公开(公告)号：US20220409304A1

公开(公告)日：2022-12-29

申请号：US17357647

申请日：2021-06-24

Applicant: Mazor Robotics Ltd.

Inventor： Amir Keret ,  Ziv Seemann ,  Dvir Kadshai ,  Ori Ben Zeev ,  Itamar Eshel ,  Gal Eshed ,  Dor Kopito

IPC: A61B34/30 ,  B25J15/04 ,  B25J19/00 ,  A61B46/10 ,  H01R13/62 ,  H01R13/627

Abstract: Systems and methods for changing an end effector are provided. A connecting plate may have a first side, a second side opposite the first side, and a kinematic interface. The kinematic interface may include at least one projection extending from both the first side and the second side. A robot flange may have a first kinematic receiver including at least one recess for receiving a corresponding projection of the at least one projection of the first side. An end effector may have a second kinematic receiver and a locking assembly. The second kinematic receiver may include at least one recess for receiving a corresponding projection of the at least one projection of the second side. The locking assembly may be configured to releasably secure the end effector to the robot flange.

公开(公告)号：US20220395330A1

公开(公告)日：2022-12-15

申请号：US17888818

申请日：2022-08-16

Applicant: Mazor Robotics Ltd.

Inventor： Moshe Shoham ,  Shlomit Steinberg

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

Abstract: An exemplary method of determining a surgical spinal correction for a subject using analysis of motion capture images of the subject, which uses the steps of obtaining pre-operative three-dimensional images of a spinal region, obtaining a pre-operative time sequenced set of images of the subject during a movement progression of said subject, calculating in a plurality of the motion capture images, alignment parameters relating to upper and lower body regions of the subject, and determining if any of the calculated alignment parameters are outside their predetermined acceptable ranges in one or more of the images, iteratively adjusting anatomical elements in three-dimensional images until all of the calculated alignment parameters are within their predetermined acceptable ranges; and adjusting spinal anatomy in the three-dimensional images according to the degree of adjustment of spinal parameters in the motion capture images to determine a surgical spinal correction.

公开(公告)号：US20220354511A1

公开(公告)日：2022-11-10

申请号：US17323408

申请日：2021-05-18

Applicant: Mazor Robotics Ltd.

Inventor： GAL BARAZANI ,  Ori Ben Zeev ,  Ofir Dahan ,  Ziv Seemann

IPC: A61B17/17 ,  A61B34/10 ,  A61B34/30 ,  G16H20/40 ,  G16H30/40 ,  G16H40/40 ,  B33Y80/00 ,  B33Y50/00

Abstract: A surgical bone-protecting drill guide device includes a body formed of biocompatible material forming a shell. The body includes an outer surface, an interior surface being a reverse-engineering surface approximation of a protruding boney structure of one or more bones in an image of a patient and body material between the outer surface and the interior surface. The device includes implant guides. Each implant guide is configured to extend from the outer surface and through the body material and the interior surface and provide a window to a pre-planned implant location for implanting a respective one implant relative to the protruding boney structure of the patient. The window has a size and shape that is pre-calculated as a function of a size of a pre-determined tool to be inserted through the window.

公开(公告)号：US11450435B2

公开(公告)日：2022-09-20

申请号：US16842380

申请日：2020-04-07

Applicant: MAZOR ROBOTICS LTD.

Inventor： Dany Junio

IPC: G16H30/40 ,  G16H50/20 ,  G16H30/20 ,  G16H50/50 ,  G16H50/70 ,  A61B5/00 ,  G06T7/00 ,  G16H20/30 ,  G16H20/00

Abstract: A method and system for detecting spinal stenosis is provided. The method may receive image data corresponding to a spine region of a patient. The method may also identify a spinal cord in the image data. The method may determine at least one compression of the spinal cord and may mark an anatomical element proximate to a location of the determined at least one compression to yield at least one marking. The method may generate a decompression plan based on the at least one marking.

公开(公告)号：US20220270263A1

公开(公告)日：2022-08-25

申请号：US17590010

申请日：2022-02-01

Applicant: Mazor Robotics Ltd.

Inventor： Dany Junio

IPC: G06T7/174 ,  G06T7/38

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.

公开(公告)号：US20220265352A1

公开(公告)日：2022-08-25

申请号：US17589951

申请日：2022-02-01

Applicant: Mazor Robotics Ltd.

Inventor： Ido Zucker

IPC: A61B34/10 ,  A61B34/30 ,  A61B17/70

Abstract: Systems and methods for planning the position of surgical hardware to be robotically implanted in a subject. The system extracts information about the planned position of hardware from an operative plan based on preoperative images, and converts this information into mathematical vectors. Intraoperatively, at least one three-dimensional scan of the operative site is obtained. The intraoperative images are processed by image analysis, to which are applied artificial intelligence algorithms for feature identification. The vectors derived from the preoperative plan are superimposed on identified anatomical features from the processed intraoperative images. The surgical plan can then be updated intraoperatively, taking into account any shift in position of the anatomical features between the preoperative images and the intraoperative images, prior to robotic insertion of the hardware.

公开(公告)号：US20220192701A1

公开(公告)日：2022-06-23

申请号：US17475177

申请日：2021-09-14

Applicant: Mazor Robotics Ltd.

Inventor： Dany Junio

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

Abstract: A method for robot-assisted minimally invasive surgery involves calculating, based on a surgical plan, an insertion vector for an MIS port; causing a robotic arm to hold the MIS port in a pose that corresponds to the insertion vector; detecting, with a sensor on the robotic arm, a force applied to the robotic arm via the MIS port; maintaining the MIS port in the pose when the detected force is lower than a predetermined threshold; and generating an alert when the detected force exceeds the predetermined threshold.

公开(公告)号：US20220168048A1

公开(公告)日：2022-06-02

申请号：US17536312

申请日：2021-11-29

Applicant: Mazor Robotics Ltd.

Inventor： Moshe Shoham ,  Yizhaq Shmayahu

IPC: A61B34/20 ,  A61B34/30 ,  A61B17/17 ,  A61B17/16

Abstract: A system for tracking the position of a surgical tool manipulated by a surgical robotic system, to determine that the tool is correctly positioned and orientated. Miniature 3-D tracking cameras are mounted on the end effector of the robotic system, one viewing markers on the surgical tool, and the other markers attached to the anatomy part being operated on. The initial spatial position and orientation of the surgical tool on the surface of the anatomy part is measured, and the progress of the surgical tool into the anatomic body part is tracked using one of the miniature cameras. The cameras or sensors are close to the surgical region of interest, and all the mechanical and sensor elements necessary for the system operation are mounted within the realm of the robot. The system thus avoids interruption of communication between a remotely positioned navigation camera and the robot or patient.

公开(公告)号：US20220151714A1

公开(公告)日：2022-05-19

申请号：US17476094

申请日：2021-09-15

Applicant: Mazor Robotics Ltd.

Inventor： Eli Zehavi ,  Moshe Shoham ,  Yonatan Ushpizin ,  Avi Turgeman

IPC: A61B34/30 ,  A61B17/02 ,  A61B34/20

Abstract: Systems and methods for robotic retraction of tissues in a surgical field. Two retractor mechanisms are used on either side of an incision. Each retractor is adapted to be held by a robotic arm, which applies force on the retractor mechanism to pull dissected tissue away from the incision, thus revealing the operative field. A force sensor is employed to measure the force on the retractor, an optional tracking sensor may be used to measure the extent of tissue retraction in two or three dimensions, and both sources of information provided to the robotic controller. By monitoring feedback from either the force sensor or the tracking sensor, the system is able to maintain equal retraction on both sides of the incision. The retractor elements incorporate mechanisms that move down the tissue as the retractors are pulled laterally.

公开(公告)号：US20220013211A1

公开(公告)日：2022-01-13

申请号：US17288660

申请日：2019-10-15

Applicant: MAZOR ROBOTICS LTD.

Inventor： Shlomit STEINBERG ,  Moshe SHOHAM

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

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.