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公开(公告)号：US12035979B2
公开(公告)日：2024-07-16
申请号：US17536312
申请日：2021-11-29
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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公开(公告)号：US20240225758A1
公开(公告)日：2024-07-11
申请号：US18558750
申请日：2022-05-22
Applicant: Mazor Robotics Ltd.
Inventor： Eli Zehavi , Moshe Shoham , Yonatan Ushpizin , Yizhaq Shmayahu
CPC classification number: A61B34/30 , A61B34/70 , A61B90/361
Abstract: Multi-arm surgical robotic platforms and systems are provided. The platforms and systems may comprise a support structure or a frame and an operating table mounted to the support structure or the frame. A plurality of robotic arms may be mounted to the support structure or the frame and may be capable of manipulating an emitter and a detector to obtain between and including 0 to 360-degree imaging of a patient on the operating table.
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公开(公告)号：US11931113B2
公开(公告)日：2024-03-19
申请号：US17357659
申请日：2021-06-24
Applicant: Mazor Robotics Ltd.
Inventor： Shmuel Azulay , Moshe Shoham
CPC classification number: A61B34/20 , A61B17/02 , A61B34/30 , A61B90/50 , A61B2090/367 , A61B2090/376 , A61B2090/3966
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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公开(公告)号：US20230293215A1
公开(公告)日：2023-09-21
申请号：US18200303
申请日：2023-05-22
Applicant: MAZOR ROBOTICS LTD.
Inventor： Edo Zucker , Moshe Shoham
CPC classification number: A61B17/8863 , B21D7/12 , B21D7/14 , A61B5/0036 , A61B5/107 , A61B34/10 , A61B17/7002
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：US11701099B2
公开(公告)日：2023-07-18
申请号：US16301443
申请日：2017-05-15
Applicant: MAZOR ROBOTICS LTD.
Inventor： Yossef Bar , Moshe Shoham
CPC classification number: A61B17/0218 , A61B17/02 , A61M29/00 , A61M29/02 , A61B2017/00557 , A61B2017/00831 , A61B2017/0225
Abstract: A balloon dilator device, comprising an annularly shaped, cylindrical type structure having walls that are expandable from a radially collapsed state to a radially expanded state by inflation of a balloon inserted within the annular structure. Once the walls have been expanded, they remain in the expanded state even if the balloon is deflated, because the radially expanded state is a state of minimum mechanical potential energy, and in order to return to the collapsed state, the structure would have to pass a state of higher potential energy. The device walls require sufficient stiffness in their longitudinal direction to enable the device to be pushed into a minimally invasive incision made in the subject. This device stiffness can be achieved either by its mechanical material properties, or by its substantially closed wall structure, or by use of a stiff protector sheath used to protect the walls during insertion.
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Patent Agency Ranking
公开(公告)号：US20220395330A1
公开(公告)日：2022-12-15
申请号：US17888818
申请日：2022-08-16
Applicant: Mazor Robotics Ltd.
Inventor： Moshe Shoham , Shlomit Steinberg
Abstract: An exemplary method of determining a surgical spinal correction for a subject using analysis of motion capture images of the subject, which uses the steps of obtaining pre-operative three-dimensional images of a spinal region, obtaining a pre-operative time sequenced set of images of the subject during a movement progression of said subject, calculating in a plurality of the motion capture images, alignment parameters relating to upper and lower body regions of the subject, and determining if any of the calculated alignment parameters are outside their predetermined acceptable ranges in one or more of the images, iteratively adjusting anatomical elements in three-dimensional images until all of the calculated alignment parameters are within their predetermined acceptable ranges; and adjusting spinal anatomy in the three-dimensional images according to the degree of adjustment of spinal parameters in the motion capture images to determine a surgical spinal correction.
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公开(公告)号：US20220168048A1
公开(公告)日：2022-06-02
申请号：US17536312
申请日：2021-11-29
Applicant: Mazor Robotics Ltd.
Inventor： Moshe Shoham , Yizhaq Shmayahu
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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公开(公告)号：US20220151714A1
公开(公告)日：2022-05-19
申请号：US17476094
申请日：2021-09-15
Applicant: Mazor Robotics Ltd.
Inventor： Eli Zehavi , Moshe Shoham , Yonatan Ushpizin , Avi Turgeman
Abstract: Systems and methods for robotic retraction of tissues in a surgical field. Two retractor mechanisms are used on either side of an incision. Each retractor is adapted to be held by a robotic arm, which applies force on the retractor mechanism to pull dissected tissue away from the incision, thus revealing the operative field. A force sensor is employed to measure the force on the retractor, an optional tracking sensor may be used to measure the extent of tissue retraction in two or three dimensions, and both sources of information provided to the robotic controller. By monitoring feedback from either the force sensor or the tracking sensor, the system is able to maintain equal retraction on both sides of the incision. The retractor elements incorporate mechanisms that move down the tissue as the retractors are pulled laterally.
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公开(公告)号：US09872733B2
公开(公告)日：2018-01-23
申请号：US14485851
申请日：2014-09-15
Applicant: MAZOR ROBOTICS LTD.
Inventor： Moshe Shoham , Leo Joskowicz , Charles Milgrom , Ziv Yaniv , Ariel Simkin
IPC: A61B17/17 , A61B34/00 , A61B19/00 , G05B19/402 , A61B17/72 , A61B34/30 , A61B34/20 , A61B17/68 , A61B90/00 , A61B90/11 , A61B34/10
CPC classification number: A61B34/70 , A61B17/1703 , A61B17/1721 , A61B17/1725 , A61B17/1728 , A61B17/72 , A61B34/10 , A61B34/30 , A61B90/11 , A61B2017/681 , A61B2034/2065 , A61B2034/304 , A61B2090/376 , G05B19/402 , G05B2219/39011 , G05B2219/40267 , G05B2219/45168 , G05B2219/49113 , Y10S128/908 , Y10S128/922 , Y10S128/923
Abstract: A robot-guided system to assist orthopedic surgeons in performing orthopedic surgical procedures on pre-positioned inserts, including for the fixation of bone fractures, and especially for use in long bone distal intramedullary locking procedures. The system provides a mechanical guide for drilling the holes for distal screws in intramedullary nailing surgery. The drill guide is automatically positioned by the robot relative to the distal locking nail holes, using data derived from only a small number of X-ray fluoroscopic images. The system allows the performance of the locking procedure without trial and error, thus enabling the procedure to be successfully performed by less experienced surgeons, reduces exposure of patient and operating room personnel to radiation, shortens the intra-operative time, and thus reduces post-operative complications.
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公开(公告)号：US20170360493A1
公开(公告)日：2017-12-21
申请号：US15533037
申请日：2015-12-04
Applicant: MAZOR ROBOTICS LTD.
Inventor： Edo ZUCKER , Moshe Shoham
CPC classification number: A61B17/8863 , A61B17/70 , A61B17/7002 , A61B34/10 , A61B2017/00526 , A61B2034/108 , B21D7/12 , B21D7/14
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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