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.

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

IPC: A61F2/46 ,  A61F2/44

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.

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.

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

IPC: A61B34/20 ,  A61B90/00 ,  A61N1/05

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.

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.

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.

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。

公开(公告)号：US09044190B2

公开(公告)日：2015-06-02

申请号：US12442689

申请日：2007-09-25

Applicant: Joseph Rubner ,  Eli Zehavi ,  Leonid Kleyman ,  Moshe Shoham

Inventor： Joseph Rubner ,  Eli Zehavi ,  Leonid Kleyman ,  Moshe Shoham

IPC: A61B6/00

CPC classification number: A61B6/4405 ,  A61B6/4441 ,  A61B6/583

Abstract: A system and method for generating CT-type three dimensional imaging information from a conventional C-arm fluoroscope system. This enables the adaptation of widely used C-arm installations to provide CT-type information. The system uses a three dimensional target disposing in a fixed position relative to the subject, and obtains a sequence of video images of a region of interest of a subject while the C-arm is moved manually or by a scanning motor. Images from the video sequence are analyzed to determine the pose of the C-arm relative to the subject by analysis of the image patterns of the target. Images are selected from the video sequence according to predetermined criteria. A set of two-dimensional image data with associated positional data is obtained, which is used to reconstruct a three dimensional volumetric set of imaging data of the region of interest of the subject.

Abstract translation: 一种用于从常规C-臂荧光镜系统产生CT型三维成像信息的系统和方法。 这使得能够适应广泛使用的C臂安装来提供CT型信息。 该系统使用相对于被摄体设置在固定位置的三维目标物，并且在C型手臂手动移动或通过扫描电动机移动时获得被检体的感兴趣区域的视频图像序列。 分析来自视频序列的图像，以通过分析目标的图像模式来确定C臂相对于受试者的姿态。 根据预定标准从视频序列中选择图像。 获得具有相关联的位置数据的一组二维图像数据，其用于重建受试者的感兴趣区域的成像数据的三维体积组。