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    ACTIVE BED MOUNT FOR SURGICAL ROBOT
    191.
    发明申请
    ACTIVE BED MOUNT FOR SURGICAL ROBOT 有权
    主动床装置用于手术机器人

    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。

    Bone drilling cannula
    192.
    发明授权
    Bone drilling cannula 有权
    骨钻套管

    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

    IPC: A61B17/60 ,  A61F2/00 ,  A61M5/178

    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。

    SEGMENTED INSERT FOR INTERVERTEBRAL SUPPORT
    193.
    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。

    CT-free spinal surgical imaging system
    194.
    发明授权
    CT-free spinal surgical imaging system 有权
    无CT脊柱手术成像系统

    公开(公告)号：US08335553B2

    公开(公告)日：2012-12-18

    申请号：US12442737

    申请日：2007-09-25

    Applicant: Joseph Rubner ,  Eli Zehavi ,  Leonid Kleyman

    Inventor： Joseph Rubner ,  Eli Zehavi ,  Leonid Kleyman

    IPC: A61B5/05

    CPC classification number: A61B6/4441 ,  A61B34/30 ,  A61B2034/107 ,  A61B2090/367 ,  A61B2090/376

    Abstract: A system and method for generating three dimensional CT-type information from a conventional C-arm fluoroscope imaging system. A small number of fluoroscope images are used, taken from angles whose pose is determined by means of a three-dimensional target attached to the region of interest, aided by the participation of the surgeon or an image processing routine to pinpoint known anatomical features in the region of interest of the patient. This procedure enables the reconstruction of virtual images in any desired plane, even in planes other than those accessible by the C-arm imaging process, such as the axial plane of a vertebra. Use of this system and method of marking of the feature to be treated in a small number of angularly dissimilar images, enables the generation of CT-type information which can be used to accurately align a robotically guided surgical tool with the anatomical feature.

    Abstract translation: 一种用于从常规C-臂荧光镜成像系统产生三维CT型信息的系统和方法。 使用少量的荧光镜图像，其取决于通过外科医生或图像处理程序的参与辅助的姿态由附着于感兴趣区域的三维目标确定的角度，以精确定位已知的解剖特征 患者感兴趣的区域。 该过程使得能够在任何所需平面内重构虚拟图像，甚至在C形成像过程可接近的平面内，例如椎骨的轴向平面。 使用该系统和在少量角度不同的图像中对要处理的特征进行标记的方法能够产生可用于将机器人引导的手术工具与解剖特征精确对准的CT型信息。

    Systems and methods for robotic collision avoidance using medical imaging
    195.
    发明授权
    Systems and methods for robotic collision avoidance using medical imaging 有权

    公开(公告)号：US12295683B2

    公开(公告)日：2025-05-13

    申请号：US17590891

    申请日：2022-02-02

    Applicant: Mazor Robotics Ltd.

    Inventor： Adi Sandelson ,  Nimrod Dori

    IPC: A61B34/32

    Abstract: Systems and methods according to embodiments of the present disclosure include: receiving registration data including information about a location of an anatomical element in a surgical environment; defining, based on the registration data, a three-dimensional (3D) volume in the surgical environment including the anatomical element; and controlling a robotic arm inside the surgical environment based on the defined 3D volume such that at least the robotic arm or one or more components attached to the robotic arm avoids passing through the defined 3D volume during a movement of the robotic arm.

    Systems and methods for registering one or more anatomical elements
    197.
    发明授权
    Systems and methods for registering one or more anatomical elements 有权

    公开(公告)号：US12213748B2

    公开(公告)日：2025-02-04

    申请号：US17591863

    申请日：2022-02-03

    Applicant: Mazor Robotics Ltd.

    Inventor： Ofir Dahan ,  Nir Ofer ,  Yair S. Schwartz ,  Gal Barazani ,  Maor Sviri ,  Itay Jerby

    IPC: A61B34/20 ,  A61B34/30 ,  A61B90/00 ,  G06T7/00 ,  G06T7/11 ,  G06T7/38 ,  G16H30/20

    Abstract: Systems and methods for registering one or more anatomical elements are provided. The system may comprise an imaging device and a navigation system configured to track a pose of a marker coupled to an object and configured to identify the marker. A first image may be received from a surgical plan. Pose information describing the pose of the marker and a marker identification of the marker may be obtained from the navigation system. An object identification based on the marker identification may be retrieved from a database. Image data of a second image depicting an anatomical element and the object may be obtained from the imaging device. The image data, the pose information, and the object identification may be input into a registration model. The registration model may be configured to register the anatomical element to the first image based on the pose information and the object identification.

    Arm movement safety layer
    199.
    发明授权
    Arm movement safety layer 有权

    公开(公告)号：US12201377B2

    公开(公告)日：2025-01-21

    申请号：US17516408

    申请日：2021-11-01

    Applicant: Mazor Robotics Ltd.

    Inventor： Ziv Seemann ,  Gal Barazani ,  Ori Ben Zeev ,  Dvir Kadshai ,  Itamar Eshel

    IPC: A61B34/20 ,  A61B34/00 ,  A61B34/30

    Abstract: A system according to at least one embodiment of the present disclosure includes a processor; and at least one inertial sensor having a known physical relationship with a tracked object in a first pose, the at least one inertial sensor providing a measurement indicative of a movement of the tracked object from the first pose to a second pose, wherein the processor determines the second pose of the tracked object based, at least in part, on the measurement provided by the at least one inertial sensor.

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