公开(公告)号：US20220151714A1

公开(公告)日：2022-05-19

申请号：US17476094

申请日：2021-09-15

Applicant: Mazor Robotics Ltd.

Inventor： Eli Zehavi ,  Moshe Shoham ,  Yonatan Ushpizin ,  Avi Turgeman

IPC: A61B34/30 ,  A61B17/02 ,  A61B34/20

Abstract: Systems and methods for robotic retraction of tissues in a surgical field. Two retractor mechanisms are used on either side of an incision. Each retractor is adapted to be held by a robotic arm, which applies force on the retractor mechanism to pull dissected tissue away from the incision, thus revealing the operative field. A force sensor is employed to measure the force on the retractor, an optional tracking sensor may be used to measure the extent of tissue retraction in two or three dimensions, and both sources of information provided to the robotic controller. By monitoring feedback from either the force sensor or the tracking sensor, the system is able to maintain equal retraction on both sides of the incision. The retractor elements incorporate mechanisms that move down the tissue as the retractors are pulled laterally.

公开(公告)号：US20210386433A1

公开(公告)日：2021-12-16

申请号：US17339708

申请日：2021-06-04

Applicant: Mazor Robotics Ltd.

Inventor： Eli Zehavi ,  Arik Levy

IPC: A61B17/16 ,  A61M29/00 ,  A61B17/3209 ,  A61B34/30

Abstract: A surgical tool comprises a dilator, a cutter, a retractable brush, and at least one retractable drill. The dilator is configured to dilate tissue of a patient and can be positioned in an undilated configuration or a dilated configuration. The cutter is configured to cut the tissue and is disposed at a distal end of the dilator. The cutter is configured to move between a cutting position when the dilator is in the undilated configuration and a non-cutting position when the dilator is in the dilated configuration. The retractable brush is configured to brush a surface of an anatomical element of the patient to remove matter from the surface. The at least one retractable drill is configured to drill into the anatomical element.

公开(公告)号：US10939962B1

公开(公告)日：2021-03-09

申请号：US15089704

申请日：2016-04-04

Applicant: Mazor Robotics Ltd.

Inventor： Aviv Ellman ,  Eli Zehavi

IPC: A61B34/20 ,  A61B90/00 ,  A61N1/05

Abstract: A system and method for verifying the accurate insertion positioning of a robotically guided surgical tool or probe, at its cranial target region, such as for Deep Brain Stimulation. A head mounted robot aligns a probe or tool guiding sleeve, together with an aiming rod attached at a predefined position and angle to the guiding sleeve. The aiming rod incorporates apertures through which an X-ray system can view the patient's skull. The aiming rod is attached to the tool guiding sleeve at an angle and position calculated such that the line of sight through the apertures falls exactly on the target region when the tool or probe is inserted to its predetermined depth. If the tip of the tool or probe is seen located at the center of the apertures in the X-ray image, verification is obtained that the insertion procedure has been performed accurately.

公开(公告)号：US09814535B2

公开(公告)日：2017-11-14

申请号：US15345547

申请日：2016-11-08

Applicant: MAZOR ROBOTICS LTD.

Inventor： Yossef Bar ,  Eli Zehavi ,  Isidore Lieberman ,  Moshe Shoham

IPC: A61B17/32 ,  A61B17/16 ,  A61B34/30 ,  A61B17/17 ,  A61B17/3205 ,  A61B90/11 ,  A61B17/70 ,  A61B17/00 ,  A61B17/02 ,  A61B17/34 ,  A61B17/56 ,  A61B90/50 ,  A61B34/10 ,  A61B90/00

CPC classification number: 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

Abstract: 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.

公开(公告)号：US09056015B2

公开(公告)日：2015-06-16

申请号：US13709448

申请日：2012-12-10

Applicant: MAZOR ROBOTICS LTD.

Inventor： Eli Zehavi ,  Moshe Shoham

IPC: A61B17/70 ,  A61F2/44 ,  A61F2/30

CPC classification number: A61F2/44 ,  A61F2/4455 ,  A61F2002/30172 ,  A61F2002/30446 ,  A61F2002/30471 ,  A61F2002/30563 ,  A61F2002/30579 ,  A61F2002/30596 ,  A61F2002/30599 ,  A61F2002/30604 ,  A61F2002/3085 ,  A61F2002/4415 ,  A61F2220/0041 ,  A61F2220/0091 ,  A61F2230/0052 ,  A61F2250/0063

Abstract: A spinal intervertebral support implant, for fusion or for dynamic stabilization purposes. A rod, preferably in the form of a screw, is inserted obliquely from the pedicle of an inferior vertebra into the body of a neighboring superior vertebra, through the disc space. The rod can be anchored into the body of the superior vertebra by means of a force fit or a screw thread. A pile of elements is disposed on the rod in the disc space like a pile of washers, so that the compression load between vertebrae is carried partly by these elements. These elements can be inserted through the bore through which the rod was inserted in a tightly folded configuration, and deployed into their washer-like form only when in position in the intervertebral space, such that there is no need for any additional incisions.

Abstract translation: 用于融合或用于动态稳定目的的脊柱椎间植入物。 优选以螺钉形式的杆通过椎间盘空间从下椎骨的椎弓根倾斜插入相邻上椎骨的身体。 杆可以通过力配合或螺纹锚固在上椎骨的身体中。 一堆元件被设置在盘空间中的杆上，如同一堆垫圈，使得椎骨之间的压缩载荷部分地由这些元件承载。 这些元件可以通过穿过杆穿过的孔插入紧密折叠的构造中，并且仅在椎间空间中的适当位置部署到它们的垫圈状形状中，使得不需要任何额外的切口。

公开(公告)号：US12171470B2

公开(公告)日：2024-12-24

申请号：US16944553

申请日：2020-07-31

Applicant: MAZOR ROBOTICS LTD.

Inventor： Eli Zehavi ,  Yonatan Ushpizin ,  Aviv Ellman ,  Dany Junio ,  Elad Ratzabi ,  Yair Schwartz ,  Yuval Chen

IPC: A61B17/70 ,  A61B34/20 ,  A61B90/00 ,  A61B90/57

Abstract: A spinal stabilization system includes a plurality of anchors and at least one bridge. Each anchor includes a clamp configured to engage an anatomical element, the clamp movable between a fully open position and a fully closed position; a locking screw configured to selectively prevent the clamp from being moved into the fully open position; and a bridge interface. The at least one bridge is a rigid member having a first end and a second end opposite the first end, each of the first end and the second end having an anchor interface. The bridge interface is configured to receive the anchor interface.

公开(公告)号：US20240390015A1

公开(公告)日：2024-11-28

申请号：US18792133

申请日：2024-08-01

Applicant: Mazor Robotics Ltd.

Inventor： Eli Zehavi ,  Arik Levy

IPC: A61B17/16 ,  A61B17/3209 ,  A61B34/30 ,  A61M29/00

Abstract: A surgical tool comprises a dilator, a cutter, a retractable brush, and at least one retractable drill. The dilator is configured to dilate tissue of a patient and can be positioned in an undilated configuration or a dilated configuration. The cutter is configured to cut the tissue and is disposed at a distal end of the dilator. The cutter is configured to move between a cutting position when the dilator is in the undilated configuration and a non-cutting position when the dilator is in the dilated configuration. The retractable brush is configured to brush a surface of an anatomical element of the patient to remove matter from the surface. The at least one retractable drill is configured to drill into the anatomical element.

公开(公告)号：US12048497B2

公开(公告)日：2024-07-30

申请号：US17569957

申请日：2022-01-06

Applicant: Mazor Robotics Ltd.

Inventor： Dany Junio ,  Aviv Ellman ,  Eli Zehavi ,  Moshe Shoham ,  Yonatan Ushpizin ,  Ido Zucker ,  Elad Ratzabi ,  Gillan Grimberg ,  Nir Ofer ,  Yair Schwartz ,  Nimrod Dori

IPC: A61B34/30 ,  A61B17/00 ,  A61B17/17 ,  A61B34/10 ,  A61B90/00 ,  G16H20/40 ,  G16H40/63

CPC classification number: A61B34/30 ,  A61B17/17 ,  G16H20/40 ,  G16H40/63 ,  A61B2017/0003 ,  A61B17/1757 ,  A61B2034/107 ,  A61B2090/062 ,  A61B2090/064 ,  A61B2562/0204

Abstract: Methods and systems for providing a safety mechanism for a robotically controlled surgical tool. Embodiments of the methods use sensors to detect parameters that vary by the tissue traversed by a surgical tool. The sensors detect signals arising from the interaction of the surgical tool with the tissue and provide this information to a robotic controller. For example, during drilling, the sensors may measure power, vibration, sound frequency, mechanical load, electrical impedance, and distance traversed according to preoperative measurements on a three-dimensional image set used for planning the tool trajectory. By comparing the detected output with that expected for the tool position based on the planned trajectory, identified discrepancies in output would indicate that the tool has veered from the planned trajectory. The robotic controller may then alter the tool trajectory, change the speed of the tool, or discontinue power to the tool, thereby preventing damage to underlying tissue.

公开(公告)号：US20220401056A1

公开(公告)日：2022-12-22

申请号：US17353342

申请日：2021-06-21

Applicant: Mazor Robotics Ltd.

Inventor： Ido Zucker ,  Avi Turgeman ,  Yonatan Ushpizin ,  Eli Zehavi ,  Eitan Detinis

IPC: A61B6/00 ,  A61B6/06

Abstract: A system according to at least one embodiment of the present disclosure includes an imaging source; an imaging detector; a sensor coupled to at least one of the imaging source and imaging detector; and a controller that adjusts a relative position of the imaging source and the imaging detector based on an output of the sensor.

公开(公告)号：US20220378521A1

公开(公告)日：2022-12-01

申请号：US17331081

申请日：2021-05-26

Applicant: Mazor Robotics Ltd.

Inventor： Avi Turgeman ,  Yonatan Ushpizin ,  Eli Zehavi ,  Ido Zucker

IPC: A61B34/30 ,  G06F3/01 ,  G06T7/50 ,  A61B34/00 ,  A61B17/86

Abstract: A system according to at least one embodiment of the present disclosure includes an imaging source; an imaging detector; a depth sensor; and a controller, where the controller receives image information from the depth sensor, determines a gesture in relation to a working volume, and moves the imaging source and the imaging detector relative to the working volume based on the gesture.