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公开(公告)号：US20220117664A1
公开(公告)日：2022-04-21
申请号：US17491014
申请日：2021-09-30
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio
Abstract: A method and system for improving spinal alignment parameters of a subject, by planning the shape of an intervertebral rod for attaching to previously implanted hardware whose positions and orientations are known from intraoperative images. Once the planned shape of the rod has been prepared, determining if, when attached to the inserted hardware, a spine configuration is achieved having acceptable values of selected spinal alignment parameters. If not, the shape of the rod is amended iteratively, until the selected spinal alignment parameters have acceptable values with attachability to the implanted hardware. If, after a predetermined number of iterations, the amended shape of the rod still does not achieve acceptable values of spinal alignment parameters, while maintaining attachability to the implanted hardware, performing a spinal manipulation procedure on at least one vertebra of the spine to increase the attachability of the rod to the implanted hardware.
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公开(公告)号：US20220096188A1
公开(公告)日：2022-03-31
申请号：US17464300
申请日：2021-09-01
Applicant: Mazor Robotics Ltd.
Inventor： Aviv Ellman , Moshe Shoham
Abstract: Methods and systems for detecting, monitoring, and accounting for anatomical motion is provided. An initial contact between a first robotic arm and an anatomical element of a patient may be detected based on information received from at least one internal sensor of the first robotic arm. A position of the anatomical element may be determined based on the information. The determined position may be compared to an expected position of the anatomical element. A tool trajectory of a second robotic arm may be updated when the determined position is offset from the expected position.
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公开(公告)号：US20210386491A1
公开(公告)日：2021-12-16
申请号：US17341263
申请日：2021-06-07
Applicant: Mazor Robotics Ltd.
Inventor： Yizhaq Shmayahu , Eli Zehavi
Abstract: A system for endoscopic surgery, comprising a first robotic arm defining the pose of an endoscopic camera, a second robotic arm defining the pose of a surgical end effector, and an irrigation nozzle configured to inject fluid under a predetermined pressure into a preselected tissue region, to generate a cavity at a surgical site. The cavity enables the camera to take images of the features of the surgical site. A controller is used to control both robotic arms, such that the pose of the endoscopic camera and the pose of the surgical end effector are known to the controller. The camera can then acquire intraoperative images of the cavity, such that an endoscopic operation can be performed in the cavity with the surgical end effector guided using the intraoperative images. Anatomic features imaged intraoperatively by the camera can be identified from preoperative images, using image registration.
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公开(公告)号：US11141227B2
公开(公告)日：2021-10-12
申请号：US16068947
申请日：2017-01-11
Applicant: MAZOR ROBOTICS LTD.
Inventor： Moshe Shoham , Eliyahu Zehavi , Yossi Bar
Abstract: A surgical robot system whose robotic arm is divided into two parts, and is connected to the patient at the junction of the two parts, by means of a bone connector. The section between the bone connector and the robotic base has a predetermined level of flexibility, enabling the bone connector limited movement. Consequently, the patient's body can also move without the bone connector exerting excess forces on the patient, and without detachment from the patient. The arm section between the bone connection link and the end actuator has high rigidity, such that the pose of the end actuator relative to the patient is accurately maintained. As the patient undergoes small movements, such as in breathing or coughing, the bone connector and base connection arm section, move together with motion of the patient's bone, while the pose of the end actuator relative to the patient is accurately maintained.
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公开(公告)号：US20210313062A1
公开(公告)日：2021-10-07
申请号：US16842380
申请日：2020-04-07
Applicant: MAZOR ROBOTICS LTD.
Inventor： Dany Junio
Abstract: A method and system for detecting spinal stenosis is provided. The method may receive image data corresponding to a spine region of a patient. The method may also identify a spinal cord in the image data. The method may determine at least one compression of the spinal cord and may mark an anatomical element proximate to a location of the determined at least one compression to yield at least one marking. The method may generate a decompression plan based on the at least one marking.
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Patent Agency Ranking
公开(公告)号：US20210186626A1
公开(公告)日：2021-06-24
申请号：US17191297
申请日：2021-03-03
Applicant: Mazor Robotics Ltd.
Inventor： Aviv Ellman , Eli Zehavi
Abstract: A method for verifying surgical tool placement includes attaching a guide sleeve to a surgical robot, the guide sleeve defining a guide sleeve axis; aligning the surgical robot such that the guide sleeve axis is directed at a predetermined target location; and attaching an aiming rod to the guide sleeve such that the aiming rod can rotate around the guide sleeve axis, the aiming rod having apertures along its length. The aiming rod is attached to the guide sleeve at an angle and position such that when the surgical robot is adjusted to align the guide sleeve axis with the predetermined target location, a center of each aperture of the apertures of the aiming rod and a center of the predetermined target location are collinear, independent of a rotational position of the aiming rod around the guide sleeve axis.
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公开(公告)号：US20210186615A1
公开(公告)日：2021-06-24
申请号：US17130516
申请日：2020-12-22
Applicant: Mazor Robotics Ltd.
Inventor： Yizhaq Shmayahu , Eliyahu Zehavi , Yonatan Ushpizin , Noam Weiss
Abstract: Systems and methods for monitoring a surgical procedure are provided. A coordinate system of a first robotic arm and a second robotic arm may be co-registered or correlated to each other. One or more poses of an imaging device may be determined to provide real-time intraoperative imaging of a region of interest during a surgical procedure. Anatomical elements may be identified in the real-time images of the region of interest from which a surgical tool should maintain a predetermined distance. The surgical tool may be prevented from approaching the identified anatomical elements by less than a predetermined distance using the co-registration of the coordinate systems.
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公开(公告)号：US20210137603A1
公开(公告)日：2021-05-13
申请号：US17096757
申请日：2020-11-12
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：US20210059774A1
公开(公告)日：2021-03-04
申请号：US17039597
申请日：2020-09-30
Applicant: MAZOR ROBOTICS LTD.
Inventor： Yossi BAR , Eliyahu ZEHAVI , Yonatan USHPIZIN
Abstract: A bone connection system for attaching a surgical robot having its base mounted in the vicinity of a patient, to a bone of the patient. The system incorporates a switchable bone connection unit attached between the bone and a support element of the robot. This unit has a locked state in which the bone is attached essentially rigidly to the support element, and a released state in which the bone can move relative to the support element. The unit comprises a force sensor for determining the force exerted between the bone and the support element of the robot, and a position sensor for measuring the position of the bone relative to the support element of said robot. The unit switches from its locked state to its released state when the force exceeds a predetermined level, selected to ensure that the bone can move without detaching any bone connection elements.
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公开(公告)号：US20190254750A1
公开(公告)日：2019-08-22
申请号：US16348151
申请日：2017-11-08
Applicant: MAZOR ROBOTICS LTD.
Inventor： Ben METZ
Abstract: A method for planning the insertion of bone cement into an orthopedic void of a vertebra. A three dimensional preoperative image of the vertebra is used and the voxels are analyzed to provide the voxel absorption levels. The absorption levels are transformed into mechanical properties of regions of the vertebra, such that a three dimensional mesh of the mechanical properties of the vertebra is generated. An entry point and an entry angle are selected on the vertebra, through which to inject bone cement into the void. Then, using the known viscosity of the bone cement, and using the entry point and entry angle, a finite elements analysis may be performed on the mesh to simulate the propagation of the bone cement into the orthopedic void. The simulation is repeated using different operational parameters until said propagation of said bone cement is deemed satisfactory.
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