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    On-site verification of implant positioning
    3.
    发明授权
    On-site verification of implant positioning 有权
    现场验证植入物定位

    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

    IPC: G06K9/00 ,  A61B6/12 ,  A61B6/00 ,  G06K9/62 ,  G06T7/00 ,  G06T15/00

    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。

    SYSTEMS AND METHODS FOR TRAINING AND USING AN IMPLANT PLAN EVALUATION MODEL
    4.
    发明申请
    SYSTEMS AND METHODS FOR TRAINING AND USING AN IMPLANT PLAN EVALUATION MODEL 有权

    公开(公告)号：US20220296388A1

    公开(公告)日：2022-09-22

    申请号：US17203187

    申请日：2021-03-16

    Applicant: Mazor Robotics Ltd.

    Inventor： Leonid Kleyman ,  Liron Itan ,  Noa Mor ,  Anna Ostap Yaacoby ,  Or Riven ,  Adi Steinmetz ,  Dor Artzi

    IPC: A61F2/46 ,  G06N20/00 ,  G16H20/40 ,  G16H50/50 ,  A61F2/44

    Abstract: Systems and methods for training an implant plan evaluation model is provided. A first implant plan option having a first set of parameters and a second implant plan option having a second set of parameters may be received. The first set of parameters and the second set of parameters may be inputted into a model configured to score the first implant plan option based on the first set of parameters and the second implant plan option based on the second set of parameters. The score of the first implant plan option and the score of the second implant plan option may be compared. when the score of the second implant plan option is higher than the score of the first implant plan option the model may be adjusted to score the first implant plan option higher than the second implant plan option.

    Global spinal alignment method
    5.
    发明授权
    Global spinal alignment method 有权

    公开(公告)号：US11410767B2

    公开(公告)日：2022-08-09

    申请号：US17017283

    申请日：2020-09-10

    Applicant: MAZOR ROBOTICS LTD.

    Inventor： Eliyahu Zehavi ,  Yossi Bar ,  Shlomit Steinberg ,  Leonid Kleyman ,  Isador Lieberman

    IPC: G16H20/40 ,  G16H30/40 ,  A61B6/03 ,  A61B6/00 ,  A61B34/10 ,  G06T7/11 ,  G06T7/70 ,  G06T7/73 ,  G06T7/00 ,  G16H50/50 ,  G16H50/20

    Abstract: 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.

    SYSTEMS AND METHODS FOR PREDICTING SURGICAL OUTCOMES
    6.
    发明申请
    SYSTEMS AND METHODS FOR PREDICTING SURGICAL OUTCOMES 有权

    公开(公告)号：US20220241014A1

    公开(公告)日：2022-08-04

    申请号：US17163924

    申请日：2021-02-01

    Applicant: Mazor Robotics Ltd.

    Inventor： Leonid Kleyman ,  Ofer Regev ,  Adi Sandelson ,  Adam D. Glaser ,  Shane Lars Riding

    IPC: A61B34/10 ,  G06N3/08

    Abstract: Systems and methods for predicting surgical outcomes are provided. A surgical plan comprising information about a planned surgery and at least one preoperative image depicting a planned surgical result and at least one postoperative image depicting an actual surgical result resulting from execution of the planned surgery may be received. The postoperative image may be registered to the preoperative image. One or more features may be automatically identified in each of the postoperative image and the preoperative image. A difference may be automatically measured in at least one parameter of each of the one or more features to yield training data. A function for predicting the difference may be generated using artificial intelligence and based on the training data. The function may be applied to an unexecuted surgical plan.

    Global spinal alignment method
    8.
    发明授权
    Global spinal alignment method 有权

    公开(公告)号：US10777315B2

    公开(公告)日：2020-09-15

    申请号：US15765720

    申请日：2016-10-13

    Applicant: MAZOR ROBOTICS LTD.

    Inventor： Eliyahu Zehavi ,  Yossi Bar ,  Shlomit Steinberg ,  Leonid Kleyman ,  Isador Lieberman

    IPC: G16H20/40 ,  G16H30/40 ,  A61B34/10 ,  A61B6/03 ,  A61B6/00 ,  G06T7/00 ,  G06T7/73 ,  G06T7/11 ,  G06T7/70 ,  G16H50/50 ,  G16H50/20

    Abstract: 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.

    ON-SITE VERIFICATION OF IMPLANT POSITIONING
    9.
    发明申请
    ON-SITE VERIFICATION OF IMPLANT POSITIONING 有权
    植被定位的现场验证

    公开(公告)号：US20150150523A1

    公开(公告)日：2015-06-04

    申请号：US14402696

    申请日：2013-05-21

    Applicant: MAZOR ROBOTICS LTD.

    Inventor： Yael Sirpad ,  Eli Zehavi ,  Moshe Shoham ,  Leonid Kleyman

    IPC: A61B6/12 ,  A61B6/00 ,  G06K9/62 ,  G06T7/00 ,  G06T15/00

    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，在插入骨中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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