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1. 发明授权

EP2265200B1 SEGMENTED INSERT FOR INTERVERTEBRAL SUPPORT 失效转让
公开(公告)号：EP2265200B1
公开(公告)日：2020-05-27
申请号：EP09721191.6
申请日：2009-03-15
申请人： Mazor Robotics Ltd.
发明人： ZEHAVI, Eli , SHOHAM, Moshe
IPC分类号： A61B17/70

2. 发明授权

EP2852326B1 ON-SITE VERIFICATION OF IMPLANT POSITIONING 有权转让
公开(公告)号：EP2852326B1
公开(公告)日：2018-12-05
申请号：EP13793369.3
申请日：2013-05-21
申请人： Mazor Robotics Ltd.
发明人： SIRPAD, Yael , KLEYMAN, Leonid , ZEHAVI, Eli , SHOHAM, Moshe
IPC分类号： A61B6/12 , A61B34/10 , A61B6/00 , G06K9/62 , G06T7/00 , G06T15/00 , A61B90/00
CPC分类号： 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
摘要： 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.

3. 发明授权

EP1725916B1 VERIFICATION SYSTEM FOR ROBOT POSE 有权转让
标题翻译：检验系统机器人POSE
公开(公告)号：EP1725916B1
公开(公告)日：2012-11-21
申请号：EP05703175.9
申请日：2005-02-03
申请人： Mazor Robotics Ltd.
发明人： SHOHAM, Moshe
IPC分类号： G05B19/4062 , B25J17/02 , B25J9/16
CPC分类号： G05B19/4062 , B25J9/1623 , B25J17/0266 , G05B2219/42318 , G05B2219/50162

4. 发明授权

EP1414362B1 Miniature bone-attached surgical robot 有权
标题翻译：骨安装微型机器人
公开(公告)号：EP1414362B1
公开(公告)日：2012-01-18
申请号：EP02735926.4
申请日：2002-05-22
申请人： Mazor Robotics Ltd.
发明人： SHOHAM, Moshe
IPC分类号： A61B19/00
CPC分类号： A61B17/1757 , A61B6/583 , A61B34/30 , A61B34/70 , A61B34/72 , A61B2034/742 , Y10T74/20305
摘要： A miniature surgical robot is attached directly to the bone of a patient at a surgical site, thereby locating the robot precisely on the bone. Intraoperative two-dimensional images of the robot on the bone together with an image referencing element disposed in a predetermined position relative to the robot, are correlated to form a three dimensional image. One or more windows of this three dimensional image are registered with similarly located windows in a preoperative three-dimensional image of the surgical site, the preoperative image including details of the surgeon's plan. This registration of these windows defines the referencing element position in the preoperative image, and hence the robot location in the preoperative image. This enables the robot to be directed to pre-operative determined positions based on the pre-operative plan to perform a surgical procedure.

5. 发明公开

EP4346680A1 MULTI-ARM SURGICAL ROBOTIC PLATFORM 审中-实审
公开(公告)号：EP4346680A1
公开(公告)日：2024-04-10
申请号：EP22735619.3
申请日：2022-05-22
申请人： Mazor Robotics Ltd.
发明人： ZEHAVI, Eli , SHOHAM, Moshe , USHPIZIN, Yonatan , SHMAYAHU, Yizhaq
IPC分类号： A61B34/30 , A61B90/00 , A61B90/50 , A61B34/20

6. 发明公开

EP4251086A1 AUTONOMOUS ROBOT TRACKING 审中-实审
公开(公告)号：EP4251086A1
公开(公告)日：2023-10-04
申请号：EP21827690.5
申请日：2021-11-30
申请人： Mazor Robotics Ltd.
发明人： SHOHAM, Moshe , SHMAYAHU, Yizhaq
IPC分类号： A61B34/20

7. 发明公开

EP4188265A1 SYSTEMS AND DEVICES FOR RETRACTOR INTERFERENCE AVOIDANCE 审中-实审
公开(公告)号：EP4188265A1
公开(公告)日：2023-06-07
申请号：EP21762813.0
申请日：2021-08-01
申请人： Mazor Robotics Ltd.
发明人： AZULAY, Shmuel , SHOHAM, Moshe
IPC分类号： A61B34/20 , A61B17/02 , A61B34/30 , A61B34/10 , A61B90/00 , A61B17/00

8. 发明公开

EP3136973A1 ULTRASOUND GUIDED HAND HELD ROBOT 有权转让
标题翻译： ULTRASCHALLGEFÜHRTERTRAGBARER ROBOTER
公开(公告)号：EP3136973A1
公开(公告)日：2017-03-08
申请号：EP15785365.6
申请日：2015-04-28
申请人： Mazor Robotics Ltd.
发明人： SHOHAM, Moshe
IPC分类号： A61B8/00 , A61B34/00 , A61B90/00
CPC分类号： A61B8/0841 , A61B8/085 , A61B17/3403 , A61B34/30 , A61B90/11 , A61B2017/3413 , A61B2018/1425 , A61B2034/2048 , A61B2034/2065 , A61B2034/304 , A61B2090/378
摘要： A system for insertion of a surgical tool along a trajectory to a target region in a patient's tissues, under the guidance of ultrasound imaging. The system includes a hand-held robot to whose base the probe of an ultrasound system is rigidly connected. The activated platform of the hand held robot carries a surgical tool guide. The alignment of the tool guide defines the trajectory which the tool takes within the subject's body. The position of the target region seen on the ultrasound display, can be recorded, and the robot coordinate frame of reference registered thereto. The system aligns the pose of the robot such that the surgical tool is aimed directly at the target region, independently of motion of the ultrasound probe and its associated robot. An inertial measurement unit can be incorporated to provide back-up positional information if the image of the lesion is lost.
摘要翻译：一种用于在超声成像的引导下将外科手术工具沿轨迹插入患者组织中的目标区域的系统。该系统包括一个手持机器人，其基座上的超声系统的探头刚性连接。手持机器人的激活平台携带外科手术工具指南。刀具导轨的对准确定了工具在主体内部所采用的轨迹。可以记录在超声波显示器上看到的目标区域的位置，并且记录登记在其上的机器人坐标系参考系。系统使机器人的姿态对齐，使得外科手术工具直接瞄准目标区域，而与超声探头及其相关机器人的运动无关。如果损伤的图像丢失，则可以并入惯性测量单元以提供备用位置信息。

9. 发明授权

EP1682018B1 Bridge for use in performing spinal surgical procedure 有权
标题翻译：铁路手术治疗椎骨
公开(公告)号：EP1682018B1
公开(公告)日：2016-10-05
申请号：EP04770590.0
申请日：2004-10-05
申请人： Mazor Robotics Ltd.
发明人： SHOHAM, Moshe , SILBERSTEIN, Boris , BURMAN, Michael
IPC分类号： A61B17/70
CPC分类号： A61B17/7062 , A61B17/7053 , A61B17/7055 , A61B34/20 , A61B34/30 , A61B34/70 , A61B2034/304

10. 发明公开

EP4370052A1 PATH PLANNING BASED ON WORK VOLUME MAPPING 审中-实审
公开(公告)号：EP4370052A1
公开(公告)日：2024-05-22
申请号：EP22757371.4
申请日：2022-07-10
申请人： Mazor Robotics Ltd.
发明人： JUNIO, Dany , SHOHAM, Moshe
IPC分类号： A61B34/10 , A61B34/30 , G06N20/00 , A61B90/00 , A61B34/20
CPC分类号： A61B2034/205520160201 , A61B2034/205120160201 , A61B34/30 , A61B2034/10720160201 , A61B2090/37820160201 , A61B2090/37620130101 , A61B2090/376220160201 , A61B2090/37420160201 , A61B2090/373520160201 , A61B34/10 , G06N20/00

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