公开(公告)号：US20230414289A1

公开(公告)日：2023-12-28

申请号：US18244845

申请日：2023-09-11

Applicant: Mazor Robotics Ltd.

Inventor： Edo ZUCKER ,  Moshe SHOHAM ,  Yuval CHEN

IPC: A61B34/10 ,  A61B17/70 ,  A61B34/20

CPC classification number: A61B34/10 ,  A61B17/7089 ,  A61B17/70 ,  A61B34/20 ,  A61B17/7077 ,  A61B17/7013 ,  A61B2017/568

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.

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

IPC: A61B34/10 ,  A61B17/70 ,  A61B34/20

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.

公开(公告)号：US20190231435A1

公开(公告)日：2019-08-01

申请号：US16312296

申请日：2017-06-23

Applicant: MAZOR ROBOTICS LTD.

Inventor： Edo ZUCKER ,  Moshe SHOHAM ,  Yuval CHEN

IPC: A61B34/10 ,  A61B17/70

CPC classification number: A61B34/10 ,  A61B17/70 ,  A61B17/7013 ,  A61B17/7077 ,  A61B17/7089 ,  A61B34/20 ,  A61B2017/00238 ,  A61B2017/564 ,  A61B2017/568 ,  A61B2034/104 ,  A61B2034/107 ,  A61B2034/108 ,  A61B2034/2055 ,  A61B2034/2063 ,  A61B2034/2065 ,  A61B2034/2072 ,  A61B2034/301 ,  A61B2090/376 ,  A61B2090/3945 ,  A61B2090/3983

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.