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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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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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Patent Agency Ranking
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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公开(公告)号：US10076385B2
公开(公告)日：2018-09-18
申请号：US14563983
申请日：2014-12-08
Applicant: MAZOR ROBOTICS LTD.
Inventor： Moshe Shoham , Eli Zehavi
CPC classification number: A61B90/11 , A61B17/1703 , A61B17/1707 , A61B17/1757 , A61B34/30 , A61B2017/00119 , A61B2090/064
Abstract: Methods and apparatus for detecting or predicting surgical tool-bone skiving are disclosed. In some embodiments, the surgical tool is movably and/or snugly disposed within a guide-sleeve. In some embodiments, a magnitude of a lateral force between the surgical tool and the guide-sleeve is measured (e.g. by a force sensor or strain sensor). The present or future skiving may be detected or predicted according to the magnitude of the lateral force. In some embodiments, an alert signal is generated in response to the detecting or predicting of the skiving.
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公开(公告)号：US09545233B2
公开(公告)日：2017-01-17
申请号：US14402696
申请日：2013-05-21
Applicant: Mazor Robotics Ltd.
Inventor： Yael Sirpad , Eli Zehavi , Moshe Shoham , Leonid Kleyman
CPC classification number: A61B6/12 , A61B6/5235 , A61B6/5247 , A61B90/36 , A61B2090/364 , A61B2090/367 , A61B2090/376 , A61B2090/3966 , G06K9/6202 , G06T7/70 , G06T15/00 , G06T2207/10121 , G06T2207/30008
Abstract: A method verifying the position of a surgically inserted orthopedic insert. A preoperative three dimensional image data set of the surgical site is generated, showing the bone into which the insert is to be inserted. During the insertion procedure, a series of intraoperative two-dimensional fluoroscope images are generated, each at a known pose relative to the bone, showing the insert during or after insertion into the bone. The 3-D position of the insert is determined in an intraoperative three dimensional image data set reconstructed from the series of intraoperative 2-D fluoroscope images. The reconstructed intraoperative 3-D image data set is registered with the preoperative three dimensional image data set, such as by comparison of imaged anatomical features. Once this registration is achieved, the determined 3-D position of the insert is used to implant a virtual image of the insert into the preoperative three dimensional image data set.
Abstract translation: 一种验证手术插入的整形外科插入物的位置的方法。 产生手术部位的术前三维图像数据集，显示插入物插入其中的骨骼。 在插入过程期间，产生一系列术中二维荧光镜图像，每个以相对于骨骼的已知姿势生成，在插入骨骼期间或之后显示插入物。 插入物的3-D位置是在从一系列术中2-D荧光镜图像重建的术中三维图像数据集中确定的。 例如通过比较成像的解剖特征，将重建的术中3-D图像数据集与术前三维图像数据集进行配准。 一旦达到该注册，则使用所确定的插入物的3-D位置将插入物的虚拟图像植入到术前三维图像数据集中。
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公开(公告)号：US12295762B2
公开(公告)日：2025-05-13
申请号：US18393365
申请日：2023-12-21
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio , Eli Zehavi
Abstract: A low radiation, intra-operative method using two-dimensional imaging to register the positions of surgical implants relative to their pre-operative planned positions. Intraoperatively, a pair of two-dimensional fluoroscope images in different planes or a single three-dimensional image is acquired and compared to a set of three-dimensional preoperative images, to allow registration of the implant region anatomy. A second set of intraoperative fluoroscope images is acquired of the surgical area with implants in place. The second set of images is compared with the first set of intraoperative images to ascertain alignment of the implants. Registration between first and second intraoperative image sets is accomplished using the implants themselves as fiducial markers, and the process repeated until an acceptable configuration of the implants is obtained. The method is particularly advantageous for spinal surgery.
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