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    SYSTEMS AND METHODS FOR SINGLE IMAGE REGISTRATION UPDATE
    32.
    发明申请
    SYSTEMS AND METHODS FOR SINGLE IMAGE REGISTRATION UPDATE 有权

    公开(公告)号：US20220215578A1

    公开(公告)日：2022-07-07

    申请号：US17490945

    申请日：2021-09-30

    Applicant: Mazor Robotics Ltd.

    Inventor： Dany Junio

    IPC: G06T7/73

    Abstract: A method including receiving information about a pose of each of a plurality of fiducials positioned on or within a patient; causing an imaging device to generate a single image of a portion of the patient, the single image depicting at least a portion of each of the plurality of fiducials; determining, based on the information and the single image, a pose of one or more anatomical elements represented in the single image; and comparing the determined pose of the one or more anatomical elements to a predetermined pose of the one or more anatomical elements.

    SYSTEM AND METHOD FOR DRAPE VOLUME CONTROL
    35.
    发明申请
    SYSTEM AND METHOD FOR DRAPE VOLUME CONTROL 有权

    公开(公告)号：US20210369378A1

    公开(公告)日：2021-12-02

    申请号：US17331491

    申请日：2021-05-26

    Applicant: Mazor Robotics Ltd.

    Inventor： Nir Ofer ,  Ori Ben Zeev

    IPC: A61B46/10 ,  A61B34/10

    Abstract: A system for controlling a volume of a drape according to one embodiment of the present disclosure comprises a drape operable to substantially cover an articulated member and having a pressure source opening and at least one tool opening, the pressure source opening defining a path for a fluid to flow into or out of a volume substantially enclosed by the drape, the at least one tool opening enabling a tool to be supported by the articulated member outside of the volume substantially enclosed by the drape; at least one sensor operable to monitor a characteristic of the system; and a controller that causes the volume substantially enclosed by the drape to increase to a maximum volume, decrease to a minimum volume, or maintain an operating volume, and wherein the drape increasingly conforms to the articulated member as the volume substantially enclosed by the drape is decreased.

    Ultrasound guided hand held robot
    36.
    发明授权
    Ultrasound guided hand held robot 有权

    公开(公告)号：US10687784B2

    公开(公告)日：2020-06-23

    申请号：US15307056

    申请日：2015-04-28

    Applicant: MAZOR ROBOTICS LTD.

    Inventor： Moshe Shoham

    IPC: A61B8/08 ,  A61B34/30 ,  A61B90/11 ,  A61B17/34 ,  A61B34/20 ,  A61B90/00 ,  A61B18/14

    Abstract: A system for insertion of a surgical tool along a trajectory to a target region in a patient's tissues, under the guidance of ultrasound imaging. The system includes a hand-held robot to whose base the probe of an ultrasound system is rigidly connected. The activated platform of the hand held robot carries a surgical tool guide. The alignment of the tool guide defines the trajectory which the tool takes within the subject's body. The position of the target region seen on the ultrasound display, can be recorded, and the robot coordinate frame of reference registered thereto. The system aligns the pose of the robot such that the surgical tool is aimed directly at the target region, independently of motion of the ultrasound probe and its associated robot. An inertial measurement unit can be incorporated to provide back-up positional information if the image of the lesion is lost.

    Image guided robotic system for keyhole neurosurgery
    39.
    发明授权
    Image guided robotic system for keyhole neurosurgery 有权
    用于锁眼神经外科的图像引导机器人系统

    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

    IPC: A61B19/00 ,  A61B17/34

    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。

    Robotic total/partial knee arthroplastics
    40.
    发明授权
    Robotic total/partial knee arthroplastics 有权
    机器人总/部分膝关节锻炼

    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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