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公开(公告)号：US20140316436A1
公开(公告)日：2014-10-23
申请号：US14360186
申请日：2012-12-05
Applicant: Yossef Bar , Eli Zehavi , Moshe Shoham , David Groberman
Inventor： Yossef Bar , Eli Zehavi , Moshe Shoham , David Groberman
IPC: A61B19/00
CPC classification number: A61B34/30 , A61B17/1757 , A61B34/32 , A61B90/50 , A61B2017/00694 , A61B2090/064 , A61B2090/571 , Y10S901/09
Abstract: A robotic surgical system incorporating a surgical robot attached to a patient's bone by an attachment member, such that motion of the bone induces corresponding motion of the robot, maintaining the robot/bone positional relationship. The robot is supported on a mechanical mounting member attached through a controlled joint to a bed-mounted base element. The controlled joint can alternatively enable the mechanical mounting member to move freely relative to the base element, or its position can be controlled by signal inputs adapted to prevent excessive force being applied in the system. Two modes of operation are available (i) free motion in which the control system is decoupled from the mounting member, which rides freely with patient bone motion, and (ii) servo-controlled motion, in which drive mechanisms control the joint motion to prevent application of excessive force on the patient bone or attachment member.
Abstract translation: 一种机器人手术系统，其包括通过附接构件附接到患者骨骼的手术机器人，使得骨骼的运动引起机器人的相应运动，保持机器人/骨骼位置关系。 机器人被支撑在通过受控接头附接到床上安装的基座元件的机械安装构件上。 可控的接头可替代地使得机械安装构件相对于基座元件自由移动，或者其位置可以由适于防止在系统中施加过大的力的信号输入来控制。 有两种操作模式可用（i）自由运动，其中控制系统与安装构件脱离，骑自行与患者骨骼运动，以及（ii）伺服控制运动，其中驱动机构控制关节运动以防止 对患者骨骼或附着部件施加过大的力。
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公开(公告)号：US08469963B2
公开(公告)日：2013-06-25
申请号：US12042072
申请日：2008-03-04
Applicant: Moshe Shoham
Inventor： Moshe Shoham
CPC classification number: A61B17/17
Abstract: A drilling guide cannula, having a serrated distal end in the form of axially moveable teeth which enables all or most of the teeth to maintain biting contact with the bone surface, essentially independently of the curvature of the bone surface and the drilling angle. The cannula outer wall incorporates a number of pins arranged circumferentially around the drilling bore. These pins slide axially relative to the cannula, preferably in bored holes or in channels formed within the wall of the cannula. Each of the secondary pins has a sharpened distal end, each constituting a moveable tooth. The cannula is applied to the bone to be drilled at the desired drilling position and angle, and the pins are forced axially towards the bone surface. The pins take up the contour of the bone surface and each pin bites into the bone surface to rigidly position the drilling guide cannula.
Abstract translation: 钻孔引导套管，其具有呈轴向移动齿形式的锯齿形远端，其使得所有或大部分牙齿能够保持与骨表面的咬合接触，基本上与骨表面的曲率和钻孔角度无关。 插管外壁包括围绕钻孔周向布置的多个销。 这些销钉相对于套管轴向滑动，优选地在钻孔中或形成在套管壁内的通道中滑动。 每个副销具有尖锐的远端，每个构成可动齿。 套管被施加到要在所需钻孔位置和角度上钻孔的骨头，并且销被轴向地朝向骨表面。 销钉占据骨表面的轮廓，每个销咬入骨表面以使钻孔导套插入刚性。
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公开(公告)号：US20080294285A1
公开(公告)日：2008-11-27
申请号：US10597673
申请日：2005-02-03
Applicant: Moshe Shoham
Inventor： Moshe Shoham
IPC: G05B19/401 , B25J9/16
CPC classification number: G05B19/4062 , B25J9/1623 , B25J17/0266 , G05B2219/42318 , G05B2219/50162
Abstract: An apparatus and method for assuring effective backup for sensor failure in robots, by utilizing a single extra sensor attached between the end actuator and the base. The single extra sensor provides absolute back-up for any single encoder failure that may occur in the system, and statistically significant back-up for any double encoder failure. A single additional sensor effectively provides the robotic system with one redundant information input to the robot control algorithm, which can be used in order to determine whether any of the other control sensors, or even the additional sensor itself, has failed and is delivering an erroneous reading, and hence to warn the operator of the failure. A single additional sensor also provides useful warning of the simultaneous failure of two sensors, since the likelihood that two sensors fail simultaneously in a mode that makes the failures undetectable, can be regarded as statistically insignificant.
Abstract translation: 通过利用连接在端部致动器和基座之间的单个附加传感器来确保在机器人中传感器故障的有效备份的装置和方法。 单个额外的传感器为系统中可能发生的任何单个编码器故障提供绝对备份，以及任何双编码器故障的统计上显着的备份。 一个附加的传感器有效地为机器人系统提供了一个机器人控制算法的冗余信息输入，这可以用来确定其他控制传感器，甚至附加传感器本身是否有失败，并且传递错误 阅读，从而警告操作者失败。 一个额外的传感器还提供了两个传感器同时发生故障的有用警告，因为两个传感器同时处于故障模式不可检测的可能性可以被认为是统计学上无关紧要的。
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公开(公告)号：US20080221581A1
公开(公告)日：2008-09-11
申请号：US12042072
申请日：2008-03-04
Applicant: Moshe Shoham
Inventor： Moshe Shoham
CPC classification number: A61B17/17
Abstract: A drilling guide cannula, having a serrated distal end in the form of axially moveable teeth which enables all or most of the teeth to maintain biting contact with the bone surface, essentially independently of the curvature of the bone surface and the drilling angle. The cannula outer wall incorporates a number of pins arranged circumferentially around the drilling bore. These pins slide axially relative to the cannula, preferably in bored holes or in channels formed within the wall of the cannula. Each of the secondary pins has a sharpened distal end, each constituting a moveable tooth. The cannula is applied to the bone to be drilled at the desired drilling position and angle, and the pins are forced axially towards the bone surface. The pins take up the contour of the bone surface and each pin bites into the bone surface to rigidly position the drilling guide cannula.
Abstract translation: 钻孔引导套管，其具有呈轴向移动齿形式的锯齿形远端，其使得所有或大部分牙齿能够保持与骨表面的咬合接触，基本上与骨表面的曲率和钻孔角度无关。 插管外壁包括围绕钻孔周向布置的多个销。 这些销钉相对于套管轴向滑动，优选地在钻孔中或形成在套管壁内的通道中滑动。 每个副销具有尖锐的远端，每个构成可动齿。 套管被施加到要在所需钻孔位置和角度上钻孔的骨头，并且销被轴向地朝向骨表面。 销钉占据骨表面的轮廓，每个销咬入骨表面以使钻孔导套插入刚性。
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公开(公告)号：US20060098851A1
公开(公告)日：2006-05-11
申请号：US10517846
申请日：2005-12-29
Applicant: Moshe Shoham , Leo Joskowicz , Charles Milgrom , Ziv Yaniv , Ariel Simkin
Inventor： Moshe Shoham , Leo Joskowicz , Charles Milgrom , Ziv Yaniv , Ariel Simkin
IPC: G06K9/00
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。
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Patent Agency Ranking
公开(公告)号：US20050171557A1
公开(公告)日：2005-08-04
申请号：US10965100
申请日：2004-10-15
Applicant: Moshe Shoham
Inventor： Moshe Shoham
CPC classification number: A61B17/1757 , A61B6/583 , A61B34/30 , A61B34/70 , A61B34/72 , A61B2034/742 , Y10T74/20305
Abstract: A miniature surgical robot and a method for using it are disclosed. The miniature surgical robot attaches directly with the bone of a patient. Two-dimensional X-ray images of the robot on the bone are registered with three-dimensional images of the bone. This locates the robot precisely on the bone of the patient. The robot is then directed to pre-operative determined positions based on a pre-operative plan by the surgeon. The robot then moves to the requested surgical site and aligns a sleeve through which the surgeon can insert a surgical tool.
Abstract translation: 公开了一种微型外科手术机器人及其使用方法。 微型外科手术机器人直接与患者的骨骼连接。 骨骼上的机器人的二维X射线图像与骨的三维图像一起记录。 这将机器人精确地定位在患者的骨骼上。 然后机器人基于外科医生的手术前计划被引导到术前确定的位置。 然后，机器人移动到所要求的外科手术部位并对准外科医生可以插入手术工具的套筒。
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公开(公告)号：US10058338B2
公开(公告)日：2018-08-28
申请号：US12725487
申请日：2010-03-17
Applicant: Moshe Shoham
Inventor： Moshe Shoham
CPC classification number: A61B17/1757 , A61B6/583 , A61B34/30 , A61B34/70 , A61B34/72 , A61B2034/742 , Y10T74/20305
Abstract: Disclosed are methods for performing a surgical procedure at a surgical site utilizing a surgical robot. Other embodiments are also disclosed.
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公开(公告)号：US09713499B2
公开(公告)日：2017-07-25
申请号：US14360186
申请日：2012-12-05
Applicant: Yossef Bar , Eli Zehavi , Moshe Shoham , David Groberman
Inventor： Yossef Bar , Eli Zehavi , Moshe Shoham , David Groberman
CPC classification number: A61B34/30 , A61B17/1757 , A61B34/32 , A61B90/50 , A61B2017/00694 , A61B2090/064 , A61B2090/571 , Y10S901/09
Abstract: A robotic surgical system incorporating a surgical robot attached to a patient's bone by an attachment member, such that motion of the bone induces corresponding motion of the robot, maintaining the robot/bone positional relationship. The robot is supported on a mechanical mounting member attached through a controlled joint to a bed-mounted base element. The controlled joint can alternatively enable the mechanical mounting member to move freely relative to the base element, or its position can be controlled by signal inputs adapted to prevent excessive force being applied in the system. Two modes of operation are available (i) free motion in which the control system is decoupled from the mounting member, which rides freely with patient bone motion, and (ii) servo-controlled motion, in which drive mechanisms control the joint motion to prevent application of excessive force on the patient bone or attachment member.
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公开(公告)号：US09492241B2
公开(公告)日：2016-11-15
申请号：US11813747
申请日：2006-01-12
Applicant: Leo Joskowicz , Moshe Shoham , Reuven Shamir , Moti Freiman , Eli Zehavi , Yigal Shoshan
Inventor： Leo Joskowicz , Moshe Shoham , Reuven Shamir , Moti Freiman , Eli Zehavi , Yigal Shoshan
CPC classification number: A61B90/36 , A61B34/10 , A61B34/20 , A61B34/72 , A61B90/11 , A61B90/13 , A61B90/361 , A61B2017/3407 , A61B2034/105 , A61B2034/107 , A61B2034/2055 , A61B2034/2065 , A61B2090/365 , A61B2090/373
Abstract: A novel image-guided system for precise automatic targeting in minimally invasive keyhole neurosurgery. The system consists of a miniature robot fitted with a mechanical guide for needle, probe, or catheter insertion. Intraoperative, the robot is directly affixed to a head clamp or to the patient skull. It automatically positions itself with respect to predefined entry points and targets in a preoperative CT/MRI image following an anatomical registration with an intraoperative 3D surface scan of the patient facial features and a registration jig. The registration procedure is a novel three-way scheme, in which the intraoperative surface scan including the registration jig is matched to a model generated from the preoperative CT/MRI image, the robot position is known in relation to the registration jig, and the entry and target points are known from the preoperative CT/MRI image, such that the robot position can be related to the entry and target points.
Abstract translation: 一种新颖的图像引导系统，用于微创锁眼神经外科手术中的精确自动瞄准。 该系统由装有用于针头，探针或导管插入的机械导向器的微型机器人组成。 术中，机器人直接固定在头夹或患者头骨上。 在通过患者面部特征的术中3D表面扫描和对准夹具的解剖学配准之后，它自动地将自身定位在术前CT / MRI图像中的预定义入口点和目标位置。 注册过程是一种新颖的三向方案，其中包括登记夹具的术中表面扫描与从术前CT / MRI图像产生的模型相匹配，机器人位置相对于登记夹具是已知的，并且入口 目标点从术前CT / MRI图像得知，使得机器人位置可以与进入点和目标点相关。
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公开(公告)号：US09393389B2
公开(公告)日：2016-07-19
申请号：US13805041
申请日：2011-06-19
Applicant: Or Samoocha , Menashe Zaaroor , Moshe Shoham
Inventor： Or Samoocha , Menashe Zaaroor , Moshe Shoham
CPC classification number: A61M27/006 , A61M2025/0019 , B08B9/027
Abstract: A self cleaning inlet head for use on a shunt. The head has a tube with openings disposed in predetermined positions in its wall, and a cleaning element installed inside the tube. The cleaning element may comprise a central shaft with a number of bristles protruding therefrom, preferably in locations substantially identical to the positions of the openings in the wall of the tube. Mutual vibratory motion between the cleaning element and the tube causes at least some of the bristles to enter the openings, thereby keeping them clear, and preventing tissue growth into them. The vibratory motion may be generated by the action of an external field on a responsive part of the cleaning element, such as an external magnetic field operating on a magnetic or magnetized part of the cleaning element or the bristles. Alternatively, the external field may be an ultrasound field operating on the bristles.
Abstract translation: 用于分流器的自清洁进样头。 头部具有管，其开口设置在其壁中的预定位置，以及安装在管内的清洁元件。 清洁元件可以包括具有从其突出的多个刷毛的中心轴，优选地在与管的壁中的开口的位置基本相同的位置。 清洁元件和管之间的相互振动使至少一些刷毛进入开口，从而保持清洁，并防止组织生长进入它们。 振动运动可以通过清洁元件的响应部分上的外部场的作用产生，例如在清洁元件的磁性或磁化部分上操作的外部磁场或刷毛。 或者，外部场可以是在刷毛上操作的超声波场。
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