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公开(公告)号：WO2019102473A1
公开(公告)日：2019-05-31
申请号：PCT/IL2018/051274
申请日：2018-11-22
Applicant: MAZOR ROBOTICS LTD.
Inventor： JUNIO, Danny , ZEHAVI, Eli
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：WO2017122202A1
公开(公告)日：2017-07-20
申请号：PCT/IL2017/050036
申请日：2017-01-11
Applicant: MAZOR ROBOTICS LTD.
Inventor： SHOHAM, Moshe , ZEHAVI, Eliyahu , BAR, Yossi
CPC classification number: A61B17/00 , A61B34/30 , A61B2017/00694 , A61B2017/00699 , A61B2090/064
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.
Abstract translation: 手术机器人系统的机器人臂被分成两部分，并通过骨头连接器与两部分交界处的患者连接。 骨头连接器和机器人底座之间的部分具有预定水平的柔性，从而使得骨头连接器有限的移动。 因此，患者的身体也可以移动，而不需要骨连接器对患者施加过大的力，并且不会从患者脱离。 骨连接杆和端部致动器之间的臂部具有高刚性，使得端部致动器相对于患者的姿态被精确地保持。 当患者经历诸如呼吸或咳嗽等小动作时，骨连接器和基部连接臂部分随着患者骨骼的运动一起移动，同时端部致动器相对于患者的姿势被精确地保持。
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公开(公告)号：WO2017064719A1
公开(公告)日：2017-04-20
申请号：PCT/IL2016/051121
申请日：2016-10-13
Applicant: MAZOR ROBOTICS LTD.
Inventor： ZEHAVI, Eliyahu , BAR, Yossi , STEINBERG, Shlomit , KLEYMAN, Leonid , LIEBERMAN, Isador H.
IPC: A61B17/00
CPC classification number: A61B34/10 , A61B6/032 , A61B6/505 , A61B6/5217 , A61B6/5235 , A61B2034/104 , A61B2034/105 , G06F19/00 , G06T7/11 , G06T7/70 , G06T2207/10081 , G06T2207/30012 , G16H50/50
Abstract: A method of planning the correction of spinal deformations of a subject, by performing segmentation on a three dimensional image of the subject's spine in its erect neutral position, such that the positions and orientations of the vertebrae in a region of interest are characterized. Parameters relating to the alignment and position of the vertebrae are derived from the segmentation, followed by determining whether the parameters fall within an acceptable range desired for the spine of the subject. If not within the acceptable range, an alignment optimization is performed on the vertebrae to bring the parameters within the acceptable range, to reduce the spinal deformations of the subject's spine. The alignment optimization is performed by taking into consideration limitations arising from the dynamic range of motion of the vertebrae as determined by analyzing images of the subject's spine, while the subject is in positions of maximum bending.
Abstract translation: 通过对对象的脊柱在其直立的中立位置的三维图像执行分割来规划对象的脊柱变形的校正的方法，以使得椎骨的位置和方位在 感兴趣的地区的特点。 与椎骨的对准和位置相关的参数从分割中导出，然后确定参数是否落在对象的脊柱期望的可接受范围内。 如果不在可接受范围内，则对椎骨进行对准优化以使参数在可接受的范围内，以减少对象脊柱的脊柱变形。 通过考虑由通过分析受试者的脊柱的图像确定的椎骨的动态范围引起的限制来执行对准优化，同时受试者处于最大弯曲位置。
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公开(公告)号：WO2016088130A1
公开(公告)日：2016-06-09
申请号：PCT/IL2015/051182
申请日：2015-12-04
Applicant: MAZOR ROBOTICS LTD.
Inventor： ZUCKER, Edo , SHOHAM, Moshe
CPC classification number: A61B17/8863 , A61B17/70 , A61B17/7002 , A61B34/10 , A61B2017/00526 , A61B2034/108 , B21D7/12 , B21D7/14
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.
Abstract translation: 用于机器人脊柱手术中的杆弯曲系统，使得能够正确地弯曲融合杆以匹配精确地穿过椎弓根螺钉的头部所需的形状。 系统使用由外科医生的术前计划提供给机器人的信息生成的数据，可选地通过来自机器人控制系统的反馈来增加在术中遇到的偏差。 例如，当外科医生在不同的轨迹上决定手术时甚至跳过一个椎骨上的螺钉时，这种偏差可能发生，在这种情况下，将命令机器人执行替代程序，并将相应的指令传递给控制系统 棒弯机。 该系统还能够在适于处于选定的椎间位置的预定位置处将杆细化，以保持椎骨之间有限的灵活性，而不是固定它们。
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公开(公告)号：WO2013175471A1
公开(公告)日：2013-11-28
申请号：PCT/IL2013/050437
申请日：2013-05-21
Applicant: MAZOR ROBOTICS LTD.
Inventor： SIRPAD, Yael , KLEYMAN, Leonid , ZEHAVI, Eli , SHOHAM, Moshe
IPC: A61B6/12
CPC classification number: A61B6/12 , A61B6/5235 , A61B6/5247 , A61B90/36 , A61B2090/364 , A61B2090/367 , A61B2090/376 , A61B2090/3966 , G06K9/6202 , G06T7/70 , G06T15/00 , G06T2207/10121 , G06T2207/30008
Abstract: A method verifying the position of a surgically inserted orthopedic insert. A preoperative three dimensional image data set of the surgical site is generated, showing the bone into which the insert is to be inserted. During the insertion procedure, a series of intraoperative two-dimensional fluoroscope images are generated, each at a known pose relative to the bone, showing the insert during or after insertion into the bone. The 3-D position of the insert is determined in an intraoperative three dimensional image data set reconstructed from the series of intraoperative 2-D fluoroscope images. The reconstructed intraoperative 3-D image data set is registered with the preoperative three dimensional image data set, such as by comparison of imaged anatomical features. Once this registration is achieved, the determined 3-D position of the insert is used to implant a virtual image of the insert into the preoperative three dimensional image data set.
Abstract translation: 一种验证手术插入的整形外科插入物的位置的方法。 产生手术部位的术前三维图像数据集，显示插入物插入其中的骨骼。 在插入过程期间，产生一系列术中二维荧光镜图像，每个以相对于骨骼的已知姿势生成，在插入骨骼期间或之后显示插入物。 插入物的3-D位置是在从一系列术中2-D荧光镜图像重建的术中三维图像数据集中确定的。 例如通过比较成像的解剖特征，将重建的术中3-D图像数据集与术前三维图像数据集进行配准。 一旦达到该注册，则使用所确定的插入物的3-D位置将插入物的虚拟图像植入到术前三维图像数据集中。
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Patent Agency Ranking
公开(公告)号：WO2023031924A1
公开(公告)日：2023-03-09
申请号：PCT/IL2022/050946
申请日：2022-08-30
Applicant: MAZOR ROBOTICS LTD.
Inventor： WEISS, Noam , EZAIR, Ben
IPC: A61B6/00
Abstract: Systems, methods, and devices for generating a corrected image are provided. A first robotic arm may be configured to orient a source at a first pose and a second robotic arm may be configured to orient a detector at a plurality of second poses. An image dataset may be received from the detector at each of the plurality of second poses to yield a plurality of image datasets. The plurality of datasets may comprise an initial image having a scatter effect. The plurality of image datasets may be saved. A scatter correction may be determined and configured to correct the scatter effect. The correction may be applied to the initial image to correct the scatter effect.
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公开(公告)号：WO2022234568A1
公开(公告)日：2022-11-10
申请号：PCT/IL2022/050448
申请日：2022-05-01
Applicant: MAZOR ROBOTICS LTD.
Inventor： JUNIO, Dany
Abstract: Systems and methods for generating multiple registrations is provided. An image depicting a portion of a patient's anatomy and a tracking device affixed to an accurate robot may be received. A first registration of a patient coordinate space to a robotic coordinate space may be generated based on the image. A second registration of the patient coordinate space to a navigation coordinate space based at least in part on a position of second markers on the tracking device detected by a navigation system may be generated. The first registration and the second registration may be independent of each other.
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公开(公告)号：WO2022162673A1
公开(公告)日：2022-08-04
申请号：PCT/IL2022/050131
申请日：2022-01-30
Applicant: MAZOR ROBOTICS LTD.
Inventor： JUNIO, Dany
IPC: A61B34/10
Abstract: Systems and methods for calculating an insertion point and a path for a rod are provided. A surgical plan having at least one image and information about a position of at least one tower may be received. The at least one image may depict a surgical region. A soft tissue portion and at least one anatomical element may be identified in the at least one image. An insertion point and a path from the insertion point to the at least one tower may be calculated based on the identified soft tissue portion and at least one anatomical element. The rod may be inserted at the insertion point and along the path.
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公开(公告)号：WO2022149139A1
公开(公告)日：2022-07-14
申请号：PCT/IL2022/050029
申请日：2022-01-09
Applicant: MAZOR ROBOTICS LTD.
Inventor： JUNIO, Dany , ELLMAN, Aviv , ZEHAVI, Eli , SHOHAM, Moshe , USHPIZIN, Yonatan , ZUCKER, Ido , RATZABI, Elad , GRIMBERG, Gillan , OFER, Nir , SCHWARTZ, Yair , DORI, Nimrod
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：WO2022113091A1
公开(公告)日：2022-06-02
申请号：PCT/IL2021/051425
申请日：2021-11-30
Applicant: MAZOR ROBOTICS LTD.
Inventor： SHOHAM, Moshe , SHMAYAHU, Yizhaq
IPC: A61B34/20
Abstract: A system for tracking the position of a surgical tool manipulated by a surgical robotic system, to determine that the tool is correctly positioned and orientated. Miniature 3-D tracking cameras are mounted on the end effector of the robotic system, one viewing markers on the surgical tool, and the other markers attached to the anatomy part being operated on. The initial spatial position and orientation of the surgical tool on the surface of the anatomy part is measured, and the progress of the surgical tool into the anatomic body part is tracked using one of the miniature cameras. The cameras or sensors are close to the surgical region of interest, and all the mechanical and sensor elements necessary for the system operation are mounted within the realm of the robot. The system thus avoids interruption of communication between a remotely positioned navigation camera and the robot or patient.
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