公开(公告)号：US20090177081A1

公开(公告)日：2009-07-09

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: A61B5/05 ,  A61B19/00

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。

公开(公告)号：US20080077258A1

公开(公告)日：2008-03-27

申请号：US10595530

申请日：2004-10-24

Applicant: Moshe Shoham

Inventor： Moshe Shoham

IPC: G06F17/00

CPC classification number: G05B19/19 ,  B25J9/104 ,  B25J9/126 ,  F16H19/0654 ,  G05B2219/41251

Abstract: A twisted wire actuator, whereby the shortening of the length of a wire or a bundle of wires, as it is twisted, is used to control the motion of an actuated element, achieving sub-micron motion resolution. The control can be performed robotically. The high resolution can be achieved without the use of gears, sliders, or high precision lead screws, thus enabling a simplified actuation system and eliminating sources of friction. The use of wires operating in opposing directions and having oppositely directed rotations significantly reduces the non-linearity effect inherent in twisted wire actuation, resulting in a system having a good level of motion linearity as a function of control input impulse. The use of multiple twisted wires attached to the actuated element at different angles, enables the implementation of robotic systems with multiple degrees of freedom. Several experimental actuators verify these results.

Abstract translation: 扭绞线致动器，其中使用扭曲的线或线束的长度缩短来控制致动元件的运动，实现亚微米的运动分辨率。 控制可以机器人执行。 可以在不使用齿轮，滑块或高精度导螺杆的情况下实现高分辨率，从而实现简化的致动系统并消除摩擦源。 使用在相反方向上操作并具有相反定向旋转的电线显着地减少了扭绞线致动中固有的非线性效应，导致具有作为控制输入脉冲的函数的良好的运动线性度的系统。 使用以不同角度附接到致动元件的多根绞合线，能够实现具有多个自由度的机器人系统。 几个实验执行器验证这些结果。

公开(公告)号：US20080071272A1

公开(公告)日：2008-03-20

申请号：US10595305

申请日：2004-10-05

Applicant: Moshe Shoham ,  Boris Silberstein ,  Michael Burman

Inventor： Moshe Shoham ,  Boris Silberstein ,  Michael Burman

IPC: A61B17/58 ,  A61B17/08

CPC classification number: A61B17/7062 ,  A61B17/7053 ,  A61B17/7055 ,  A61B34/20 ,  A61B34/30 ,  A61B34/70 ,  A61B2034/304

Abstract: A framed device in the form of a bridge for fixing a number of vertebrae together into positions which are uniquely defined relative to the bridge, but which can move with the spine relative to the external environment. The fixation generated by such a bridge is especially useful in Computer Assisted Surgery procedures, either using manual navigation and a tracking system to follow the position of the surgeon's tools relative to the operated vertebrae, or by using a pre-programmed robot mounted on the bridge itself to perform the surgery. Alternative embodiments of the bridge may be used either for performing surgery in one procedure on a number of vertebrae of the spine, or as a reference frame for performing surgery at different locations along the spine, while providing an alignment reference along major lengths or along all of the spine.

Abstract translation: 一种桥梁形式的框架装置，用于将多个椎骨固定在一起成为相对于桥梁唯一定义但与脊柱相对于外部环境移动的位置。 这种桥梁产生的固定在计算机辅助手术程序中特别有用，无论是使用手动导航和跟踪系统来跟踪外科医生的刀具相对于被操作的椎骨的位置，还是使用安装在桥上的预编程的机器人 本身进行手术。 桥的替代实施例可以用于在脊柱的多个椎骨上的一个程序中进行手术，或者用作在沿着脊柱的不同位置执行手术的参考框架，同时沿着主要长度或沿着所有的方向提供对准参考 的脊柱。

公开(公告)号：US06837892B2

公开(公告)日：2005-01-04

申请号：US09912687

申请日：2001-07-24

Applicant: Moshe Shoham

Inventor： Moshe Shoham

IPC: A61B6/00 ,  A61B6/03 ,  A61B17/17 ,  A61B17/56 ,  A61B19/00

CPC classification number: A61B17/1757 ,  A61B6/583 ,  A61B34/30 ,  A61B34/70 ,  A61B34/72 ,  A61B2034/742 ,  Y10T74/20305

Abstract: A miniature surgical robot and a method for using it are disclosed. The miniature surgical robot attaches directly with the bone of a patient. Two-dimensional X-ray images of the robot on the bone are registered with three-dimensional images of the bone. This locates the robot precisely on the bone of the patient. The robot is then directed to pre-operative determined positions based on a pre-operative plan by the surgeon. The robot then moves to the requested surgical site and aligns a sleeve through which the surgeon can insert a surgical tool.

公开(公告)号：US10828786B2

公开(公告)日：2020-11-10

申请号：US13390500

申请日：2010-08-17

Applicant: Moshe Shoham

Inventor： Moshe Shoham

IPC: A61B34/30 ,  B25J17/02 ,  A61B17/16 ,  B25J9/16 ,  A61B17/00 ,  A61B34/20 ,  A61B90/00

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.

公开(公告)号：US09655649B2

公开(公告)日：2017-05-23

申请号：US11703923

申请日：2007-02-07

Applicant: Moshe Shoham

Inventor： Moshe Shoham

IPC: A61B17/56 ,  A61B17/70 ,  A61B17/00

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.

公开(公告)号：US09427143B2

公开(公告)日：2016-08-30

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: A61B1/04 ,  A61B1/00 ,  A61B1/31 ,  A61B17/12 ,  A61M25/01 ,  F16L55/30 ,  F16L55/34 ,  F16L55/36 ,  F16L55/44 ,  A61M25/10

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。

公开(公告)号：US09061118B2

公开(公告)日：2015-06-23

申请号：US12063323

申请日：2006-08-10

Applicant: Moshe Shoham ,  Noam Hassidov ,  Daniel Glozman

Inventor： Moshe Shoham ,  Noam Hassidov ,  Daniel Glozman

IPC: A61B1/04 ,  A61M25/01 ,  A61B1/00 ,  A61B1/31

CPC classification number: A61M25/0155 ,  A61B1/00156 ,  A61B1/31 ,  A61M25/0116 ,  A61M25/0122

Abstract: A self-propelled device for locomotion through a lumen, comprising a set of serially arranged inflatable chambers, the end ones of which expand at least radially when inflated. Connecting passages provide fluid communication between each pair of adjacent chambers. A fluid source is attached to one of the end chambers. The connecting passages are such that the fluid inflates the chambers in a sequence, beginning with the chamber closest to the source, and ending with the chamber furthest from the source. The same sequence occurs when the chambers deflate, beginning with the chamber closest to the source, and ending with the chamber furthest from the source. The fluid source can either be a fluid supply tube, extending to a supply outside the lumen, or it can be built-in and carried by the device. The device can crawl either along the lumen wall or on an inserted guide wire.

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，当气囊膨胀时，其中的一端至少径向膨胀。 连接通道在每对相邻的室之间提供流体连通。 流体源连接到一个端室。 连接通道使得流体以最接近源的室开始并且以与源最远的室结束的顺序对室进行充气。 当腔室从最靠近源极的腔室开始，并且离离子源最远的腔室终止时，发生相同的顺序。 流体源可以是流体供应管，延伸到管腔外的供应源，或者可以由装置内置并承载。 该装置可沿着管腔壁或插入的导丝线爬行。

公开(公告)号：US08992580B2

公开(公告)日：2015-03-31

申请号：US13132095

申请日：2009-12-01

Applicant: Yossef Bar ,  Eli Zehavi ,  Isador Lieberman ,  Moshe Shoham

Inventor： Yossef Bar ,  Eli Zehavi ,  Isador Lieberman ,  Moshe Shoham

IPC: A61B17/88 ,  A61B17/16 ,  A61B17/70 ,  A61B17/17 ,  A61B19/00 ,  A61B17/00 ,  A61B17/02 ,  A61B17/34 ,  A61B17/56

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。

公开(公告)号：US20140257165A1

公开(公告)日：2014-09-11

申请号：US14348610

申请日：2012-09-27

Applicant: Adi Shechtman ,  Moshe Shoham ,  Harel Gadot

Inventor： Adi Shechtman ,  Moshe Shoham ,  Harel Gadot

IPC: A61M1/36

CPC classification number: A61M1/0078 ,  A61B17/320725 ,  A61M1/3655 ,  A61M1/367 ,  A61M25/0116 ,  A61M25/0155 ,  A61M25/1011 ,  A61M25/104 ,  A61M2025/1072 ,  A61M2025/109 ,  A61M2025/1097 ,  A61M2209/10

Abstract: A method and a kit for the prevention of venous stenosis associated with the use of hemodialysis AV shunts. The kit may use a bifurcated needle for providing access to the shunt or blood vessel. One of the arms is used for returning the blood to the subject after dialysis treatment, while the other arm is used for inserting a device for cleaning the vein, the device being either an autonomous crawling device, or a passive tethered device moved down the vein by the blood flow. The autonomous crawling device may be a series of sequentially inflatable chambers, the stenosis being cleared by pressure from the outer walls of the chambers when inflated and moved. The passive device may be an element having a flexible disc-like structure, whose flexible peripheral edge slides along the inner walls of the blood vessel, compressing or clearing the material attached thereto.

Abstract translation: 一种用于预防与使用血液透析AV分流相关的静脉狭窄的方法和试剂盒。 该试剂盒可以使用分叉针来提供对分流器或血管的通路。 其中一个手臂用于在透析治疗后将血液返回给受试者，而另一只手臂用于插入用于清洁静脉的装置，该装置是自主爬行装置或沿着静脉向下移动的被动束缚装置 通过血流。 自主爬行装置可以是一系列顺序可充气的腔室，当充气和移动时，狭窄被来自腔室外壁的压力清除。 无源器件可以是具有柔性盘状结构的元件，其柔性周边沿着血管的内壁滑动，压缩或清除附着于其上的材料。