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公开(公告)号：US20220125602A1
公开(公告)日：2022-04-28
申请号：US17476166
申请日：2021-09-15
Applicant: Mazor Robotics Ltd.
Inventor： Ido Zucker
Abstract: Embodiments include systems and methods for determining the treatment option most likely to result in a favorable long-term outcome in a subject with spinal pain. Using forms of computer learning and artificial intelligence, databases are generated and mined for information matching a subject of interest. Once the appropriate treatment option has been selected for the subject, if a surgical procedure is indicated, further methods are employed to select the optimal type of operation to eliminate the source of the pain and stabilize the spine. After the type of surgical procedure and approach to the area of interest have been determined, methods are described for selecting the optimal interbody for insertion under the control of a robotic surgical system. Additional methods are used for planning the minimal amount of bone that must be removed to allow insertion of intervertebral hardware such as an interbody.
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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
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.
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公开(公告)号：US20210338348A1
公开(公告)日：2021-11-04
申请号：US17285374
申请日：2019-10-15
Applicant: MAZOR ROBOTICS LTD.
Inventor： Eliyahu ZEHAVI , Moshe SHOHAM , Yonatan USHPIZIN
Abstract: A robotic surgical system comprising at least two robotic arms having co-ordinate systems known relative to each other, one of the arms carrying an X-ray source, and the other an imaging detector plate. The arms are disposed to enable an image to be generated on the region of interest of a subject. One of the arms can additionally or alternatively carry a surgical tool or tool holder, such that the pose of the tool is known in the same co-ordinate system as that of an image generated by the X-ray source and detector. Consequently, any surgical procedure planned on such an X-ray image can be executed by the tool with high accuracy, since the tool position is known in the image frame of reference. This enables the surgeon to accurately position his tool in a real-time image without the need for an external registration procedure.
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公开(公告)号：US20210322112A1
公开(公告)日：2021-10-21
申请号：US16853990
申请日：2020-04-21
Applicant: MAZOR ROBOTICS LTD.
Inventor： Dany Junio
Abstract: A method of aligning an imaging device in connection with robotic surgery includes causing a robot to position a reference target over a body of a patient; receiving image data from an imaging device; identifying, with an image processing algorithm, at least a first portion of an anatomical element in the image data; identifying, with a target detection algorithm, at least a first portion of a reference target in the image data; comparing a determined location of the imaging device, the reference target, and the anatomical element to yield a location determination and causing at least one of the robot to re-position the reference target or the imaging device to re-position.
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公开(公告)号：US20200345430A1
公开(公告)日：2020-11-05
申请号：US16958275
申请日：2018-12-27
Applicant: MAZOR ROBOTICS LTD.
Inventor： Dany JUNIO , Kornelis POELSTRA
Abstract: A depth-indicating device for determining the depth of insertion of a surgical tool comprising a pair of spaced apart end caps, separated by a compressed spring, with the surgical tool passing through axial openings in both end caps, and firmly attached to one of the end caps, but free to slide through the opening in the other. A guide tube is attached to the second endcap, such that the surgical tool can be guided to its operating position on a body part. The second end cap and guide tube are attached to a location having a known position relative to the body part. A tracking marker is attached to the first end cap such that its longitudinal position can be tracked using a remote racking camera. Since the surgical tool is attached to the first end cap, the tool position is also tracked by the tracking system.
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Patent Agency Ranking
公开(公告)号：US20190290254A1
公开(公告)日：2019-09-26
申请号：US16301443
申请日：2017-05-15
Applicant: MAZOR ROBOTICS LTD.
Inventor： Yossef BAR , Moshe SHOHAM
IPC: A61B17/02
Abstract: A balloon dilator device, comprising an annularly shaped, cylindrical type structure having walls that are expandable from a radially collapsed state to a radially expanded state by inflation of a balloon inserted within the annular structure. Once the walls have been expanded, they remain in the expanded state even if the balloon is deflated, because the radially expanded state is a state of minimum mechanical potential energy, and in order to return to the collapsed state, the structure would have to pass a state of higher potential energy. The device walls require sufficient stiffness in their longitudinal direction to enable the device to be pushed into a minimally invasive incision made in the subject. This device stiffness can be achieved either by its mechanical material properties, or by its substantially closed wall structure, or by use of a stiff protector sheath used to protect the walls during insertion.
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公开(公告)号：US20170071682A1
公开(公告)日：2017-03-16
申请号：US15345547
申请日：2016-11-08
Applicant: MAZOR ROBOTICS LTD.
Inventor： Yossef BAR , Eli ZEHAVI , Isidore LIEBERMAN , Moshe SHOHAM
CPC classification number: A61B34/30 , A61B17/1671 , A61B17/1757 , A61B17/320016 , A61B17/3205 , A61B17/7001 , A61B17/7064 , A61B90/11 , A61B90/50 , A61B2017/00261 , A61B2017/00557 , A61B2017/00685 , A61B2017/0256 , A61B2017/3407 , A61B2017/564 , A61B2034/107 , A61B2034/303 , A61B2090/3762 , A61B2217/005
Abstract: A robotic system for performing minimally invasive spinal stabilization, using two screws inserted in oblique trajectories from an inferior vertebra pedicle into the adjacent superior vertebra body. The procedure is less traumatic than such procedures performed using open back surgery, by virtue of the robot used to guide the surgeon along a safe trajectory, avoiding damage to nerves surrounding the vertebrae. The robot arm is advantageous since no access is provided in a minimally invasive procedure for direct viewing of the operation site, and the accuracy required for oblique entry can readily be achieved only using robotic control. This robotic system also obviates the need for a large number of fluoroscope images to check drill insertion position relative to the surrounding nerves. Disc cleaning tools with flexible wire heads are also described. The drilling trajectory is determined by comparing fluoroscope images to preoperative images showing the planned path.
Abstract translation: 一种用于进行微创脊柱稳定的机器人系统，使用从下椎骨椎弓根倾斜轨迹插入相邻上椎骨体的两个螺钉。 该手术比使用开放式手术执行的手术要小，因为用于沿着安全轨迹引导外科医生的机器人，避免损伤椎骨周围的神经。 机器人臂是有利的，因为在用于直接观察操作部位的微创程序中不提供访问，并且可以容易地仅使用机器人控制来实现倾斜进入所需的精度。 该机器人系统也避免了大量荧光镜图像以检查相对于周围神经的钻孔插入位置的需要。 还描述了具有柔性线头的光盘清洁工具。 通过比较荧光镜图像和显示计划路径的术前图像来确定钻孔轨迹。
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公开(公告)号：US20160310221A1
公开(公告)日：2016-10-27
申请号：US15104529
申请日：2014-12-15
Applicant: Mazor Robotics Ltd.
Inventor： Yossi BAR , Eliyahu ZEHAVI , Yonatan USHPIZIN
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.
Abstract translation: 一种用于将其基部安装在患者附近的手术机器人附接到患者的骨骼的骨连接系统。 该系统包括可连接在骨骼和机器人的支撑元件之间的可切换骨骼连接单元。 该单元具有锁定状态，其中骨基本上刚性地附接到支撑元件，以及释放状态，其中骨可相对于支撑元件移动。 该单元包括用于确定施加在骨骼和机器人的支撑元件之间的力的力传感器和用于测量骨骼相对于所述机器人的支撑元件的位置的位置传感器。 当力超过预定水平时，单元从其锁定状态切换到其释放状态，其被选择以确保骨骼能够移动而不脱离任何骨骼连接元件。
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公开(公告)号：US20250095280A1
公开(公告)日：2025-03-20
申请号：US18962350
申请日：2024-11-27
Applicant: Mazor Robotics Ltd.
Inventor： Noam Weiss
Abstract: A system according to at least one embodiment of the present disclosure includes a processor; and a memory storing instructions thereon that, when executed by the processor, cause the processor to: identify, based on first imaging data associated with an object, a boundary region corresponding to a shape of the object; identify at least one voxel included in second imaging data associated with the object, where the at least one voxel is located outside the boundary region; and generate a multidimensional image volume corresponding to the object using the second imaging data, where generating the multidimensional image volume is with respect to one or more criteria associated with voxels located outside the boundary region.
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公开(公告)号：US20250095160A1
公开(公告)日：2025-03-20
申请号：US18962314
申请日：2024-11-27
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio
Abstract: A method according to embodiments of the present disclosure includes receiving a computed tomography (CT) image of a patient; segmenting a first set of anatomical elements from the CT image; receiving a plurality of fluoroscopy images of the patient; segmenting a second set of anatomical elements from the plurality of fluoroscopy images; and creating a registration between the CT image and the plurality of fluoroscopy images based on the segmented first set of anatomical elements and the segmented second set of anatomical elements.
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