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公开(公告)号：CA3049939A1
公开(公告)日：2018-07-19
申请号：CA3049939
申请日：2018-01-11
Applicant: MAZOR ROBOTICS LTD
Inventor： SHOHAM MOSHE , STEINBERG SHLOMIT
Abstract: A method of determining a surgical spinal correction for a subject using analysis of motion capture images of the subject, which uses the steps of obtaining pre-operative three- dimensional images of a spinal region, obtaining a pre-operative time sequenced set of images of the subject during a movement progression of said subject, calculating in a plurality of the motion capture images, alignment parameters relating to upper and lower body regions of the subject, and determining if any of the calculated alignment parameters are outside their predetermined acceptable ranges in one or more of the images, iteratively adjusting anatomical elements in three-dimensional images until all of the calculated alignment parameters are within their predetermined acceptable ranges; and adjusting spinal anatomy in the three-dimensional images according to the degree of adjustment of spinal parameters in the motion capture images to determine a surgical spinal correction.
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公开(公告)号：CA3011008A1
公开(公告)日：2017-07-20
申请号：CA3011008
申请日：2017-01-11
Applicant: MAZOR ROBOTICS LTD
Inventor： SHOHAM MOSHE , ZEHAVI ELIYAHU , BAR YOSSI
Abstract: A surgical robot system whose robotic arm is divided into two parts, and is connected to the patient at the junction of the two parts, by means of a bone connector. The section between the bone connector and the robotic base has a predetermined level of flexibility, enabling the bone connector limited movement. Consequently, the patient's body can also move without the bone connector exerting excess forces on the patient, and without detachment from the patient. The arm section between the bone connection link and the end actuator has high rigidity, such that the pose of the end actuator relative to the patient is accurately maintained. As the patient undergoes small movements, such as in breathing or coughing, the bone connector and base connection arm section, move together with motion of the patient's bone, while the pose of the end actuator relative to the patient is accurately maintained.
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公开(公告)号：AT541529T
公开(公告)日：2012-02-15
申请号：AT02735926
申请日：2002-05-22
Applicant: MAZOR ROBOTICS LTD
Inventor： SHOHAM MOSHE
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公开(公告)号：CA2770507A1
公开(公告)日：2011-02-24
申请号：CA2770507
申请日：2010-08-17
Applicant: MAZOR ROBOTICS LTD
Inventor： SHOHAM MOSHE
IPC: G06F19/00
Abstract: A hand held robotic system that remains stiff so long as it is operating within allowed limits, but which become actively controlled once the operator exceeds those limits. The system thus corrects deviations by more than a predetermined amount of the operator's hand motions, so that the tool remains in the allowed region even when the operator's hand deviates from the planned trajectory. The pose and path of the robotic operating head is ascertained by means of a navigation or tracking system, or by means of a proximity device to measure the closeness of the operating head to a damage sensitive feature. As the tool deviates from its predetermined path or pose, or comes too close to the hazardous area, the robot control acts to move the tool back to its predetermined pose or path, or away from the hazardous region, independently of user's hand movement.
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公开(公告)号：CA2746032A1
公开(公告)日：2010-06-17
申请号：CA2746032
申请日：2009-12-09
Applicant: MAZOR ROBOTICS LTD
Inventor： BAR YOSSEF , ZEHAVI ELI , SHOHAM MOSHE , HEWKO BRIAN
Abstract: An orthopedic screw having a thread with two parts, a distal and a proximal part, each having a different thread configuration. The distal section has a thread with outer dimension and pitch suitable for entry into cancellous bone, while the proximal section has a composite thread comprising (i) a first thread of the same or slightly larger outer diameter as the cancellous thread in the distal section, having the same pitch thereof, and lying on the same helix, and (ii) another thread having a smaller outer diameter but the same pitch as the first thread, but disposed on a helix displaced from that of the first thread, such that it lies between the crests of the first thread. This screw enables optimum fixation strength in a bone or bones having a harder cortical outer section and a softer cancellous inner section. The screw may have an unthreaded central section.
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Patent Agency Ranking
公开(公告)号：CA2932600C
公开(公告)日：2022-05-10
申请号：CA2932600
申请日：2014-12-15
Applicant: MAZOR ROBOTICS LTD
Inventor： BAR YOSSI , ZEHAVI ELIYAHU , USHPIZIN YONATAN
IPC: A61B17/00
Abstract: A bone connection system for attaching a surgical robot having its base mounted in the vicinity of a patient, to a bone of the patient. The system incorporates a switchable bone connection unit attached between the bone and a support element of the robot. This unit has a locked state in which the bone is attached essentially rigidly to the support element, and a released state in which the bone can move relative to the support element. The unit comprises a force sensor for determining the force exerted between the bone and the support element of the robot, and a position sensor for measuring the position of the bone relative to the support element of said robot. The unit switches from its locked state to its released state when the force exceeds a predetermined level, selected to ensure that the bone can move without detaching any bone connection elements.
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公开(公告)号：AU2019363232A1
公开(公告)日：2021-06-03
申请号：AU2019363232
申请日：2019-10-15
Applicant: MAZOR ROBOTICS LTD
Inventor： STEINBERG SHLOMIT , SHOHAM MOSHE
Abstract: 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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公开(公告)号：CA2770507C
公开(公告)日：2019-01-08
申请号：CA2770507
申请日：2010-08-17
Applicant: MAZOR ROBOTICS LTD
Inventor： SHOHAM MOSHE
Abstract: A hand held robotic system that remains stiff so long as it is operating within allowed limits, but which become actively controlled once the operator exceeds those limits. The system thus corrects deviations by more than a predetermined amount of the operator's hand motions, so that the tool remains in the allowed region even when the operator's hand deviates from the planned trajectory. The pose and path of the robotic operating head is ascertained by means of a navigation or tracking system, or by means of a proximity device to measure the closeness of the operating head to a damage sensitive feature. As the tool deviates from its predetermined path or pose, or comes too close to the hazardous area, the robot control acts to move the tool back to its predetermined pose or path, or away from the hazardous region, independently of user's hand movement.
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公开(公告)号：CA3049938A1
公开(公告)日：2018-07-19
申请号：CA3049938
申请日：2018-01-11
Applicant: MAZOR ROBOTICS LTD
Inventor： STEINBERG SHLOMIT
Abstract: A method for determining an acceptable spinal surgical plan for a subject using pathology prediction, comprising generating a potential spinal surgical plan, obtaining clinically relevant data of the subject, obtaining pre-operative three-dimensional images of a spinal region of the subject, determining relationships between pairs of vertebrae in the images, predicting relationships between pairs of vertebrae that are expected from the surgical plan, accessing a multiple patient database, obtaining sets of data from the database for patients with similar characteristics to the subject, determining risks of pathology types for the subject, using artificial intelligence to combine the determined risks to calculate an overall risk for pathology types for the subject, and if the overall risks are unacceptable, selecting an alternative spinal surgical plan, and If the said overall risks are acceptable, determining that said surgical plan is acceptable.
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公开(公告)号：CA2745210C
公开(公告)日：2018-03-13
申请号：CA2745210
申请日：2009-12-01
Applicant: MAZOR ROBOTICS LTD
Inventor： BAR YOSSEF , ZEHAVI ELI , LIEBERMAN ISADORE , SHOHAM MOSHE
IPC: A61B17/17 , A61B17/16 , A61B17/3205 , A61B34/30
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.
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