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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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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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Patent Agency Ranking
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：US10828786B2
公开(公告)日：2020-11-10
申请号：US13390500
申请日：2010-08-17
Applicant: Moshe Shoham
Inventor： Moshe Shoham
Abstract: A hand held robotic system that remains stiff so long as it is operating within allowed limits, but which become actively controlled once the operator exceeds those limits. The system thus corrects deviations by more than a predetermined amount of the operator's hand motions, so that the tool remains in the allowed region even when the operator's hand deviates from the planned trajectory. The pose and path of the robotic operating head is ascertained by means of a navigation or tracking system, or by means of a proximity device to measure the closeness of the operating head to a damage sensitive feature. As the tool deviates from its predetermined path or pose, or comes too close to the hazardous area, the robot control acts to move the tool back to its predetermined pose or path, or away from the hazardous region, independently of user's hand movement.
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公开(公告)号：US09655649B2
公开(公告)日：2017-05-23
申请号：US11703923
申请日：2007-02-07
Applicant: Moshe Shoham
Inventor： Moshe Shoham
CPC classification number: A61B17/7002 , A61B17/7083 , A61B17/7089 , A61B2017/00867
Abstract: A system and method for performing spinal fusion using vertebral connecting rods constructed of a shape memory material, such as shape memory alloy. The connecting rod is cooled below its phase transition temperature, which is chosen to be just below body temperature, and is inserted through a curved guide tube previously inserted into the back of the patient. The guide tube is located so as to deliver the connecting rod at its desired location between the preinserted pedicle screw heads. The rod, being in its flexible state below the transition temperature, negotiates the curve and exits the guide tube in a straight form and parallel to the patient's spine. As it heats up to body temperature, it regains its original straight shape and its original rigidity, and is ready for connecting its associated vertebrae to each other.
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公开(公告)号：US08992580B2
公开(公告)日：2015-03-31
申请号：US13132095
申请日：2009-12-01
Applicant: Yossef Bar , Eli Zehavi , Isador Lieberman , Moshe Shoham
Inventor： Yossef Bar , Eli Zehavi , Isador Lieberman , Moshe Shoham
IPC: A61B17/88 , A61B17/16 , A61B17/70 , A61B17/17 , A61B19/00 , A61B17/00 , A61B17/02 , A61B17/34 , A61B17/56
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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