公开(公告)号：US08992580B2

公开(公告)日：2015-03-31

申请号：US13132095

申请日：2009-12-01

申请人： Yossef Bar ,  Eli Zehavi ,  Isador Lieberman ,  Moshe Shoham

发明人： Yossef Bar ,  Eli Zehavi ,  Isador Lieberman ,  Moshe Shoham

IPC分类号： A61B17/88 ,  A61B17/16 ,  A61B17/70 ,  A61B17/17 ,  A61B19/00 ,  A61B17/00 ,  A61B17/02 ,  A61B17/34 ,  A61B17/56

CPC分类号： 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

摘要： 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.

摘要翻译： 一种用于进行微创脊柱稳定的机器人系统，使用从下椎骨椎弓根倾斜轨迹插入相邻上椎骨体的两个螺钉。 该手术比使用开放式手术执行的手术要小，因为用于沿着安全轨迹引导外科医生的机器人，避免损伤椎骨周围的神经。 机器人臂是有利的，因为在用于直接观察操作部位的微创程序中不提供访问，并且可以容易地仅使用机器人控制来实现倾斜进入所需的精度。 该机器人系统也避免了大量荧光镜图像以检查相对于周围神经的钻孔插入位置的需要。 还描述了具有柔性线头的光盘清洁工具。 通过比较荧光镜图像和显示计划路径的术前图像来确定钻孔轨迹。

公开(公告)号：US20110319941A1

公开(公告)日：2011-12-29

申请号：US13132095

申请日：2009-12-01

申请人： Yossef Bar ,  Eli Zeha Vi ,  Isador Lieberman ,  Moshe Shoham

发明人： Yossef Bar ,  Eli Zeha Vi ,  Isador Lieberman ,  Moshe Shoham

IPC分类号： A61B17/88 ,  A61B17/16 ,  A61B17/70

CPC分类号： 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

摘要： 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.

摘要翻译： 一种用于进行微创脊柱稳定的机器人系统，使用从下椎骨椎弓根倾斜轨迹插入相邻上椎骨体的两个螺钉。 该手术比使用开放式手术执行的手术要小，因为用于沿着安全轨迹引导外科医生的机器人，避免损伤椎骨周围的神经。 机器人臂是有利的，因为在用于直接观察操作部位的微创程序中不提供访问，并且可以容易地仅使用机器人控制来实现倾斜进入所需的精度。 该机器人系统也避免了大量荧光镜图像以检查相对于周围神经的钻孔插入位置的需要。 还描述了具有柔性线头的光盘清洁工具。 通过比较荧光镜图像和显示计划路径的术前图像来确定钻孔轨迹。

公开(公告)号：US20110276095A1

公开(公告)日：2011-11-10

申请号：US13133657

申请日：2009-12-09

申请人： Yossef Bar ,  Eli Zehavi ,  Brian Hewko ,  Moshe Shoham

发明人： Yossef Bar ,  Eli Zehavi ,  Brian Hewko ,  Moshe Shoham

IPC分类号： A61B17/88 ,  A61B17/86

CPC分类号： A61B17/863 ,  A61B17/70

摘要： An orthopedic screw having a thread with two parts, a distal and a proximal part, each having a different thread configuration. The distal section has a thread with outer dimension and pitch suitable for entry into cancellous bone, while the proximal section has a composite thread comprising (i) a first thread of the same or slightly larger outer diameter as the cancellous thread in the distal section, having the same pitch thereof, and lying on the same helix, and (ii) another thread having a smaller outer diameter but the same pitch as the first thread, but disposed on a helix displaced from that of the first thread, such that it lies between the crests of the first thread. This screw enables optimum fixation strength in a bone or bones having a harder cortical outer section and a softer cancellous inner section. The screw may have an unthreaded central section.

摘要翻译： 具有两部分的螺纹的矫形螺钉，远端和近端部分，每个具有不同的螺纹构型。 远侧部分具有适于进入松质骨的外部尺寸和节距的螺纹，而近侧部分具有复合螺纹，其包括（i）与远侧部分中的松质线相同或略大的外径的第一螺纹， 具有相同的间距并且位于相同的螺旋上，和（ii）具有比第一螺纹更小的外径但是相同螺距的另一螺纹，但是设置在与第一螺纹的螺旋线相同的螺旋上，使得其位于 在第一线程的顶点之间。 该螺钉使骨骼或具有较硬的皮质外部部分和较软质松质骨内部部分的骨骼具有最佳的固定强度。 螺钉可能有一个无螺纹的中心部分。

公开(公告)号：US09713499B2

公开(公告)日：2017-07-25

申请号：US14360186

申请日：2012-12-05

申请人： Yossef Bar ,  Eli Zehavi ,  Moshe Shoham ,  David Groberman

发明人： Yossef Bar ,  Eli Zehavi ,  Moshe Shoham ,  David Groberman

IPC分类号： A61B17/17 ,  A61B19/00 ,  A61B34/32 ,  A61B90/50 ,  A61B34/30 ,  A61B17/00 ,  A61B90/00 ,  A61B90/57

CPC分类号： A61B34/30 ,  A61B17/1757 ,  A61B34/32 ,  A61B90/50 ,  A61B2017/00694 ,  A61B2090/064 ,  A61B2090/571 ,  Y10S901/09

摘要： A robotic surgical system incorporating a surgical robot attached to a patient's bone by an attachment member, such that motion of the bone induces corresponding motion of the robot, maintaining the robot/bone positional relationship. The robot is supported on a mechanical mounting member attached through a controlled joint to a bed-mounted base element. The controlled joint can alternatively enable the mechanical mounting member to move freely relative to the base element, or its position can be controlled by signal inputs adapted to prevent excessive force being applied in the system. Two modes of operation are available (i) free motion in which the control system is decoupled from the mounting member, which rides freely with patient bone motion, and (ii) servo-controlled motion, in which drive mechanisms control the joint motion to prevent application of excessive force on the patient bone or attachment member.

公开(公告)号：US20140316436A1

公开(公告)日：2014-10-23

申请号：US14360186

申请日：2012-12-05

申请人： Yossef Bar ,  Eli Zehavi ,  Moshe Shoham ,  David Groberman

发明人： Yossef Bar ,  Eli Zehavi ,  Moshe Shoham ,  David Groberman

IPC分类号： A61B19/00

CPC分类号： A61B34/30 ,  A61B17/1757 ,  A61B34/32 ,  A61B90/50 ,  A61B2017/00694 ,  A61B2090/064 ,  A61B2090/571 ,  Y10S901/09

摘要： A robotic surgical system incorporating a surgical robot attached to a patient's bone by an attachment member, such that motion of the bone induces corresponding motion of the robot, maintaining the robot/bone positional relationship. The robot is supported on a mechanical mounting member attached through a controlled joint to a bed-mounted base element. The controlled joint can alternatively enable the mechanical mounting member to move freely relative to the base element, or its position can be controlled by signal inputs adapted to prevent excessive force being applied in the system. Two modes of operation are available (i) free motion in which the control system is decoupled from the mounting member, which rides freely with patient bone motion, and (ii) servo-controlled motion, in which drive mechanisms control the joint motion to prevent application of excessive force on the patient bone or attachment member.

摘要翻译： 一种机器人手术系统，其包括通过附接构件附接到患者骨骼的手术机器人，使得骨骼的运动引起机器人的相应运动，保持机器人/骨骼位置关系。 机器人被支撑在通过受控接头​​附接到床上安装的基座元件的机械安装构件上。 可控的接头可替代地使得机械安装构件相对于基座元件自由移动，或者其位置可以由适于防止在系统中施加过大的力的信号输入来控制。 有两种操作模式可用（i）自由运动，其中控制系统与安装构件脱离，骑自行与患者骨骼运动，以及（ii）伺服控制运动，其中驱动机构控制关节运动以防止 对患者骨骼或附着部件施加过大的力。