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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：US20250082373A1
公开(公告)日：2025-03-13
申请号：US18957288
申请日：2024-11-22
Applicant: Mazor Robotics Ltd.
Inventor： Eli Zehavi , Yonatan Ushpizin , Aviv Ellman , Dany Junio , Elad Ratzabi , Yair Schwartz , Yuval Chen
Abstract: A spinal stabilization system includes a plurality of anchors and at least one bridge. Each anchor includes a clamp configured to engage an anatomical element, the clamp movable between a fully open position and a fully closed position; a locking screw configured to selectively prevent the clamp from being moved into the fully open position; and a bridge interface. The at least one bridge is a rigid member having a first end and a second end opposite the first end, each of the first end and the second end having an anchor interface. The bridge interface is configured to receive the anchor interface.
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公开(公告)号：US12178663B2
公开(公告)日：2024-12-31
申请号：US17526873
申请日：2021-11-15
Applicant: Mazor Robotics Ltd.
Inventor： Ido Zucker , Yonatan Ushpizin , Eliyahu Zehavi
Abstract: Methods and systems for monitoring a rod reduction process is provided. The methods and systems include determining, based on at least one parameter, a threshold for forces exerted by a tool on a rod or a pedicle screw and receiving data corresponding to a magnitude of the forces exerted by the tool on the pedicle screw or the rod during reduction of the rod into a head of the pedicle screw. A surgical plan may be updated when the monitored magnitude meets the threshold.
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公开(公告)号：US20240382224A1
公开(公告)日：2024-11-21
申请号：US18662123
申请日：2024-05-13
Applicant: Mazor Robotics Ltd.
Inventor： Michael Vu , Milton F. Barnes , Jaffar Hleihil , Aayush Malla , Andrew J. Wald , Mahin Maharjan , Saideep Nakka , Haoran Li , Sophie A. Pervere , Bret R. Hauser , John W. Kulas
Abstract: A surgical system having adaptive control includes a surgical cutting device, at least one sensor, and a controller. The surgical cutting device includes a cutting tool and a motor configured to drive movement of the cutting tool. The at least one sensor is configured to produce sensor data indicative of at least one property of the surgical cutting device during use. The controller is configured to receive the sensor data and determine a performance condition of the surgical cutting device based at least on the sensor data. The controller is further configured, where the determined performance condition is an adverse performance condition, to at least one of: adjust settings of the surgical cutting device or recommend a change relating to use of the surgical cutting device.
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Patent Agency Ranking
公开(公告)号：US12103166B2
公开(公告)日：2024-10-01
申请号：US17021723
申请日：2020-09-15
Applicant: MAZOR ROBOTICS LTD.
Inventor： Moshe Shoham
CPC classification number: B25J17/0216 , A61B17/1675 , A61B34/30 , B25J9/1676 , A61B2017/00106 , A61B2034/2055 , A61B2034/304 , A61B2090/061
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.
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公开(公告)号：US12076027B2
公开(公告)日：2024-09-03
申请号：US17339708
申请日：2021-06-04
Applicant: Mazor Robotics Ltd.
Inventor： Eli Zehavi , Arik Levy
IPC: A61B17/02 , A61B17/16 , A61B17/3209 , A61B34/30 , A61M29/00
CPC classification number: A61B17/1615 , A61B17/1637 , A61B17/32093 , A61B34/30 , A61M29/00
Abstract: 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.
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公开(公告)号：US20240277418A1
公开(公告)日：2024-08-22
申请号：US18566696
申请日：2022-06-12
Applicant: Mazor Robotics Ltd.
Inventor： Ziv Seemann , Adi Sandelson , Bat-El Kagan , Nicholas J. Rawluk , Yvan R. Paitel
CPC classification number: A61B34/20 , A61B46/00 , A61B90/96 , A61B2034/2055 , A61B2034/2065 , A61B2034/2072 , A61B2090/3937
Abstract: 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.
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公开(公告)号：US12011237B2
公开(公告)日：2024-06-18
申请号：US17331081
申请日：2021-05-26
Applicant: Mazor Robotics Ltd.
Inventor： Avi Turgeman , Yonatan Ushpizin , Eli Zehavi , Ido Zucker
CPC classification number: A61B34/30 , A61B17/86 , A61B34/25 , G06F3/017 , G06T7/50 , A61B2034/743 , A61B2034/744 , G06T2207/10028 , G06T2207/30012
Abstract: A system according to at least one embodiment of the present disclosure includes an imaging source; an imaging detector; a depth sensor; and a controller, where the controller receives image information from the depth sensor, determines a gesture in relation to a working volume, and moves the imaging source and the imaging detector relative to the working volume based on the gesture.
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公开(公告)号：US20240177402A1
公开(公告)日：2024-05-30
申请号：US18072006
申请日：2022-11-30
Applicant: Mazor Robotics Ltd.
Inventor： Noam Weiss
CPC classification number: G06T15/08 , G06T7/12 , G06T7/55 , G06T7/521 , G06T2207/10028 , G06T2207/10081 , G06T2207/10088 , G06T2207/10116 , G06T2207/30244
Abstract: A system according to at least one embodiment of the present disclosure includes a processor; and a memory storing instructions thereon that, when executed by the processor, cause the processor to: identify, based on first imaging data associated with an object, a boundary region corresponding to a shape of the object; identify at least one voxel included in second imaging data associated with the object, where the at least one voxel is located outside the boundary region; and generate a multidimensional image volume corresponding to the object using the second imaging data, where generating the multidimensional image volume is with respect to one or more criteria associated with voxels located outside the boundary region.
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