image based on the MRI image, the plurality of images, and the soft tissue information.
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