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公开(公告)号：US20220022981A1
公开(公告)日：2022-01-27
申请号：US17498609
申请日：2021-10-11
Applicant: Mazor Robotics Ltd.
Inventor： Moshe Shoham , Eliyahu Zehavi , Yossi Bar
Abstract: A robotic surgical system is provided. An illustrative robotic surgical system includes a base having a known position relative to an operating table; an end effector configured to hold and align a surgical tool for performing a procedure on a subject on said operating table; at least one robotic arm connecting said base with said end effector; and a target attached to the end effector, wherein an image of the target attached to the end effector is used to determine a pose of the end effector.
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公开(公告)号：US12048497B2
公开(公告)日：2024-07-30
申请号：US17569957
申请日：2022-01-06
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio , Aviv Ellman , Eli Zehavi , Moshe Shoham , Yonatan Ushpizin , Ido Zucker , Elad Ratzabi , Gillan Grimberg , Nir Ofer , Yair Schwartz , Nimrod Dori
CPC classification number: A61B34/30 , A61B17/17 , G16H20/40 , G16H40/63 , A61B2017/0003 , A61B17/1757 , A61B2034/107 , A61B2090/062 , A61B2090/064 , A61B2562/0204
Abstract: Methods and systems for providing a safety mechanism for a robotically controlled surgical tool. Embodiments of the methods use sensors to detect parameters that vary by the tissue traversed by a surgical tool. The sensors detect signals arising from the interaction of the surgical tool with the tissue and provide this information to a robotic controller. For example, during drilling, the sensors may measure power, vibration, sound frequency, mechanical load, electrical impedance, and distance traversed according to preoperative measurements on a three-dimensional image set used for planning the tool trajectory. By comparing the detected output with that expected for the tool position based on the planned trajectory, identified discrepancies in output would indicate that the tool has veered from the planned trajectory. The robotic controller may then alter the tool trajectory, change the speed of the tool, or discontinue power to the tool, thereby preventing damage to underlying tissue.
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公开(公告)号：US11696788B2
公开(公告)日：2023-07-11
申请号：US16726720
申请日：2019-12-24
Applicant: MAZOR ROBOTICS LTD.
Inventor： Edo Zucker , Moshe Shoham
CPC classification number: A61B17/8863 , A61B5/0036 , A61B5/107 , A61B34/10 , B21D7/12 , B21D7/14 , A61B17/70 , A61B17/7002 , A61B2017/00526 , A61B2034/108
Abstract: A system for rod bending for use in robotic spinal surgery, enabling the correct bending of a fusion rod to match the shape required to accurately pass through the heads of the pedicle screws. The system uses data generated by information provided to the robot by the surgeon's preoperative plan, optionally augmented by feedback from the robot control system of deviations encountered intraoperatively. Such deviations could occur, for example, when the surgeon decides intraoperatively on a different trajectory or even to skip screws on one vertebra, in which case, the robot will be commanded to perform the alternative procedure, with commensurate instructions relayed to the control system of the rod-bending machine. The system is also able to thin down the rod at predetermined locations along its length, adapted to be at selected intervertebral locations, for maintaining limited flexibility between vertebrae, instead of fixating them.
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公开(公告)号：US20220218421A1
公开(公告)日：2022-07-14
申请号：US17569957
申请日：2022-01-06
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio , Aviv Ellman , Eli Zehavi , Moshe Shoham , Yonatan Ushpizin , Ido Zucker , Elad Ratzabi , Gillan Grimberg , Nir Ofer , Yair Schwartz , Nimrod Dori
Abstract: Methods and systems for providing a safety mechanism for a robotically controlled surgical tool. Embodiments of the methods use sensors to detect parameters that vary by the tissue traversed by a surgical tool. The sensors detect signals arising from the interaction of the surgical tool with the tissue and provide this information to a robotic controller. For example, during drilling, the sensors may measure power, vibration, sound frequency, mechanical load, electrical impedance, and distance traversed according to preoperative measurements on a three-dimensional image set used for planning the tool trajectory. By comparing the detected output with that expected for the tool position based on the planned trajectory, identified discrepancies in output would indicate that the tool has veered from the planned trajectory. The robotic controller may then alter the tool trajectory, change the speed of the tool, or discontinue power to the tool, thereby preventing damage to underlying tissue.
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公开(公告)号：US20220031399A1
公开(公告)日：2022-02-03
申请号：US17357659
申请日：2021-06-24
Applicant: Mazor Robotics Ltd.
Inventor： Shmuel Azulay , Moshe Shoham
Abstract: Systems and methods for retractor interference avoidance is provided. At least one retractor includes a base and one or more elongate members extending from the base. The one or more elongate members are movable. A position of the at least one retractor may be determined and a trajectory of a surgical device may be received. At least one elongate member of the one or more elongate members positioned to interfere with movement of the device along a trajectory may be identified based on the position of the retractor and the trajectory of the surgical device.
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Patent Agency Ranking
公开(公告)号：US10849691B2
公开(公告)日：2020-12-01
申请号：US16312296
申请日：2017-06-23
Applicant: MAZOR ROBOTICS LTD.
Inventor： Edo Zucker , Moshe Shoham , Yuval Chen
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：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
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。
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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
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。
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公开(公告)号：US20250010497A1
公开(公告)日：2025-01-09
申请号：US18894396
申请日：2024-09-24
Applicant: Mazor Robotics Ltd.
Inventor： Moshe Shoham
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：US20240335242A1
公开(公告)日：2024-10-10
申请号：US18747255
申请日：2024-06-18
Applicant: Mazor Robotics Ltd.
Inventor： Moshe Shoham , Yizhaq Shmayahu
CPC classification number: A61B34/20 , A61B17/1622 , A61B17/1703 , A61B34/30 , A61B2034/105 , A61B2034/2057 , A61B2034/2065 , A61B2090/367 , A61B2090/371
Abstract: A system for tracking the position of a surgical tool manipulated by a surgical robotic system, to determine that the tool is correctly positioned and orientated. Miniature 3-D tracking cameras are mounted on the end effector of the robotic system, one viewing markers on the surgical tool, and the other markers attached to the anatomy part being operated on. The initial spatial position and orientation of the surgical tool on the surface of the anatomy part is measured, and the progress of the surgical tool into the anatomic body part is tracked using one of the miniature cameras. The cameras or sensors are close to the surgical region of interest, and all the mechanical and sensor elements necessary for the system operation are mounted within the realm of the robot. The system thus avoids interruption of communication between a remotely positioned navigation camera and the robot or patient.
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