公开(公告)号：US10595899B2

公开(公告)日：2020-03-24

申请号：US15023409

申请日：2014-09-22

Applicant: MAZOR ROBOTICS LTD.

Inventor： Yossi Bar ,  Eliyahu Zehavi ,  Yonatan Ushpizin ,  Nadav Shoham

IPC: A61B17/34 ,  A61B17/00 ,  A61B34/30 ,  A61M29/00

Abstract: Automatic dilator devices for generating minimally invasive access apertures for surgical procedures or endoscopic surveillance. The automatic dilators comprise a number of spreader tubes nested one inside the other. The devices deploy automatically by means of coupled mechanical mechanisms which insert one spreader after the other distally into the patient's tissue. Each spreader moves distally into the tissue by means of a screwing action, by which rotation is converted into linear motion of the neighboring spreader, immediately external to it, by means of interaction between a helical thread form on a surface of a spreader being engaged by a section of thread, or by one or more protrusions on the opposing face of the next spreader external to the rotating spreader. Such a combination of helical thread and follower enables a rotatory mechanism to be used to deploy one nested spreader tube after the other, by continuous rotary motion.

公开(公告)号：US20190231435A1

公开(公告)日：2019-08-01

申请号：US16312296

申请日：2017-06-23

Applicant: MAZOR ROBOTICS LTD.

Inventor： Edo ZUCKER ,  Moshe SHOHAM ,  Yuval CHEN

IPC: A61B34/10 ,  A61B17/70

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.

公开(公告)号：US20160206347A1

公开(公告)日：2016-07-21

申请号：US15023409

申请日：2014-09-22

Applicant: MAZOR ROBOTICS LTD.

Inventor： Yossi BAR ,  Eliyahu ZEHAVI ,  Yonatan USHPIZIN ,  Nadav SHOHAM

IPC: A61B17/34

Abstract: Automatic dilator devices for generating minimally invasive access apertures for surgical procedures or endoscopic surveillance. The automatic dilators comprise a number of spreader tubes nested one inside the other. The devices deploy automatically by means of coupled mechanical mechanisms which insert one spreader after the other distally into the patient's tissue. Each spreader moves distally into the tissue by means of a screwing action, by which rotation is converted into linear motion of the neighboring spreader, immediately external to it, by means of interaction between a helical thread form on a surface of a spreader being engaged by a section of thread, or by one or more protrusions on the opposing face of the next spreader external to the rotating spreader. Such a combination of helical thread and follower enables a rotatory mechanism to be used to deploy one nested spreader tube after the other, by continuous rotary motion.

Abstract translation: 用于产生用于外科手术或内窥镜监视的微创进入孔的自动扩张器装置。 自动扩张器包括嵌套在另一个内的多个吊具管。 这些装置通过耦合的机械机构自动部署，其将一个扩张器在另一个向远侧插入患者组织中之后。 每个撒布机通过螺旋动作向远侧移动到组织中，通过旋转动作，旋转通过螺旋螺纹形式被转换成立即在其外部的相邻吊具的线性运动 螺纹的一部分，或通过在旋转撒布机外部的下一个撒布机的相对面上的一个或多个突起。 螺旋螺纹和跟随器的这种组合使得能够使用旋转机构来通过连续的旋转运动将一个嵌套的扩张管彼此分开。

公开(公告)号：US09125556B2

公开(公告)日：2015-09-08

申请号：US13893366

申请日：2013-05-14

Applicant: MAZOR ROBOTICS LTD.

Inventor： Eli Zehavi ,  Moshe Shoham

IPC: A61B1/00 ,  A61B8/08 ,  A61B6/03 ,  G01R33/28 ,  A61B6/00 ,  A61B19/00 ,  A61B6/12 ,  A61B17/00

CPC classification number: A61B1/00154 ,  A61B6/032 ,  A61B6/12 ,  A61B6/485 ,  A61B6/487 ,  A61B6/5247 ,  A61B8/0841 ,  A61B34/30 ,  A61B90/11 ,  A61B2017/00261 ,  A61B2090/367 ,  A61B2090/3966 ,  A61B2090/3983 ,  G01R33/285

Abstract: Systems and methods for performing robotic endoscopic surgical procedures, according to a surgical plan prepared on a preoperative set of three dimensional images. The system comprises a surgical robot whose coordinate system is related to that of fluoroscope images generated intraoperatively, by using a three dimensional target having radio-opaque markers, attached in a predetermined manner to the robot or to another element to which the robot is attached, such as the spinal bridge or an attachment clamp. The robot is mounted directly or indirectly on a bone of the patient, thereby nullifying movement of the bone, or a bone tracking system may be utilized. The coordinate system of the intraoperative fluoroscope images may be related to the preoperative images, by comparing anatomical features between both image sets. This system and method enables the endoscope to be directed by the robot along the exact planned path, as determined by the surgeon.

Abstract translation: 根据在术前三维图像上准备的外科手术方案进行机器人内窥镜外科手术的系统和方法。 该系统包括：手术机器人，其坐标系与术中产生的荧光镜图像的坐标系相关，通过使用具有不规则标记的三维目标，以预定方式附接到机器人或机器人附接到的另一元件， 例如脊柱桥或附接夹。 机器人直接或间接地安装在患者的骨骼上，从而使骨的运动无效，或者可以利用骨骼跟踪系统。 通过比较两个图像组之间的解剖特征，术中荧光图像的坐标系可能与术前图像有关。 该系统和方法使得内窥镜能够由机器人沿着精确的计划路径指导，如由外科医生确定的。

公开(公告)号：US20150209056A1

公开(公告)日：2015-07-30

申请号：US14563983

申请日：2014-12-08

Applicant: MAZOR ROBOTICS LTD.

Inventor： Moshe SHOHAM ,  Eli ZEHAVI

IPC: A61B17/17 ,  A61B19/00

CPC classification number: A61B19/2203 ,  A61B17/1703 ,  A61B17/1707 ,  A61B17/1757 ,  A61B34/30 ,  A61B90/11 ,  A61B2017/00119 ,  A61B2090/064

Abstract: Methods and apparatus for detecting or predicting surgical tool-bone skiving are disclosed. In some embodiments, the surgical tool is movably and/or snugly disposed within a guide-sleeve. In some embodiments, a magnitude of a lateral force between the surgical tool and the guide-sleeve is measured (e.g. by a force sensor or strain sensor). The present or future skiving may be detected or predicted according to the magnitude of the lateral force. In some embodiments, an alert signal is generated in response to the detecting or predicting of the skiving.

Abstract translation: 公开了用于检测或预测外科手术刀 - 骨切割的方法和装置。 在一些实施例中，手术工具可移动地和/或紧密地设置在引导套筒内。 在一些实施例中，测量外科工具和导向套筒之间的横向力的大小（例如通过力传感器或应变传感器）。 可以根据横向力的大小检测或预测当前或未来的切割。 在一些实施例中，响应于对扫描的检测或预测而产生报警信号。

公开(公告)号：US20150150523A1

公开(公告)日：2015-06-04

申请号：US14402696

申请日：2013-05-21

Applicant: MAZOR ROBOTICS LTD.

Inventor： Yael Sirpad ,  Eli Zehavi ,  Moshe Shoham ,  Leonid Kleyman

IPC: A61B6/12 ,  A61B6/00 ,  G06K9/62 ,  G06T7/00 ,  G06T15/00

CPC classification number: A61B6/12 ,  A61B6/5235 ,  A61B6/5247 ,  A61B90/36 ,  A61B2090/364 ,  A61B2090/367 ,  A61B2090/376 ,  A61B2090/3966 ,  G06K9/6202 ,  G06T7/70 ,  G06T15/00 ,  G06T2207/10121 ,  G06T2207/30008

Abstract: A method verifying the position of a surgically inserted orthopedic insert. A preoperative three dimensional image data set of the surgical site is generated, showing the bone into which the insert is to be inserted. During the insertion procedure, a series of intraoperative two-dimensional fluoroscope images are generated, each at a known pose relative to the bone, showing the insert during or after insertion into the bone. The 3-D position of the insert is determined in an intraoperative three dimensional image data set reconstructed from the series of intraoperative 2-D fluoroscope images. The reconstructed intraoperative 3-D image data set is registered with the preoperative three dimensional image data set, such as by comparison of imaged anatomical features. Once this registration is achieved, the determined 3-D position of the insert is used to implant a virtual image of the insert into the preoperative three dimensional image data set.

Abstract translation: 一种验证手术插入的整形外科插入物的位置的方法。 产生手术部位的术前三维图像数据集，显示插入物插入其中的骨骼。 在插入过程期间，产生一系列术中二维荧光镜图像，每个以相对于骨骼的已知姿势生成，在插入骨中期间或之后显示插入物。 插入物的3-D位置是在从一系列术中2-D荧光镜图像重建的术中三维图像数据集中确定的。 例如通过比较成像的解剖特征，将重建的术中3-D图像数据集与术前三维图像数据集进行配准。 一旦达到该注册，则使用所确定的插入物的3-D位置将插入物的虚拟图像植入到术前三维图像数据集中。