公开(公告)号：US20210369378A1

公开(公告)日：2021-12-02

申请号：US17331491

申请日：2021-05-26

申请人： Mazor Robotics Ltd.

发明人： Nir Ofer ,  Ori Ben Zeev

IPC分类号： A61B46/10 ,  A61B34/10

摘要： 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.

公开(公告)号：US10687784B2

公开(公告)日：2020-06-23

申请号：US15307056

申请日：2015-04-28

申请人： MAZOR ROBOTICS LTD.

发明人： Moshe Shoham

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

摘要： 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.

公开(公告)号：US10058338B2

公开(公告)日：2018-08-28

申请号：US12725487

申请日：2010-03-17

申请人： Moshe Shoham

发明人： Moshe Shoham

IPC分类号： A61B34/30 ,  A61B17/17 ,  A61B6/00 ,  A61B34/00

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

摘要： Disclosed are methods for performing a surgical procedure at a surgical site utilizing a surgical robot. Other embodiments are also disclosed.

公开(公告)号：US09713499B2

公开(公告)日：2017-07-25

申请号：US14360186

申请日：2012-12-05

申请人： Yossef Bar ,  Eli Zehavi ,  Moshe Shoham ,  David Groberman

发明人： Yossef Bar ,  Eli Zehavi ,  Moshe Shoham ,  David Groberman

IPC分类号： A61B17/17 ,  A61B19/00 ,  A61B34/32 ,  A61B90/50 ,  A61B34/30 ,  A61B17/00 ,  A61B90/00 ,  A61B90/57

CPC分类号： A61B34/30 ,  A61B17/1757 ,  A61B34/32 ,  A61B90/50 ,  A61B2017/00694 ,  A61B2090/064 ,  A61B2090/571 ,  Y10S901/09

摘要： A robotic surgical system incorporating a surgical robot attached to a patient's bone by an attachment member, such that motion of the bone induces corresponding motion of the robot, maintaining the robot/bone positional relationship. The robot is supported on a mechanical mounting member attached through a controlled joint to a bed-mounted base element. The controlled joint can alternatively enable the mechanical mounting member to move freely relative to the base element, or its position can be controlled by signal inputs adapted to prevent excessive force being applied in the system. Two modes of operation are available (i) free motion in which the control system is decoupled from the mounting member, which rides freely with patient bone motion, and (ii) servo-controlled motion, in which drive mechanisms control the joint motion to prevent application of excessive force on the patient bone or attachment member.

公开(公告)号：US09492241B2

公开(公告)日：2016-11-15

申请号：US11813747

申请日：2006-01-12

申请人： Leo Joskowicz ,  Moshe Shoham ,  Reuven Shamir ,  Moti Freiman ,  Eli Zehavi ,  Yigal Shoshan

发明人： Leo Joskowicz ,  Moshe Shoham ,  Reuven Shamir ,  Moti Freiman ,  Eli Zehavi ,  Yigal Shoshan

IPC分类号： A61B19/00 ,  A61B17/34

CPC分类号： 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

摘要： 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.

摘要翻译： 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：US08518051B2

公开(公告)日：2013-08-27

申请号：US10557048

申请日：2004-05-16

申请人： Moshe Shoham ,  Michael Burman

发明人： Moshe Shoham ,  Michael Burman

IPC分类号： 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分类号： A61B17/157 ,  A61B6/0421 ,  A61B17/155 ,  A61B17/1703 ,  A61B17/1725 ,  A61B17/1764 ,  A61B34/30 ,  A61B2034/304 ,  A61B2090/376

摘要： 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.

摘要翻译： 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。

公开(公告)号：US08328852B2

公开(公告)日：2012-12-11

申请号：US12922457

申请日：2009-03-15

申请人： Eli Zehavi ,  Moshe Shoham

发明人： Eli Zehavi ,  Moshe Shoham

IPC分类号： A61B17/88 ,  A61B17/70 ,  A61F2/44

CPC分类号： 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

摘要： 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.

摘要翻译： 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。

公开(公告)号：US12103166B2

公开(公告)日：2024-10-01

申请号：US17021723

申请日：2020-09-15

申请人： MAZOR ROBOTICS LTD.

发明人： Moshe Shoham

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

CPC分类号： B25J17/0216 ,  A61B17/1675 ,  A61B34/30 ,  B25J9/1676 ,  A61B2017/00106 ,  A61B2034/2055 ,  A61B2034/304 ,  A61B2090/061

摘要： 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：US12076027B2

公开(公告)日：2024-09-03

申请号：US17339708

申请日：2021-06-04

申请人： Mazor Robotics Ltd.

发明人： Eli Zehavi ,  Arik Levy

IPC分类号： A61B17/02 ,  A61B17/16 ,  A61B17/3209 ,  A61B34/30 ,  A61M29/00

CPC分类号： A61B17/1615 ,  A61B17/1637 ,  A61B17/32093 ,  A61B34/30 ,  A61M29/00

摘要： A surgical tool comprises a dilator, a cutter, a retractable brush, and at least one retractable drill. The dilator is configured to dilate tissue of a patient and can be positioned in an undilated configuration or a dilated configuration. The cutter is configured to cut the tissue and is disposed at a distal end of the dilator. The cutter is configured to move between a cutting position when the dilator is in the undilated configuration and a non-cutting position when the dilator is in the dilated configuration. The retractable brush is configured to brush a surface of an anatomical element of the patient to remove matter from the surface. The at least one retractable drill is configured to drill into the anatomical element.

公开(公告)号：US20240277418A1

公开(公告)日：2024-08-22

申请号：US18566696

申请日：2022-06-12

申请人： Mazor Robotics Ltd.

发明人： Ziv Seemann ,  Adi Sandelson ,  Bat-El Kagan ,  Nicholas J. Rawluk ,  Yvan R. Paitel

IPC分类号： A61B34/20 ,  A61B46/00 ,  A61B90/00 ,  A61B90/96

CPC分类号： A61B34/20 ,  A61B46/00 ,  A61B90/96 ,  A61B2034/2055 ,  A61B2034/2065 ,  A61B2034/2072 ,  A61B2090/3937

摘要： Systems and methods for detecting and monitoring a drape configuration are provided. The system may include a drape and one or more indicia. The one or more indicia may be visible when at least a portion of the drape is in a predetermined configuration. Information about the one or more indicia may be received and whether or not the portion of the drape is in the predetermined configuration may be determined based on the information.