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1. 发明申请

US20210137603A1 MINIMALLY INVASIVE INTERVERTEBRAL ROD INSERTION 有权
公开(公告)号：US20210137603A1
公开(公告)日：2021-05-13
申请号：US17096757
申请日：2020-11-12
申请人： MAZOR ROBOTICS LTD.
发明人： Edo ZUCKER , Moshe SHOHAM , Yuval CHEN
IPC分类号： A61B34/10 , A61B17/70 , A61B34/20
摘要： 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.

2. 发明公开

US20230414289A1 MINIMALLY INVASIVE INTERVERTEBRAL ROD INSERTION 审中-公开
公开(公告)号：US20230414289A1
公开(公告)日：2023-12-28
申请号：US18244845
申请日：2023-09-11
申请人： Mazor Robotics Ltd.
发明人： Edo ZUCKER , Moshe SHOHAM , Yuval CHEN
IPC分类号： A61B34/10 , A61B17/70 , A61B34/20
CPC分类号： A61B34/10 , A61B17/7089 , A61B17/70 , A61B34/20 , A61B17/7077 , A61B17/7013 , A61B2017/568
摘要： 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.

3. 发明申请

US20170055940A1 ULTRASOUND GUIDED HAND HELD ROBOT 审中-公开
标题翻译：超声导向手持机器人
公开(公告)号：US20170055940A1
公开(公告)日：2017-03-02
申请号：US15307056
申请日：2015-04-28
申请人： MAZOR ROBOTICS LTD.
发明人： Moshe SHOHAM
IPC分类号： A61B8/08 , A61B90/11 , A61B17/34 , A61B34/30
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着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式机器人，其基座上的超声系统的探头刚性连接。手持式机器人的激活平台携带外科手术工具导向器。刀具导轨的对准确定了刀具在主体内部的轨迹。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。该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。

4. 发明申请

US20210338348A1 VERSATILE MULTI-ARM ROBOTIC SURGICAL SYSTEM 有权
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
IPC分类号： A61B34/30 , A61B6/00 , A61B8/00 , A61B34/20 , G06T7/30 , B25J9/16 , B25J13/08 , G01T1/161
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.

5. 发明申请

US20190290254A1 BALLOON DILATOR 审中-公开
公开(公告)号：US20190290254A1
公开(公告)日：2019-09-26
申请号：US16301443
申请日：2017-05-15
申请人： MAZOR ROBOTICS LTD.
发明人： Yossef BAR , Moshe SHOHAM
IPC分类号： A61B17/02
摘要： A balloon dilator device, comprising an annularly shaped, cylindrical type structure having walls that are expandable from a radially collapsed state to a radially expanded state by inflation of a balloon inserted within the annular structure. Once the walls have been expanded, they remain in the expanded state even if the balloon is deflated, because the radially expanded state is a state of minimum mechanical potential energy, and in order to return to the collapsed state, the structure would have to pass a state of higher potential energy. The device walls require sufficient stiffness in their longitudinal direction to enable the device to be pushed into a minimally invasive incision made in the subject. This device stiffness can be achieved either by its mechanical material properties, or by its substantially closed wall structure, or by use of a stiff protector sheath used to protect the walls during insertion.

6. 发明申请

US20170071682A1 Robot Guided Oblique Spinal Stabilization 有权
标题翻译：机器人导向倾斜脊柱稳定
公开(公告)号：US20170071682A1
公开(公告)日：2017-03-16
申请号：US15345547
申请日：2016-11-08
申请人： MAZOR ROBOTICS LTD.
发明人： Yossef BAR , Eli ZEHAVI , Isidore LIEBERMAN , Moshe SHOHAM
IPC分类号： A61B34/30 , A61B17/3205 , A61B90/11 , A61B17/32 , A61B17/16 , A61B17/17
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。

7. 发明申请

US20210007778A1 THREE DIMENSIONAL ROBOTIC BIOPRINTER 有权
公开(公告)号：US20210007778A1
公开(公告)日：2021-01-14
申请号：US16500347
申请日：2018-04-02
申请人： MAZOR ROBOTICS LTD.
发明人： Moshe SHOHAM
IPC分类号： A61B17/34 , A61B34/30 , A61B34/32 , A61B34/20 , B33Y30/00 , B33Y80/00 , B33Y50/02 , B33Y10/00
摘要： A minimally invasive system using a surgical robot as a three-dimensional printer for fabrication of biological tissues inside the body of a subject. A preoperative plan is used to direct and control both the motion of the robot and the robotic bio-ink extrusion. The robotic motion is coordinated with the ink extrusion to form layers having the desired thickness and dimensions, and use of different types of ink enables composite elements to be laid down. Such systems have a small diameter bio-ink ejecting mechanism, generally in the form of a piston driven cannula, enabling access to regions such as joints, with limited space. The robotic control is programmed such that angular motion takes place around a pivot point at the point of insertion into the subject. The bio-inks can be stored in predetermined layers in the cannula to enable sequential dispensing from one cannula.

8. 发明申请

US20190231435A1 MINIMALLY INVASIVE INTERVERTEBRAL ROD INSERTION 审中-公开
公开(公告)号：US20190231435A1
公开(公告)日：2019-08-01
申请号：US16312296
申请日：2017-06-23
申请人： MAZOR ROBOTICS LTD.
发明人： Edo ZUCKER , Moshe SHOHAM , Yuval CHEN
IPC分类号： A61B34/10 , A61B17/70
CPC分类号： 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
摘要： 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.

9. 发明申请

US20150209056A1 METHOD AND APPARATUS FOR ALERTING A USER TO SENSED LATERAL FORCES UPON A GUIDE-SLEEVE IN A ROBOT SURGICAL SYSTEM 审中-公开
标题翻译：用于指示用户在机器人手术系统中的指导台上感测到的侧向力的方法和装置
公开(公告)号：US20150209056A1
公开(公告)日：2015-07-30
申请号：US14563983
申请日：2014-12-08
申请人： MAZOR ROBOTICS LTD.
发明人： Moshe SHOHAM , Eli ZEHAVI
IPC分类号： A61B17/17 , A61B19/00
CPC分类号： A61B19/2203 , A61B17/1703 , A61B17/1707 , A61B17/1757 , A61B34/30 , A61B90/11 , A61B2017/00119 , A61B2090/064
摘要： Methods and apparatus for detecting or predicting surgical tool-bone skiving are disclosed. In some embodiments, the surgical tool is movably and/or snugly disposed within a guide-sleeve. In some embodiments, a magnitude of a lateral force between the surgical tool and the guide-sleeve is measured (e.g. by a force sensor or strain sensor). The present or future skiving may be detected or predicted according to the magnitude of the lateral force. In some embodiments, an alert signal is generated in response to the detecting or predicting of the skiving.
摘要翻译：公开了用于检测或预测外科手术刀 - 骨切割的方法和装置。在一些实施例中，手术工具可移动地和/或紧密地设置在引导套筒内。在一些实施例中，测量外科工具和导向套筒之间的横向力的大小（例如通过力传感器或应变传感器）。可以根据横向力的大小检测或预测当前或未来的切割。在一些实施例中，响应于对扫描的检测或预测而产生报警信号。

10. 发明申请

US20220013211A1 FORCE PREDICTION FOR SPINAL IMPLANT OPTIMIZATION 有权
公开(公告)号：US20220013211A1
公开(公告)日：2022-01-13
申请号：US17288660
申请日：2019-10-15
申请人： MAZOR ROBOTICS LTD.
发明人： Shlomit STEINBERG , Moshe SHOHAM
IPC分类号： G16H20/40 , A61B34/10 , G16H30/20
摘要： A method for optimizing orthopedic spinal implant survival using preoperative finite element analysis combined with intraoperative stress analysis. Based on clinically relevant data, finite element analysis, and corrected values of spinal parameters, an acceptable long-term stress score is determined for an appropriate implant, which is selected from a set of potential implants, such that the shape of the implant minimizes predicted stress values. From a preoperative medical image set, values of selected spinal alignment parameters are determined; finite element analysis is performed on potential implants to determine stress values; and a selected implant is digitally positioned in the medical image set to create a virtual bone/implant configuration. After the selected implant is inserted and bent to shape, actual stress values are measured intraoperatively. The process of bending and measuring stress values is repeated until the bone/implant configuration falls within the acceptable long-term stress score range.

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