公开(公告)号：US11701186B2

公开(公告)日：2023-07-18

申请号：US17039597

申请日：2020-09-30

Applicant: MAZOR ROBOTICS LTD.

Inventor： Yossef Bar ,  Eliyahu Zehavi ,  Yonatan Ushpizin

IPC: A61B34/30 ,  A61B34/20 ,  A61B90/00 ,  A61B17/00

CPC classification number: A61B34/30 ,  A61B34/20 ,  A61B90/06 ,  A61B2017/00477 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2090/064

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.

公开(公告)号：US11701099B2

公开(公告)日：2023-07-18

申请号：US16301443

申请日：2017-05-15

Applicant: MAZOR ROBOTICS LTD.

Inventor： Yossef Bar ,  Moshe Shoham

IPC: A61B17/02 ,  A61M29/02 ,  A61M29/00 ,  A61B17/00

CPC classification number: A61B17/0218 ,  A61B17/02 ,  A61M29/00 ,  A61M29/02 ,  A61B2017/00557 ,  A61B2017/00831 ,  A61B2017/0225

Abstract: A balloon dilator device, comprising an annularly shaped, cylindrical type structure having walls that are expandable from a radially collapsed state to a radially expanded state by inflation of a balloon inserted within the annular structure. Once the walls have been expanded, they remain in the expanded state even if the balloon is deflated, because the radially expanded state is a state of minimum mechanical potential energy, and in order to return to the collapsed state, the structure would have to pass a state of higher potential energy. The device walls require sufficient stiffness in their longitudinal direction to enable the device to be pushed into a minimally invasive incision made in the subject. This device stiffness can be achieved either by its mechanical material properties, or by its substantially closed wall structure, or by use of a stiff protector sheath used to protect the walls during insertion.

公开(公告)号：US09814535B2

公开(公告)日：2017-11-14

申请号：US15345547

申请日：2016-11-08

Applicant: MAZOR ROBOTICS LTD.

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

IPC: A61B17/32 ,  A61B17/16 ,  A61B34/30 ,  A61B17/17 ,  A61B17/3205 ,  A61B90/11 ,  A61B17/70 ,  A61B17/00 ,  A61B17/02 ,  A61B17/34 ,  A61B17/56 ,  A61B90/50 ,  A61B34/10 ,  A61B90/00

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.