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公开(公告)号：US20220008221A1
公开(公告)日：2022-01-13
申请号：US16927548
申请日：2020-07-13
Applicant: MAZOR ROBOTICS LTD.
Inventor： Ido Zucker , Arik Levy
Abstract: An interbody tool may include an upper portion with an upper contact surface and a plurality of upper legs; a lower portion with a lower contact surface and a plurality of lower legs, each of the lower legs moveably connected to one of the upper legs; a plurality of gauges, each gauge configured to measure a position of one of the plurality of upper legs relative to a corresponding one of the plurality of lower legs; at least one actuator configured to selectively push the upper portion away from the lower portion; and at least one sensor for measuring a force exerted by the at least one actuator.
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公开(公告)号：US20210386433A1
公开(公告)日：2021-12-16
申请号：US17339708
申请日：2021-06-04
Applicant: Mazor Robotics Ltd.
Inventor： Eli Zehavi , Arik Levy
IPC: A61B17/16 , A61M29/00 , A61B17/3209 , A61B34/30
Abstract: A surgical tool comprises a dilator, a cutter, a retractable brush, and at least one retractable drill. The dilator is configured to dilate tissue of a patient and can be positioned in an undilated configuration or a dilated configuration. The cutter is configured to cut the tissue and is disposed at a distal end of the dilator. The cutter is configured to move between a cutting position when the dilator is in the undilated configuration and a non-cutting position when the dilator is in the dilated configuration. The retractable brush is configured to brush a surface of an anatomical element of the patient to remove matter from the surface. The at least one retractable drill is configured to drill into the anatomical element.
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公开(公告)号：US10939962B1
公开(公告)日：2021-03-09
申请号：US15089704
申请日：2016-04-04
Applicant: Mazor Robotics Ltd.
Inventor： Aviv Ellman , Eli Zehavi
Abstract: A system and method for verifying the accurate insertion positioning of a robotically guided surgical tool or probe, at its cranial target region, such as for Deep Brain Stimulation. A head mounted robot aligns a probe or tool guiding sleeve, together with an aiming rod attached at a predefined position and angle to the guiding sleeve. The aiming rod incorporates apertures through which an X-ray system can view the patient's skull. The aiming rod is attached to the tool guiding sleeve at an angle and position calculated such that the line of sight through the apertures falls exactly on the target region when the tool or probe is inserted to its predetermined depth. If the tip of the tool or probe is seen located at the center of the apertures in the X-ray image, verification is obtained that the insertion procedure has been performed accurately.
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公开(公告)号：US20200022758A1
公开(公告)日：2020-01-23
申请号：US16509757
申请日：2019-07-12
Applicant: MAZOR ROBOTICS LTD.
Inventor： Moshe SHOHAM , Shlomit STEINBERG
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.
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公开(公告)号：US20190117320A1
公开(公告)日：2019-04-25
申请号：US16068947
申请日：2017-01-11
Applicant: MAZOR ROBOTICS LTD.
Inventor： Moshe SHOHAM , Eliyahu ZEHAVI , Yossi BAR
Abstract: A surgical robot system whose robotic arm is divided into two parts, and is connected to the patient at the junction of the two parts, by means of a bone connector. The section between the bone connector and the robotic base has a predetermined level of flexibility, enabling the bone connector limited movement. Consequently, the patient's body can also move without the bone connector exerting excess forces on the patient, and without detachment from the patient. The arm section between the bone connection link and the end actuator has high rigidity, such that the pose of the end actuator relative to the patient is accurately maintained. As the patient undergoes small movements, such as in breathing or coughing, the bone connector and base connection arm section, move together with motion of the patient's bone, while the pose of the end actuator relative to the patient is accurately maintained.
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Patent Agency Ranking
公开(公告)号：US20180301213A1
公开(公告)日：2018-10-18
申请号：US15765720
申请日：2016-10-13
Applicant: MAZOR ROBOTICS LTD.
Inventor： Eliyahu ZEHAVI , Yossi BAR , Shlomit STEINBERG , Leonid KLEYMAN , Isador LIEBERMAN
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：US09872733B2
公开(公告)日：2018-01-23
申请号：US14485851
申请日：2014-09-15
Applicant: MAZOR ROBOTICS LTD.
Inventor： Moshe Shoham , Leo Joskowicz , Charles Milgrom , Ziv Yaniv , Ariel Simkin
IPC: A61B17/17 , A61B34/00 , A61B19/00 , G05B19/402 , A61B17/72 , A61B34/30 , A61B34/20 , A61B17/68 , A61B90/00 , A61B90/11 , A61B34/10
CPC classification number: A61B34/70 , A61B17/1703 , A61B17/1721 , A61B17/1725 , A61B17/1728 , A61B17/72 , A61B34/10 , A61B34/30 , A61B90/11 , A61B2017/681 , A61B2034/2065 , A61B2034/304 , A61B2090/376 , G05B19/402 , G05B2219/39011 , G05B2219/40267 , G05B2219/45168 , G05B2219/49113 , Y10S128/908 , Y10S128/922 , Y10S128/923
Abstract: A robot-guided system to assist orthopedic surgeons in performing orthopedic surgical procedures on pre-positioned inserts, including for the fixation of bone fractures, and especially for use in long bone distal intramedullary locking procedures. The system provides a mechanical guide for drilling the holes for distal screws in intramedullary nailing surgery. The drill guide is automatically positioned by the robot relative to the distal locking nail holes, using data derived from only a small number of X-ray fluoroscopic images. The system allows the performance of the locking procedure without trial and error, thus enabling the procedure to be successfully performed by less experienced surgeons, reduces exposure of patient and operating room personnel to radiation, shortens the intra-operative time, and thus reduces post-operative complications.
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公开(公告)号：US20170360493A1
公开(公告)日：2017-12-21
申请号：US15533037
申请日：2015-12-04
Applicant: MAZOR ROBOTICS LTD.
Inventor： Edo ZUCKER , Moshe Shoham
CPC classification number: A61B17/8863 , A61B17/70 , A61B17/7002 , A61B34/10 , A61B2017/00526 , A61B2034/108 , B21D7/12 , B21D7/14
Abstract: A system for rod bending for use in robotic spinal surgery, enabling the correct bending of a fusion rod to match the shape required to accurately pass through the heads of the pedicle screws. The system uses data generated by information provided to the robot by the surgeon's preoperative plan, optionally augmented by feedback from the robot control system of deviations encountered intraoperatively. Such deviations could occur, for example, when the surgeon decides intraoperatively on a different trajectory or even to skip screws on one vertebra, in which case, the robot will be commanded to perform the alternative procedure, with commensurate instructions relayed to the control system of the rod-bending machine. The system is also able to thin down the rod at predetermined locations along its length, adapted to be at selected intervertebral locations, for maintaining limited flexibility between vertebrae, instead of fixating them.
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公开(公告)号：US09814535B2
公开(公告)日：2017-11-14
申请号：US15345547
申请日：2016-11-08
Applicant: MAZOR ROBOTICS LTD.
Inventor： Yossef Bar , Eli Zehavi , Isidore Lieberman , Moshe Shoham
IPC: A61B17/32 , A61B17/16 , A61B34/30 , A61B17/17 , A61B17/3205 , A61B90/11 , A61B17/70 , A61B17/00 , A61B17/02 , A61B17/34 , A61B17/56 , A61B90/50 , A61B34/10 , A61B90/00
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.
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公开(公告)号：US20150196326A1
公开(公告)日：2015-07-16
申请号：US14642792
申请日：2015-03-10
Applicant: MAZOR ROBOTICS LTD.
Inventor： Yossef BAR , Eli ZEHAVI , Isidore LIEBERMAN , Moshe SHOHAM
IPC: A61B17/70 , A61B17/3205
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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