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    SURGICAL ROBOTIC SYSTEM
    181.
    发明申请
    SURGICAL ROBOTIC SYSTEM 审中-公开

    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

    IPC: A61B34/30 ,  A61F2/44 ,  A61F2/46

    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.

    GLOBAL SPINAL ALIGNMENT METHOD
    182.
    发明申请
    GLOBAL SPINAL ALIGNMENT METHOD 审中-公开

    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

    IPC: G16H20/40 ,  G16H30/40 ,  A61B34/10 ,  A61B6/03 ,  A61B6/00 ,  G06T7/00 ,  G06T7/73 ,  G06T7/11

    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.

    SHAPER FOR VERTEBRAL FIXATION RODS
    184.
    发明申请
    SHAPER FOR VERTEBRAL FIXATION RODS 审中-公开

    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

    IPC: A61B17/88 ,  A61B34/10 ,  B21D7/12 ,  B21D7/14 ,  A61B17/00 ,  A61B17/70

    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.

    Robot Guided Oblique Spinal Stabilization
    186.
    发明申请
    Robot Guided Oblique Spinal Stabilization 审中-公开
    机器人导向倾斜脊柱稳定

    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。

    Segmented insert for intervertebral support
    187.
    发明授权
    Segmented insert for intervertebral support 有权
    分段插入物用于椎间支撑

    公开(公告)号：US09056015B2

    公开(公告)日：2015-06-16

    申请号：US13709448

    申请日：2012-12-10

    Applicant: MAZOR ROBOTICS LTD.

    Inventor： Eli Zehavi ,  Moshe Shoham

    IPC: A61B17/70 ,  A61F2/44 ,  A61F2/30

    CPC classification number: A61F2/44 ,  A61F2/4455 ,  A61F2002/30172 ,  A61F2002/30446 ,  A61F2002/30471 ,  A61F2002/30563 ,  A61F2002/30579 ,  A61F2002/30596 ,  A61F2002/30599 ,  A61F2002/30604 ,  A61F2002/3085 ,  A61F2002/4415 ,  A61F2220/0041 ,  A61F2220/0091 ,  A61F2230/0052 ,  A61F2250/0063

    Abstract: A spinal intervertebral support implant, for fusion or for dynamic stabilization purposes. A rod, preferably in the form of a screw, is inserted obliquely from the pedicle of an inferior vertebra into the body of a neighboring superior vertebra, through the disc space. The rod can be anchored into the body of the superior vertebra by means of a force fit or a screw thread. A pile of elements is disposed on the rod in the disc space like a pile of washers, so that the compression load between vertebrae is carried partly by these elements. These elements can be inserted through the bore through which the rod was inserted in a tightly folded configuration, and deployed into their washer-like form only when in position in the intervertebral space, such that there is no need for any additional incisions.

    Abstract translation: 用于融合或用于动态稳定目的的脊柱椎间植入物。 优选以螺钉形式的杆通过椎间盘空间从下椎骨的椎弓根倾斜插入相邻上椎骨的身体。 杆可以通过力配合或螺纹锚固在上椎骨的身体中。 一堆元件被设置在盘空间中的杆上，如同一堆垫圈，使得椎骨之间的压缩载荷部分地由这些元件承载。 这些元件可以通过穿过杆穿过的孔插入紧密折叠的构造中，并且仅在椎间空间中的适当位置部署到它们的垫圈状形状中，使得不需要任何额外的切口。

    ROBOT FOR USE WITH ORTHOPAEDIC INSERTS
    188.
    发明申请
    ROBOT FOR USE WITH ORTHOPAEDIC INSERTS 有权
    机器人与正交插件一起使用

    公开(公告)号：US20150112344A1

    公开(公告)日：2015-04-23

    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: A61B19/00 ,  A61B17/17 ,  A61B17/72

    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 orthopaedic surgeons in performing orthopaedic 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.

    Abstract translation: 一种机器人引导系统，用于协助矫形外科医生对预先定位的插入件执行矫形外科手术，包括用于固定骨折，特别是用于长骨远端髓内锁定程序。 该系统提供了一种用于在髓内钉手术中钻出远端螺钉的孔的机械引导件。 使用仅从少数X射线透视图像中得到的数据，钻机引导器相对于远端锁定钉孔自动地由机器人定位。 该系统允许执行锁定程序而没有试错，从而使得经验较少的外科医生能够成功地执行程序，减少患者和手术室人员对放射线的暴露，缩短手术时间， 手术并发症。

    SEGMENTED INSERT FOR INTERVERTEBRAL SUPPORT
    189.
    发明申请
    SEGMENTED INSERT FOR INTERVERTEBRAL SUPPORT 有权

    公开(公告)号：US20130096682A1

    公开(公告)日：2013-04-18

    申请号：US13709448

    申请日：2012-12-10

    Applicant: Mazor Robotics Ltd.

    Inventor： Eli ZEHAVI ,  Moshe SHOHAM

    IPC: A61F2/44

    CPC classification number: A61F2/44 ,  A61F2/4455 ,  A61F2002/30172 ,  A61F2002/30446 ,  A61F2002/30471 ,  A61F2002/30563 ,  A61F2002/30579 ,  A61F2002/30596 ,  A61F2002/30599 ,  A61F2002/30604 ,  A61F2002/3085 ,  A61F2002/4415 ,  A61F2220/0041 ,  A61F2220/0091 ,  A61F2230/0052 ,  A61F2250/0063

    Abstract: A spinal intervertebral support implant, for fusion or for dynamic stabilization purposes. A rod, preferably in the form of a screw, is inserted obliquely from the pedicle of an inferior vertebra into the body of a neighboring superior vertebra, through the disc space. The rod can be anchored into the body of the superior vertebra by means of a force fit or a screw thread. A pile of elements is disposed on the rod in the disc space like a pile of washers, so that the compression load between vertebrae is carried partly by these elements. These elements can be inserted through the bore through which the rod was inserted in a tightly folded configuration, and deployed into their washer-like form only when in position in the intervertebral space, such that there is no need for any additional incisions.

    Abstract translation: 用于融合或用于动态稳定目的的脊柱椎间植入物。 优选以螺钉形式的杆通过椎间盘空间从下椎骨的椎弓根倾斜插入相邻上椎骨的身体。 杆可以通过力配合或螺纹锚固在上椎骨的身体中。 一堆元件被设置在盘空间中的杆上，如同一堆垫圈，使得椎骨之间的压缩载荷部分地由这些元件承载。 这些元件可以通过穿过杆穿过的孔插入紧密折叠的构造中，并且仅在椎间空间中的适当位置部署到它们的垫圈状形状中，使得不需要任何额外的切口。

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