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公开(公告)号：US11432876B2
公开(公告)日：2022-09-06
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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12.发明申请公开(公告)号：US20220241026A1
公开(公告)日：2022-08-04
申请号：US17583788
申请日：2022-01-25
Applicant: Mazor Robotics Ltd.
Inventor： Moshe Shoham , Avi Turgeman , Yizhaq Shmayahu
Abstract: A device comprises at least one processor and a memory comprising instructions that when executed by the at least one processor cause the at least one processor to: generate a first signal that causes a vibration device to vibrate, the vibration device being in force-transmitting contact with a first anatomical element; receive, from a sensor, a second signal based on sensed vibration in a second anatomical element proximate the first anatomical element; and determine, based on the second signal, an amount of mechanical coupling between the second anatomical element and the first anatomical element.
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公开(公告)号：US10687784B2
公开(公告)日：2020-06-23
申请号：US15307056
申请日：2015-04-28
Applicant: MAZOR ROBOTICS LTD.
Inventor： Moshe Shoham
Abstract: A system for insertion of a surgical tool along a trajectory to a target region in a patient's tissues, under the guidance of ultrasound imaging. The system includes a hand-held robot to whose base the probe of an ultrasound system is rigidly connected. The activated platform of the hand held robot carries a surgical tool guide. The alignment of the tool guide defines the trajectory which the tool takes within the subject's body. The position of the target region seen on the ultrasound display, can be recorded, and the robot coordinate frame of reference registered thereto. The system aligns the pose of the robot such that the surgical tool is aimed directly at the target region, independently of motion of the ultrasound probe and its associated robot. An inertial measurement unit can be incorporated to provide back-up positional information if the image of the lesion is lost.
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公开(公告)号：US12103166B2
公开(公告)日：2024-10-01
申请号：US17021723
申请日：2020-09-15
Applicant: MAZOR ROBOTICS LTD.
Inventor： Moshe Shoham
CPC classification number: B25J17/0216 , A61B17/1675 , A61B34/30 , B25J9/1676 , A61B2017/00106 , A61B2034/2055 , A61B2034/304 , A61B2090/061
Abstract: A hand held robotic system that remains stiff so long as it is operating within allowed limits, but which become actively controlled once the operator exceeds those limits. The system thus corrects deviations by more than a predetermined amount of the operator's hand motions, so that the tool remains in the allowed region even when the operator's hand deviates from the planned trajectory. The pose and path of the robotic operating head is ascertained by means of a navigation or tracking system, or by means of a proximity device to measure the closeness of the operating head to a damage sensitive feature. As the tool deviates from its predetermined path or pose, or comes too close to the hazardous area, the robot control acts to move the tool back to its predetermined pose or path, or away from the hazardous region, independently of user's hand movement.
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公开(公告)号：US11908565B2
公开(公告)日：2024-02-20
申请号：US17288660
申请日：2019-10-15
Applicant: MAZOR ROBOTICS LTD.
Inventor： Shlomit Steinberg , Moshe Shoham
CPC classification number: G16H20/40 , A61B34/10 , G16H30/20 , A61B2034/102 , A61B2034/105 , A61B2034/108
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.
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Patent Agency Ranking
公开(公告)号：US11751945B2
公开(公告)日：2023-09-12
申请号：US17096757
申请日：2020-11-12
Applicant: MAZOR ROBOTICS LTD.
Inventor： Edo Zucker , Moshe Shoham , Yuval Chen
CPC classification number: A61B34/10 , A61B17/70 , A61B17/7013 , A61B17/7077 , A61B17/7089 , A61B34/20 , A61B2017/00238 , A61B2017/564 , A61B2017/568 , A61B2034/104 , A61B2034/107 , A61B2034/108 , A61B2034/2055 , A61B2034/2063 , A61B2034/2065 , A61B2034/2072 , A61B2034/301 , A61B2090/376 , A61B2090/3945 , A61B2090/3983
Abstract: A system and method for the minimally invasive insertion of an intervertebral rod into the vertebrae of a subject, according to a preoperative surgical plan also defining positions for the insertion of rod clamping screws into the vertebrae. The rod shape for connecting the heads of the screws is calculated, and a path planning algorithm used to determine whether the distal end of the rod can be threaded through the screw heads by longitudinal and rotational manipulation of the proximal end of the rod. If so, instructions are provided for forming that rod shape and for the robotic insertion of the screw holes and the rod. If not, either or both of the screw positions and the rod shape are adjusted, to moderate the bends in the rods, until insertion becomes possible. The insertion can be performed robotically, or, if a navigation tracking system is added, manually.
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公开(公告)号：US20230020476A1
公开(公告)日：2023-01-19
申请号：US17376493
申请日：2021-07-15
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio , Moshe Shoham
Abstract: Systems, methods, and devices for planning a path are provided. A work volume and one or more no-fly zones may be mapped. The work volume may define a volume in which a robot may access and each of the one or more no-fly zones may define at least one volume in which a robot is restricted from accessing. Information may be received about a position of at least one instrument and a void volume may be calculated based on the position of the at least one instrument. The work volume may be updated to include the void volume to yield an updated work volume. A path may be calculated for a robotic arm of a robot from outside a patient anatomy to within the patient anatomy that is within the updated work volume and avoids the one or more no-fly zones.
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公开(公告)号：US20220241016A1
公开(公告)日：2022-08-04
申请号：US17575245
申请日：2022-01-13
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio , Moshe Shoham
Abstract: A method for verifying a bone entry point includes receiving a surgical plan that defines a target bone entry point and a first portion of a bone surface at least partially surrounding the target bone entry point; positioning an imaging device near an identified bone entry point; receiving, from the imaging device, an image of a second portion of the bone surface surrounding the identified bone entry point; comparing at least one feature of the first portion to at least one feature of the second portion to quantify a degree of similarity therebetween; and generating, when the quantified degree of similarity between the first portion and the second portion exceeds a threshold, a confirmation.
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公开(公告)号：US20220189047A1
公开(公告)日：2022-06-16
申请号：US17526935
申请日：2021-11-15
Applicant: Mazor Robotics Ltd.
Inventor： Amir Lev-Tov , Shay Shimon Peretz , Yaniv Ben Zriham , Moshe Shoham
Abstract: A method according to one embodiment of the present disclosure comprises receiving a first image of a patient's anatomy, the first image generated at a first time and depicting a plurality of rigid elements; receiving a second image of the patient's anatomy, the second image generated at a second time after the first time and depicting the plurality of rigid elements; determining a transformation from the first image to the second image for each one of the plurality of rigid elements to yield a set of transformations; calculating a homography for each transformation in the set of transformations to yield a set of homographies; and identifying, using the set of homographies, a common portion of each transformation attributable to a change in camera pose, and an individual portion of each transformation attributable to a change in rigid element pose.
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公开(公告)号：US20220175462A1
公开(公告)日：2022-06-09
申请号：US17526967
申请日：2021-11-15
Applicant: Mazor Robotics Ltd.
Inventor： Avi Turgeman , Moshe Shoham , Eli Zehavi
IPC: A61B34/20 , A61B34/00 , A61B34/30 , A61B34/10 , A61B5/0205
Abstract: Systems and methods for accurate determination of the position of an anatomic part of a subject in robotic assisted image-based surgery, using an inertial measurement unit (IMU) to determine the position and orientation of the anatomical part of the subject. The intrinsic drift of the IMU, which would make the IMU position measurements inaccurate, can be reset to zero regularly, at points of time when the subject's body is stationary. This can be achieved when motion from the subject's breathing and from the heartbeat are essentially zero. Such positions occur respectively when the respiratory signal shows the position of the breathing cycle to be at the end of the expiration phase, and the heartbeat signal represents a time in the diastole period of the subject's electrocardiographic cycle. When these two signal moments coincide, the IMU is essentially stationary, and its drift reset to zero.
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