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公开(公告)号：US08790246B2
公开(公告)日：2014-07-29
申请号：US13872114
申请日：2013-04-28
Applicant: Noam Hassidov , Daniel Glozman , Moshe Shoham
Inventor： Noam Hassidov , Daniel Glozman , Moshe Shoham
CPC classification number: F01B19/00 , A61B17/12045 , A61B17/12136 , A61B2017/00557 , A61B2017/12127 , A61B2017/22055 , A61B2090/306 , A61B2090/3614 , A61M25/0122
Abstract: A self-propelled device for locomotion through a lumen, comprising a set of serially arranged inflatable chambers, and incorporating a number of novel aspects. To enable easy insertion and use, the rigidity of the device is increased by means of rigid inserts in the balloons, or by use of stiff springs between segments. The working channel can be attached to the distal chamber of the device, such that it is pulled from the leading end of the device during inflation, rather than being pulled from the trailing end of the device during deflation. Lumen wall inspection or treatment facilities are enabled by means of a camera or treatment arm mounted between two distally positioned balloons, the device is able to provide observation capabilities to the lumen wall, yet without becoming excessively dirty by exposure to the front end of the device, as in prior art camera units.
Abstract translation: 一种用于通过内腔运动的自推进装置，包括一组串联布置的可充气室，并且结合了许多新颖的方面。 为了易于插入和使用，通过气球中的刚性插入件或通过在段之间使用刚性弹簧来增加装置的刚性。 工作通道可以附接到装置的远端腔室，从而在充气期间从工具的前端拉出工作通道，而不是在放气期间从装置的后端拉出。 腔壁检查或治疗设施通过安装在两个远端定位的气球之间的相机或治疗臂来实现，该装置能够向管腔壁提供观察能力，而不会因暴露于装置的前端而变得过分脏 ，如在现有技术的相机单元中。
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公开(公告)号：US08518051B2
公开(公告)日：2013-08-27
申请号：US10557048
申请日：2004-05-16
Applicant: Moshe Shoham , Michael Burman
Inventor： Moshe Shoham , Michael Burman
IPC: A61B17/58 , A61B17/60 , A61B17/00 , A61B1/00 , A61B5/103 , A61B5/117 , A61F2/00 , A61F4/00 , A61F5/04 , A61F5/37 , B23Q16/00 , G01B1/00 , G01J1/00 , G01N21/00 , G01N23/00
CPC classification number: A61B17/157 , A61B6/0421 , A61B17/155 , A61B17/1703 , A61B17/1725 , A61B17/1764 , A61B34/30 , A61B2034/304 , A61B2090/376
Abstract: A system and method for knee arthroplasty procedures, using a novel leg rotation fixture to enable the leg mechanical axis, the tibia and the femur to be mutually disposed such that the load bearing, mechanical axis of the leg runs through the center of the knee joint. A measurement gauge is provided for mounting on the tibia and for aligning a baseplate in a known position on the tibia. This baseplate supports an X-ray target plate in a known position relative to the tibia, used in determining the mechanical axis, and an optional surgical robot, used to perform tibial and femoral cuts. The position of the femur relative to the robot may be determined from X-ray imaging of the pelvic region after attachment to the baseplate of an additional target extending to the pelvic region. The system enables improvement in the accuracy of knee arthroplasty procedures.
Abstract translation: 一种用于膝关节置换术的系统和方法，使用新型的腿部旋转夹具以使腿部机械轴线，胫骨和股骨相互布置，使得承载力，腿的机械轴线穿过膝关节的中心 。 提供了用于安装在胫骨上并用于使胫骨上已知位置的基板对准的测量计。 该基板支撑相对于胫骨的已知位置的X射线靶板，用于确定机械轴线，以及用于执行胫骨和股骨切口的可选手术机器人。 股骨相对于机器人的位置可以在附着到延伸到骨盆区域的附加目标的基板之后从骨盆区域的X射线成像来确定。 该系统能够提高膝关节置换手术的准确性。
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公开(公告)号：US08430810B2
公开(公告)日：2013-04-30
申请号：US12526512
申请日：2008-02-12
Applicant: Noam Hassidov , Daniel Glozman , Moshe Shoham
Inventor： Noam Hassidov , Daniel Glozman , Moshe Shoham
CPC classification number: F01B19/00 , A61B17/12045 , A61B17/12136 , A61B2017/00557 , A61B2017/12127 , A61B2017/22055 , A61B2090/306 , A61B2090/3614 , A61M25/0122
Abstract: A self-propelled device for locomotion through a lumen, comprising a set of serially arranged inflatable chambers, and incorporating a number of novel aspects. To enable easy insertion and use, the rigidity of the device is increased by means of rigid inserts in the balloons, or by use of stiff springs between segments. The working channel can be attached to the distal chamber of the device, such that it is pulled from the leading end of the device during inflation, rather than being pulled from the trailing end of the device during deflation. Lumen wall inspection or treatment facilities are enabled by means of a camera or treatment arm mounted between two distally positioned balloons, the device is able to provide observation capabilities to the lumen wall, yet without becoming excessively dirty by exposure to the front end of the device, as in prior art camera units.
Abstract translation: 一种用于通过内腔运动的自推进装置，包括一组串联布置的可充气室，并且结合了许多新颖的方面。 为了易于插入和使用，通过气球中的刚性插入件或通过在段之间使用刚性弹簧来增加装置的刚性。 工作通道可以附接到装置的远端腔室，从而在充气期间从工具的前端拉出工作通道，而不是在放气期间从装置的后端拉出。 腔壁检查或治疗设施通过安装在两个远端定位的气球之间的相机或治疗臂来实现，该装置能够向管腔壁提供观察能力，而不会通过暴露于装置的前端而变得过分脏 ，如在现有技术的相机单元中。
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公开(公告)号：US08328852B2
公开(公告)日：2012-12-11
申请号：US12922457
申请日：2009-03-15
Applicant: Eli Zehavi , Moshe Shoham
Inventor： Eli Zehavi , Moshe Shoham
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。
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公开(公告)号：US20120143084A1
公开(公告)日：2012-06-07
申请号：US13390500
申请日：2010-08-17
Applicant: Moshe Shoham
Inventor： Moshe Shoham
IPC: A61B19/00 , A61M25/092 , A61B10/02
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.
Abstract translation: 一个手持式机器人系统，只要它在允许的范围内运行，但是一旦操作员超出了这些限制，它就会保持僵化。 因此，系统将偏差校正超过预定量的操作者的手的运动，使得即使当操作者的手偏离计划的轨迹时，该工具也保留在允许的区域中。 机器人操作头的姿势和路径通过导航或跟踪系统或通过邻近装置确定，以测量操作头与损伤敏感特征的接近程度。 当工具偏离其预定的路径或姿势或者太靠近危险区域时，机器人控制器可以独立于用户的手部移动而将工具移回其预定的姿势或路径，或远离危险区域。
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Patent Agency Ranking
公开(公告)号：US20110319941A1
公开(公告)日：2011-12-29
申请号：US13132095
申请日：2009-12-01
Applicant: Yossef Bar , Eli Zeha Vi , Isador Lieberman , Moshe Shoham
Inventor： Yossef Bar , Eli Zeha Vi , Isador Lieberman , Moshe Shoham
CPC classification number: A61B34/30 , A61B17/1671 , A61B17/1757 , A61B17/320016 , A61B17/3205 , A61B17/7001 , A61B17/7064 , A61B90/11 , A61B90/50 , A61B2017/00261 , A61B2017/00557 , A61B2017/00685 , A61B2017/0256 , A61B2017/3407 , A61B2017/564 , A61B2034/107 , A61B2034/303 , A61B2090/3762 , A61B2217/005
Abstract: A robotic system for performing minimally invasive spinal stabilization, using two screws inserted in oblique trajectories from an inferior vertebra pedicle into the adjacent superior vertebra body. The procedure is less traumatic than such procedures performed using open back surgery, by virtue of the robot used to guide the surgeon along a safe trajectory, avoiding damage to nerves surrounding the vertebrae. The robot arm is advantageous since no access is provided in a minimally invasive procedure for direct viewing of the operation site, and the accuracy required for oblique entry can readily be achieved only using robotic control. This robotic system also obviates the need for a large number of fluoroscope images to check drill insertion position relative to the surrounding nerves. Disc cleaning tools with flexible wire heads are also described. The drilling trajectory is determined by comparing fluoroscope images to preoperative images showing the planned path.
Abstract translation: 一种用于进行微创脊柱稳定的机器人系统，使用从下椎骨椎弓根倾斜轨迹插入相邻上椎骨体的两个螺钉。 该手术比使用开放式手术执行的手术要小，因为用于沿着安全轨迹引导外科医生的机器人，避免损伤椎骨周围的神经。 机器人臂是有利的，因为在用于直接观察操作部位的微创程序中不提供访问，并且可以容易地仅使用机器人控制来实现倾斜进入所需的精度。 该机器人系统也避免了大量荧光镜图像以检查相对于周围神经的钻孔插入位置的需要。 还描述了具有柔性线头的光盘清洁工具。 通过比较荧光镜图像和显示计划路径的术前图像来确定钻孔轨迹。
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公开(公告)号：US20100204546A1
公开(公告)日：2010-08-12
申请号：US12599469
申请日：2008-05-11
Applicant: Noam Hassidov , Daniel Glozman , Moshe Shoham
Inventor： Noam Hassidov , Daniel Glozman , Moshe Shoham
IPC: A61B1/00
CPC classification number: A61B1/00142 , A61B1/00103 , A61B1/00105 , A61B1/00121 , A61B1/053
Abstract: A disposable endoscope body having an enclosure in its distal end for a non-disposable element, such as a video camera head. Because of its complexity and sensitivity, the camera head is non-disposable and cannot be sterilized. The camera head is sealed in the endoscope body, such that it does not contaminate the patient during the procedure. Sealing is achieved using an end cap. After use, the camera is withdrawn from the proximal end of the endoscope, which, being near to or within the workstation, has not been inserted into the subject and should be free of patient contamination. Passage of the camera out through the proximal end therefore avoids contamination by the patient, such that it can be used again without need for sterilization. A dispensing kit is described, for supplying the sterile endoscope body and for installing and sealing the camera with a minimum of manual intervention.
Abstract translation: 一种一次性内窥镜主体，其在其远端具有用于非一次性元件的外壳，诸如摄像头。 由于其复杂性和灵敏度，摄像头不可弃置，无法消毒。 相机头被密封在内窥镜主体中，使得其在手术过程中不会污染患者。 使用端盖实现密封。 使用后，照相机从内窥镜的近端取出，内窥镜的近端或内部没有被插入到受试者中，并且应该没有患者的污染。 因此，相机通过近端通过，因此避免了患者的污染，使得可以再次使用相机而不需要灭菌。 描述了用于供应无菌内窥镜主体并且以最少的手动干预来安装和密封相机的分配套件。
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公开(公告)号：US20100041951A1
公开(公告)日：2010-02-18
申请号：US12526271
申请日：2008-02-10
Applicant: Daniel Glozman , Noam Hassidov , Moshe Shoham
Inventor： Daniel Glozman , Noam Hassidov , Moshe Shoham
IPC: A61B1/01
CPC classification number: A61M25/0155 , A61B1/00082 , A61B1/00156 , A61B1/31 , A61B17/12045 , A61B17/12136 , A61M25/0105 , A61M25/0116 , A61M25/10 , A61M2025/1059 , F16L55/30 , F16L55/34 , F16L55/36 , F16L55/44
Abstract: A self-propelled device for locomotion through a lumen, comprising a set of serially arranged inflatable chambers, adjacent chambers being fluidly connected, and a fluid source attached to one end of the set, such that the chambers inflate sequentially. The chambers are constructed of an elastic material and have a wall thickness and dimensions such that they have a characteristic with a non-monotonous relationship between the inflation pressure within the chamber and the chamber's inflated size. The characteristic is such that after an initial inflation pressure peak, the non-monotonous relationship adopts a negative slope, such that the volume of the chamber increases more rapidly than the volume of fluid flowing into it, and the inflation pressure of the chamber falls. This effect causes the chamber to inflate and anchor rapidly, while essentially slowing down the inflation of the succeeding chamber until inflation of the first is complete.
Abstract translation: 一种用于通过内腔运动的自推进装置，包括一组串联布置的可充气腔室，相邻腔室被流体连接，以及连接到该组件一端的流体源，使得腔室依次充气。 这些室由弹性材料构成，具有壁厚和尺寸，使得它们具有在室内的充气压力和室的膨胀尺寸之间具有非单调关系的特征。 特征是在初始充气压力峰值之后，非单调关系采用负斜率，使得室的体积比流入其中的流体体积更快地增加，并且室的充气压力下降。 这种效应导致舱室迅速膨胀和锚固，同时基本上减缓了随后的舱室的通胀，直到第一次的通风完成。
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公开(公告)号：US20070162007A1
公开(公告)日：2007-07-12
申请号：US11703923
申请日：2007-02-07
Applicant: Moshe Shoham
Inventor： Moshe Shoham
IPC: A61F2/30
CPC classification number: A61B17/7002 , A61B17/7083 , A61B17/7089 , A61B2017/00867
Abstract: A system and method for performing spinal fusion using vertebral connecting rods constructed of a shape memory material, such as shape memory alloy. The connecting rod is cooled below its phase transition temperature, which is chosen to be just below body temperature, and is inserted through a curved guide tube previously inserted into the back of the patient. The guide tube is located so as to deliver the connecting rod at its desired location between the preinserted pedicle screw heads. The rod, being in its flexible state below the transition temperature, negotiates the curve and exits the guide tube in a straight form and parallel to the patient's spine. As it heats up to body temperature, it regains its original straight shape and its original rigidity, and is ready for connecting its associated vertebrae to each other.
Abstract translation: 使用由诸如形状记忆合金的形状记忆材料构成的椎骨连杆来进行脊柱融合的系统和方法。 将连杆冷却到其相转变温度以下，该温度被选择为低于体温，并通过预先插入患者背部的弯曲导管插入。 引导管被定位成将连杆输送到预先插入的椎弓根螺钉头之间的期望位置。 该杆处于低于转变温度的柔性状态下，协调曲线并以直线形式并且平行于患者的脊柱离开导管。 当它加热到体温时，它恢复其原始的直线形状和其原始的刚度，并准备将其相关的椎骨相互连接。
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公开(公告)号：US20070100258A1
公开(公告)日：2007-05-03
申请号：US10557048
申请日：2004-05-16
Applicant: Moshe Shoham , Michael Burman
Inventor： Moshe Shoham , Michael Burman
IPC: A61F5/00
CPC classification number: A61B17/157 , A61B6/0421 , A61B17/155 , A61B17/1703 , A61B17/1725 , A61B17/1764 , A61B34/30 , A61B2034/304 , A61B2090/376
Abstract: A system and method for knee arthroplasty procedures, using a novel leg rotation fixture to enable the leg mechanical axis, the tibia and the femur to be mutually disposed such that the load bearing, mechanical axis of the leg runs through the center of the knee joint. A measurement gauge is provided for mounting on the tibia and for aligning a baseplate in a known position on the tibia. This baseplate supports an X-ray target plate in a known position relative to the tibia, used in determining the mechanical axis, and an optional surgical robot, used to perform tibial and femoral cuts. The position of the femur relative to the robot may be determined from X-ray imaging of the pelvic region after attachment to the baseplate of an additional target extending to the pelvic region. The system enables improvement in the accuracy of knee arthroplasty procedures.
Abstract translation: 一种用于膝关节置换术的系统和方法，使用新型的腿部旋转夹具以使腿部机械轴线，胫骨和股骨相互布置，使得承载力，腿的机械轴线穿过膝关节的中心 。 提供了用于安装在胫骨上并用于使胫骨上已知位置的基板对准的测量计。 该基板支撑相对于胫骨的已知位置的X射线靶板，用于确定机械轴线，以及用于执行胫骨和股骨切口的可选手术机器人。 股骨相对于机器人的位置可以在附着到延伸到骨盆区域的附加目标的基板之后从骨盆区域的X射线成像来确定。 该系统能够提高膝关节置换手术的准确性。
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