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公开(公告)号：US12190526B2
公开(公告)日：2025-01-07
申请号：US17590010
申请日：2022-02-01
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio
Abstract: A method according to embodiments of the present disclosure includes receiving a computed tomography (CT) image of a patient; segmenting a first set of anatomical elements from the CT image; receiving a plurality of fluoroscopy images of the patient; segmenting a second set of anatomical elements from the plurality of fluoroscopy images; and creating a registration between the CT image and the plurality of fluoroscopy images based on the segmented first set of anatomical elements and the segmented second set of anatomical elements.
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公开(公告)号：US12186914B2
公开(公告)日：2025-01-07
申请号：US17591390
申请日：2022-02-02
Applicant: MAZOR ROBOTICS, LTD.
Inventor： Mark C. Dace , Adam D. Glaser , Aviv Ellman , Dany Junio , Elad Ratzabi , Gillan M. Grimberg
Abstract: Disclosed herein are systems and methods for a robotic arm guide used as a depth stop. For example, a system for positioning a surgical tool includes a surgical robotic system having a robot arm with a guide sleeve, the guide sleeve defining axial and lateral directions. The system is further configured to (i) receive a surgical plan associated with a subject, the surgical plan including three-dimensional preoperative data related to the subject, (ii) determine, based on the surgical plan, a desired trajectory of a distal end of the surgical tool as the surgical tool is inserted into the guide sleeve, and (iii) transmit one or more control signals to the surgical robotic system, causing the surgical robotic system to orient and position the guide sleeve such that the distal end of the surgical tool follows the desired trajectory when the surgical tool is inserted in the guide sleeve.
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公开(公告)号：US11890061B2
公开(公告)日：2024-02-06
申请号：US16958275
申请日：2018-12-27
Applicant: MAZOR ROBOTICS LTD.
Inventor： Dany Junio , Kornelis Poelstra
CPC classification number: A61B34/20 , A61B34/30 , A61B90/06 , A61B90/11 , B23B49/005 , A61B17/1615 , A61B2034/2055 , A61B2090/062 , A61B2090/3937 , B23B2260/0482
Abstract: A depth-indicating device for determining the depth of insertion of a surgical tool comprising a pair of spaced apart end caps, separated by a compressed spring, with the surgical tool passing through axial openings in both end caps, and firmly attached to one of the end caps, but free to slide through the opening in the other. A guide tube is attached to the second endcap, such that the surgical tool can be guided to its operating position on a body part. The second end cap and guide tube are attached to a location having a known position relative to the body part. A tracking marker is attached to the first end cap such that its longitudinal position can be tracked using a remote racking camera. Since the surgical tool is attached to the first end cap, the tool position is also tracked by the tracking system.
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公开(公告)号：US11450435B2
公开(公告)日：2022-09-20
申请号：US16842380
申请日：2020-04-07
Applicant: MAZOR ROBOTICS LTD.
Inventor： Dany Junio
IPC: G16H30/40 , G16H50/20 , G16H30/20 , G16H50/50 , G16H50/70 , A61B5/00 , G06T7/00 , G16H20/30 , G16H20/00
Abstract: A method and system for detecting spinal stenosis is provided. The method may receive image data corresponding to a spine region of a patient. The method may also identify a spinal cord in the image data. The method may determine at least one compression of the spinal cord and may mark an anatomical element proximate to a location of the determined at least one compression to yield at least one marking. The method may generate a decompression plan based on the at least one marking.
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公开(公告)号：US20220270263A1
公开(公告)日：2022-08-25
申请号：US17590010
申请日：2022-02-01
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio
Abstract: A method according to embodiments of the present disclosure includes receiving a computed tomography (CT) image of a patient; segmenting a first set of anatomical elements from the CT image; receiving a plurality of fluoroscopy images of the patient; segmenting a second set of anatomical elements from the plurality of fluoroscopy images; and creating a registration between the CT image and the plurality of fluoroscopy images based on the segmented first set of anatomical elements and the segmented second set of anatomical elements.
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Patent Agency Ranking
公开(公告)号：US20220192701A1
公开(公告)日：2022-06-23
申请号：US17475177
申请日：2021-09-14
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio
Abstract: A method for robot-assisted minimally invasive surgery involves calculating, based on a surgical plan, an insertion vector for an MIS port; causing a robotic arm to hold the MIS port in a pose that corresponds to the insertion vector; detecting, with a sensor on the robotic arm, a force applied to the robotic arm via the MIS port; maintaining the MIS port in the pose when the detected force is lower than a predetermined threshold; and generating an alert when the detected force exceeds the predetermined threshold.
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公开(公告)号：US12295762B2
公开(公告)日：2025-05-13
申请号：US18393365
申请日：2023-12-21
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio , Eli Zehavi
Abstract: A low radiation, intra-operative method using two-dimensional imaging to register the positions of surgical implants relative to their pre-operative planned positions. Intraoperatively, a pair of two-dimensional fluoroscope images in different planes or a single three-dimensional image is acquired and compared to a set of three-dimensional preoperative images, to allow registration of the implant region anatomy. A second set of intraoperative fluoroscope images is acquired of the surgical area with implants in place. The second set of images is compared with the first set of intraoperative images to ascertain alignment of the implants. Registration between first and second intraoperative image sets is accomplished using the implants themselves as fiducial markers, and the process repeated until an acceptable configuration of the implants is obtained. The method is particularly advantageous for spinal surgery.
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公开(公告)号：US20250143816A1
公开(公告)日：2025-05-08
申请号：US19019223
申请日：2025-01-13
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio
Abstract: A method of aligning an imaging device in connection with robotic surgery includes causing a robot to position a reference target over a body of a patient; receiving image data from an imaging device; identifying, with an image processing algorithm, at least a first portion of an anatomical element in the image data; identifying, with a target detection algorithm, at least a first portion of a reference target in the image data; comparing a determined location of the imaging device, the reference target, and the anatomical element to yield a location determination and causing at least one of the robot to re-position the reference target or the imaging device to re-position.
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公开(公告)号：US20250082373A1
公开(公告)日：2025-03-13
申请号：US18957288
申请日：2024-11-22
Applicant: Mazor Robotics Ltd.
Inventor： Eli Zehavi , Yonatan Ushpizin , Aviv Ellman , Dany Junio , Elad Ratzabi , Yair Schwartz , Yuval Chen
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.
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公开(公告)号：US20240122560A1
公开(公告)日：2024-04-18
申请号：US18393365
申请日：2023-12-21
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio , Eli Zehavi
CPC classification number: A61B6/12 , A61B34/10 , A61B90/03 , G06V10/7515 , A61B2034/102 , A61B2034/105 , A61B2090/363 , A61B2090/364 , A61B2090/374 , A61B2090/3762 , A61B2090/3966
Abstract: A low radiation, intra-operative method using two-dimensional imaging to register the positions of surgical implants relative to their pre-operative planned positions. Intraoperatively, a pair of two-dimensional fluoroscope images in different planes or a single three-dimensional image is acquired and compared to a set of three-dimensional preoperative images, to allow registration of the implant region anatomy. A second set of intraoperative fluoroscope images is acquired of the surgical area with implants in place. The second set of images is compared with the first set of intraoperative images to ascertain alignment of the implants. Registration between first and second intraoperative image sets is accomplished using the implants themselves as fiducial markers, and the process repeated until an acceptable configuration of the implants is obtained. The method is particularly advantageous for spinal surgery.
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