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公开(公告)号：US11701099B2
公开(公告)日：2023-07-18
申请号：US16301443
申请日：2017-05-15
Applicant: MAZOR ROBOTICS LTD.
Inventor： Yossef Bar , Moshe Shoham
CPC classification number: A61B17/0218 , A61B17/02 , A61M29/00 , A61M29/02 , A61B2017/00557 , A61B2017/00831 , A61B2017/0225
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：US20230157774A1
公开(公告)日：2023-05-25
申请号：US17534089
申请日：2021-11-23
Applicant: Mazor Robotics Ltd.
Inventor： Boris Bashkansky , Ori Ben Zeev , Adi Sandelson , Gillan M. Grimberg
Abstract: A robotic system according to at least one embodiment of the present disclosure includes a robot arm including a proximal end and a distal end, a mount flange rotationally connected to the robot arm at the distal end along a rotation axis, and an end effector interconnected to the mount flange via an attachment interface disposed between the mount flange and the end effector. The attachment interface fixedly arranges the end effector in one of at least two select positions. A first position of the at least two select positions orients a surgical tool axis of the end effector at a first angle relative to the rotation axis, and a second position of the at least two select positions orients the surgical tool axis of the end effector at a second angle relative to the rotation axis. The second angle is different from the first angle.
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公开(公告)号：US20230012440A1
公开(公告)日：2023-01-12
申请号：US17373541
申请日：2021-07-12
Applicant: Mazor Robotics Ltd.
Inventor： Ido Zucker , Avi Turgeman
Abstract: Systems, devices, and methods for identifying a region of interest are provided. A plurality of skeletal landmarks may be identified from an image received from an imaging device. A pose of a patient may be determined based on the plurality of skeletal landmarks. A region of interest may be identified on the patient based on the determined pose. Instructions may be automatically provided to the controller to adjust a pose of a surgical instrument relative to the region of interest. The plurality of skeletal landmarks may be tracked for movement. The region of interest may be updated when movement of the plurality of skeletal landmarks is detected.
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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
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.
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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
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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Patent Agency Ranking
176.发明申请公开(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
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.
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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.
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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
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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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
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.
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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
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.
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