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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
申请人： MAZOR ROBOTICS LTD.
发明人： Yossi BAR , Eliyahu ZEHAVI , Yonatan USHPIZIN
摘要： 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：US20190117320A1
公开(公告)日：2019-04-25
申请号：US16068947
申请日：2017-01-11
申请人： MAZOR ROBOTICS LTD.
发明人： Moshe SHOHAM , Eliyahu ZEHAVI , Yossi BAR
摘要： 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：US20180301213A1
公开(公告)日：2018-10-18
申请号：US15765720
申请日：2016-10-13
申请人： MAZOR ROBOTICS LTD.
摘要： A method of planning the correction of spinal deformations of a subject, by performing segmentation on a three dimensional image of the subject's spine in its erect neutral position, such that the positions and orientations of the vertebrae in a region of interest are characterized. Parameters relating to the alignment and position of the vertebrae are derived from the segmentation, followed by determining whether the parameters fall within an acceptable range desired for the spine of the subject. If not within the acceptable range, an alignment optimization is performed on the vertebrae to bring the parameters within the acceptable range, to reduce the spinal deformations of the subject's spine. The alignment optimization is performed by taking into consideration limitations arising from the dynamic range of motion of the vertebrae as determined by analyzing images of the subject's spine, while the subject is in positions of maximum bending.
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公开(公告)号：US20240164848A1
公开(公告)日：2024-05-23
申请号：US18429665
申请日：2024-02-01
申请人： Mazor Robotics Ltd.
发明人： Victor D. SNYDER , Matthew F. DICORLETO , Joseph MOCTEZUMA , David E. MACHT , Jeremiah R. BEERS , Katherine M. PUCKETT , Katharine Elizabeth DARLING , Leonid KLEYMAN , Dany JUNIO , Dana GAZIT-ANKORI , Eliyahu ZEHAVI , Elad RATZABI , Aviv ELLMAN , Timothy M. CONKIN
CPC分类号： A61B34/20 , A61B5/061 , A61B34/30 , G06T7/32 , A61B2034/2051 , A61B2034/2059 , G05B2219/39401
摘要： Disclosed is a system for assisting in guiding and performing a procedure on a subject. The subject may be any appropriate subject such as inanimate object and/or an animate object. The guide and system may include various manipulable or movable members, such as robotic systems, and may be registered to selected coordinate systems.
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公开(公告)号：US20160206347A1
公开(公告)日：2016-07-21
申请号：US15023409
申请日：2014-09-22
申请人： MAZOR ROBOTICS LTD.
发明人： Yossi BAR , Eliyahu ZEHAVI , Yonatan USHPIZIN , Nadav SHOHAM
IPC分类号： A61B17/34
摘要： Automatic dilator devices for generating minimally invasive access apertures for surgical procedures or endoscopic surveillance. The automatic dilators comprise a number of spreader tubes nested one inside the other. The devices deploy automatically by means of coupled mechanical mechanisms which insert one spreader after the other distally into the patient's tissue. Each spreader moves distally into the tissue by means of a screwing action, by which rotation is converted into linear motion of the neighboring spreader, immediately external to it, by means of interaction between a helical thread form on a surface of a spreader being engaged by a section of thread, or by one or more protrusions on the opposing face of the next spreader external to the rotating spreader. Such a combination of helical thread and follower enables a rotatory mechanism to be used to deploy one nested spreader tube after the other, by continuous rotary motion.
摘要翻译： 用于产生用于外科手术或内窥镜监视的微创进入孔的自动扩张器装置。 自动扩张器包括嵌套在另一个内的多个吊具管。 这些装置通过耦合的机械机构自动部署，其将一个扩张器在另一个向远侧插入患者组织中之后。 每个撒布机通过螺旋动作向远侧移动到组织中，通过旋转动作，旋转通过螺旋螺纹形式被转换成立即在其外部的相邻吊具的线性运动 螺纹的一部分，或通过在旋转撒布机外部的下一个撒布机的相对面上的一个或多个突起。 螺旋螺纹和跟随器的这种组合使得能够使用旋转机构来通过连续的旋转运动将一个嵌套的扩张管彼此分开。
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公开(公告)号：US20210338348A1
公开(公告)日：2021-11-04
申请号：US17285374
申请日：2019-10-15
申请人： MAZOR ROBOTICS LTD.
发明人： Eliyahu ZEHAVI , Moshe SHOHAM , Yonatan USHPIZIN
摘要： A robotic surgical system comprising at least two robotic arms having co-ordinate systems known relative to each other, one of the arms carrying an X-ray source, and the other an imaging detector plate. The arms are disposed to enable an image to be generated on the region of interest of a subject. One of the arms can additionally or alternatively carry a surgical tool or tool holder, such that the pose of the tool is known in the same co-ordinate system as that of an image generated by the X-ray source and detector. Consequently, any surgical procedure planned on such an X-ray image can be executed by the tool with high accuracy, since the tool position is known in the image frame of reference. This enables the surgeon to accurately position his tool in a real-time image without the need for an external registration procedure.
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公开(公告)号：US20160310221A1
公开(公告)日：2016-10-27
申请号：US15104529
申请日：2014-12-15
申请人： Mazor Robotics Ltd.
发明人： Yossi BAR , Eliyahu ZEHAVI , Yonatan USHPIZIN
摘要： 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.
摘要翻译： 一种用于将其基部安装在患者附近的手术机器人附接到患者的骨骼的骨连接系统。 该系统包括可连接在骨骼和机器人的支撑元件之间的可切换骨骼连接单元。 该单元具有锁定状态，其中骨基本上刚性地附接到支撑元件，以及释放状态，其中骨可相对于支撑元件移动。 该单元包括用于确定施加在骨骼和机器人的支撑元件之间的力的力传感器和用于测量骨骼相对于所述机器人的支撑元件的位置的位置传感器。 当力超过预定水平时，单元从其锁定状态切换到其释放状态，其被选择以确保骨骼能够移动而不脱离任何骨骼连接元件。
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