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公开(公告)号：US20220241016A1
公开(公告)日：2022-08-04
申请号：US17575245
申请日：2022-01-13
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio , Moshe Shoham
Abstract: A method for verifying a bone entry point includes receiving a surgical plan that defines a target bone entry point and a first portion of a bone surface at least partially surrounding the target bone entry point; positioning an imaging device near an identified bone entry point; receiving, from the imaging device, an image of a second portion of the bone surface surrounding the identified bone entry point; comparing at least one feature of the first portion to at least one feature of the second portion to quantify a degree of similarity therebetween; and generating, when the quantified degree of similarity between the first portion and the second portion exceeds a threshold, a confirmation.
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公开(公告)号：US20220189047A1
公开(公告)日：2022-06-16
申请号：US17526935
申请日：2021-11-15
Applicant: Mazor Robotics Ltd.
Inventor： Amir Lev-Tov , Shay Shimon Peretz , Yaniv Ben Zriham , Moshe Shoham
Abstract: A method according to one embodiment of the present disclosure comprises receiving a first image of a patient's anatomy, the first image generated at a first time and depicting a plurality of rigid elements; receiving a second image of the patient's anatomy, the second image generated at a second time after the first time and depicting the plurality of rigid elements; determining a transformation from the first image to the second image for each one of the plurality of rigid elements to yield a set of transformations; calculating a homography for each transformation in the set of transformations to yield a set of homographies; and identifying, using the set of homographies, a common portion of each transformation attributable to a change in camera pose, and an individual portion of each transformation attributable to a change in rigid element pose.
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公开(公告)号：US20220175462A1
公开(公告)日：2022-06-09
申请号：US17526967
申请日：2021-11-15
Applicant: Mazor Robotics Ltd.
Inventor： Avi Turgeman , Moshe Shoham , Eli Zehavi
IPC: A61B34/20 , A61B34/00 , A61B34/30 , A61B34/10 , A61B5/0205
Abstract: Systems and methods for accurate determination of the position of an anatomic part of a subject in robotic assisted image-based surgery, using an inertial measurement unit (IMU) to determine the position and orientation of the anatomical part of the subject. The intrinsic drift of the IMU, which would make the IMU position measurements inaccurate, can be reset to zero regularly, at points of time when the subject's body is stationary. This can be achieved when motion from the subject's breathing and from the heartbeat are essentially zero. Such positions occur respectively when the respiratory signal shows the position of the breathing cycle to be at the end of the expiration phase, and the heartbeat signal represents a time in the diastole period of the subject's electrocardiographic cycle. When these two signal moments coincide, the IMU is essentially stationary, and its drift reset to zero.
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公开(公告)号：US20220022981A1
公开(公告)日：2022-01-27
申请号：US17498609
申请日：2021-10-11
Applicant: Mazor Robotics Ltd.
Inventor： Moshe Shoham , Eliyahu Zehavi , Yossi Bar
Abstract: A robotic surgical system is provided. An illustrative robotic surgical system includes a base having a known position relative to an operating table; an end effector configured to hold and align a surgical tool for performing a procedure on a subject on said operating table; at least one robotic arm connecting said base with said end effector; and a target attached to the end effector, wherein an image of the target attached to the end effector is used to determine a pose of the end effector.
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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
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.
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Patent Agency Ranking
公开(公告)号：US11696788B2
公开(公告)日：2023-07-11
申请号：US16726720
申请日：2019-12-24
Applicant: MAZOR ROBOTICS LTD.
Inventor： Edo Zucker , Moshe Shoham
CPC classification number: A61B17/8863 , A61B5/0036 , A61B5/107 , A61B34/10 , B21D7/12 , B21D7/14 , A61B17/70 , A61B17/7002 , A61B2017/00526 , A61B2034/108
Abstract: A system for rod bending for use in robotic spinal surgery, enabling the correct bending of a fusion rod to match the shape required to accurately pass through the heads of the pedicle screws. The system uses data generated by information provided to the robot by the surgeon's preoperative plan, optionally augmented by feedback from the robot control system of deviations encountered intraoperatively. Such deviations could occur, for example, when the surgeon decides intraoperatively on a different trajectory or even to skip screws on one vertebra, in which case, the robot will be commanded to perform the alternative procedure, with commensurate instructions relayed to the control system of the rod-bending machine. The system is also able to thin down the rod at predetermined locations along its length, adapted to be at selected intervertebral locations, for maintaining limited flexibility between vertebrae, instead of fixating them.
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公开(公告)号：US20220218421A1
公开(公告)日：2022-07-14
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
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.
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公开(公告)号：US20220031399A1
公开(公告)日：2022-02-03
申请号：US17357659
申请日：2021-06-24
Applicant: Mazor Robotics Ltd.
Inventor： Shmuel Azulay , Moshe Shoham
Abstract: Systems and methods for retractor interference avoidance is provided. At least one retractor includes a base and one or more elongate members extending from the base. The one or more elongate members are movable. A position of the at least one retractor may be determined and a trajectory of a surgical device may be received. At least one elongate member of the one or more elongate members positioned to interfere with movement of the device along a trajectory may be identified based on the position of the retractor and the trajectory of the surgical device.
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公开(公告)号：US10849691B2
公开(公告)日：2020-12-01
申请号：US16312296
申请日：2017-06-23
Applicant: MAZOR ROBOTICS LTD.
Inventor： Edo Zucker , Moshe Shoham , Yuval Chen
Abstract: 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.
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公开(公告)号：US09125556B2
公开(公告)日：2015-09-08
申请号：US13893366
申请日：2013-05-14
Applicant: MAZOR ROBOTICS LTD.
Inventor： Eli Zehavi , Moshe Shoham
CPC classification number: A61B1/00154 , A61B6/032 , A61B6/12 , A61B6/485 , A61B6/487 , A61B6/5247 , A61B8/0841 , A61B34/30 , A61B90/11 , A61B2017/00261 , A61B2090/367 , A61B2090/3966 , A61B2090/3983 , G01R33/285
Abstract: Systems and methods for performing robotic endoscopic surgical procedures, according to a surgical plan prepared on a preoperative set of three dimensional images. The system comprises a surgical robot whose coordinate system is related to that of fluoroscope images generated intraoperatively, by using a three dimensional target having radio-opaque markers, attached in a predetermined manner to the robot or to another element to which the robot is attached, such as the spinal bridge or an attachment clamp. The robot is mounted directly or indirectly on a bone of the patient, thereby nullifying movement of the bone, or a bone tracking system may be utilized. The coordinate system of the intraoperative fluoroscope images may be related to the preoperative images, by comparing anatomical features between both image sets. This system and method enables the endoscope to be directed by the robot along the exact planned path, as determined by the surgeon.
Abstract translation: 根据在术前三维图像上准备的外科手术方案进行机器人内窥镜外科手术的系统和方法。 该系统包括：手术机器人，其坐标系与术中产生的荧光镜图像的坐标系相关，通过使用具有不规则标记的三维目标，以预定方式附接到机器人或机器人附接到的另一元件， 例如脊柱桥或附接夹。 机器人直接或间接地安装在患者的骨骼上，从而使骨的运动无效，或者可以利用骨骼跟踪系统。 通过比较两个图像组之间的解剖特征，术中荧光图像的坐标系可能与术前图像有关。 该系统和方法使得内窥镜能够由机器人沿着精确的计划路径指导，如由外科医生确定的。
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