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

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：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.

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。

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。

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。