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公开(公告)号：WO2022015437A1
公开(公告)日：2022-01-20
申请号：PCT/US2021/036909
申请日：2021-06-11
Applicant: MAZOR ROBOTICS LTD.
Inventor： ZUCKER, Ido
Abstract: An interbody tool may include an upper portion with an upper contact surface and a plurality of upper legs; a lower portion with a lower contact surface and a plurality of lower legs, each of the lower legs moveably connected to one of the upper legs; a plurality of gauges, each gauge configured to measure a position of one of the plurality of upper legs relative to a corresponding one of the plurality of lower legs; at least one actuator configured to selectively push the upper portion away from the lower portion; and at least one sensor for measuring a force exerted by the at least one actuator.
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82.发明申请
公开(公告)号：WO2022013861A1
公开(公告)日：2022-01-20
申请号：PCT/IL2021/050850
申请日：2021-07-12
Applicant: MAZOR ROBOTICS LTD.
Inventor： ZEHAVI, Eli , USHPIZIN, Yonatan , SHMAYAHU, Yizhaq , WEISS, Noam
Abstract: Methods and systems for obtaining an image that may be used for updating a three-dimensional (3D) model of a patient anatomy are provided. The methods and systems may include receiving a surgical plan or 3D model of a patient anatomy and calculating one or more poses for an imaging device to image an anatomical feature. An image may be received from the imaging device at each of the one or more poses to yield an image set for the anatomical feature. At least one image from the image set may be used to update a representation of the anatomical feature in the 3D model.
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公开(公告)号：WO2021250580A1
公开(公告)日：2021-12-16
申请号：PCT/IB2021/055051
申请日：2021-06-08
Applicant: MAZOR ROBOTICS LTD.
Inventor： SHMAYAHU, Yizhaq , ZEHAVI, Eli
IPC: A61B34/30 , A61B90/00 , A61B17/1604 , A61B17/1613 , A61B17/1659 , A61B17/29 , A61B17/3211 , A61B2018/00577 , A61B2018/00595 , A61B2034/301 , A61B2034/303 , A61B2090/364 , A61B2217/005 , A61B2217/007 , A61B2218/002 , A61B2218/007 , A61B90/361 , A61M2202/048 , A61M5/178
Abstract: A system for endoscopic surgery, comprising a first robotic arm defining the pose of an endoscopic camera, a second robotic arm defining the pose of a surgical end effector, and an irrigation nozzle configured to inject fluid under a predetermined pressure into a preselected tissue region, to generate a cavity at a surgical site. The cavity enables the camera to take images of the features of the surgical site. A controller is used to control both robotic arms, such that the pose of the endoscopic camera and the pose of the surgical end effector are known to the controller. The camera can then acquire intraoperative images of the cavity, such that an endoscopic operation can be performed in the cavity with the surgical end effector guided using the intraoperative images. Anatomic features imaged intraoperatively by the camera can be identified from preoperative images, using image registration.
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公开(公告)号：WO2021130670A1
公开(公告)日：2021-07-01
申请号：PCT/IB2020/062330
申请日：2020-12-22
Applicant: MAZOR ROBOTICS LTD.
Inventor： ZEHAVI, Eliyahu , USHPIZIN, Yonatan , SHMAYAHU, Yizhaq , WEISS, Noam
IPC: A61B34/10 , A61B34/30 , A61B34/32 , A61B90/00 , A61B6/00 , A61B8/12 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/303 , A61B2090/364 , A61B2090/367 , A61B34/20 , A61B6/4441 , A61B90/03 , A61B90/361 , G06N20/00 , G06N3/08 , G16H20/40 , G16H30/40 , G16H40/63
Abstract: Systems and methods for monitoring a surgical procedure are provided. A coordinate system of a first robotic arm and a second robotic arm may be co-registered or correlated to each other. One or more poses of an imaging device may be determined to provide real-time intraoperative imaging of a region of interest during a surgical procedure. Anatomical elements may be identified in the real-time images of the region of interest from which a surgical tool should maintain a predetermined distance. The surgical tool may be prevented from approaching the identified anatomical elements by less than a predetermined distance using the co-registration of the coordinate systems.
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公开(公告)号：WO2020079598A1
公开(公告)日：2020-04-23
申请号：PCT/IB2019/058798
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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Patent Agency Ranking
公开(公告)号：WO2019215745A1
公开(公告)日：2019-11-14
申请号：PCT/IL2019/050531
申请日：2019-05-09
Applicant: MAZOR ROBOTICS LTD.
Inventor： LIEBERMAN, Isador , ZEHAVI, Eli , SHOHAM, Moshe
Abstract: Robotic systems and methods for performing orthopaedic surgery using high power ultrasonic cutting tools, and having a higher degree of safety than prior art systems. Separate levels of safety are used to prevent damage to surrounding soft tissues such as nerves, organs or arteries. Firstly, the tool blade and its ultrasound operating mode are such that the effect on soft tissue is substantially less than on bone tissue. Furthermore, robotic guidance using preoperative images reduces the possibility of damage to soft tissue. Additionally, sensors are used to determine when the tool completes operation in bone, and reaches soft tissue, the sensors being either acoustic or based on the power drawn by the tool. Other implementations use the reflection from the bone regions of the ultrasound energy used to perform the procedure, to generate an image, providing direct viewing of the procedure without the need for preoperative image guidance.
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公开(公告)号：WO2018185755A1
公开(公告)日：2018-10-11
申请号：PCT/IL2018/050384
申请日：2018-04-02
Applicant: MAZOR ROBOTICS LTD.
Inventor： SHOHAM, Moshe
Abstract: A minimally invasive system using a surgical robot as a three-dimensional printer for fabrication of biological tissues inside the body of a subject. A preoperative plan is used to direct and control both the motion of the robot and the robotic bio-ink extrusion. The robotic motion is coordinated with the ink extrusion to form layers having the desired thickness and dimensions, and use of different types of ink enables composite elements to be laid down. Such systems have a small diameter bio-ink ejecting mechanism, generally in the form of a piston driven cannula, enabling access to regions such as joints, with limited space. The robotic control is programmed such that angular motion takes place around a pivot point at the point of insertion into the subject. The bio-inks can be stored in predetermined layers in the cannula to enable sequential dispensing from one cannula.
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公开(公告)号：WO2018087758A1
公开(公告)日：2018-05-17
申请号：PCT/IL2017/051219
申请日：2017-11-08
Applicant: MAZOR ROBOTICS LTD.
Inventor： METZ, Ben
Abstract: A method for planning the insertion of bone cement into an orthopedic void of a vertebra. A three dimensional preoperative image of the vertebra is used and the voxels are analyzed to provide the voxel absorption levels. The absorption levels are transformed into mechanical properties of regions of the vertebra, such that a three dimensional mesh of the mechanical properties of the vertebra is generated. An entry point and an entry angle are selected on the vertebra, through which to inject bone cement into the void. Then, using the known viscosity of the bone cement, and using the entry point and entry angle, a finite elements analysis may be performed on the mesh to simulate the propagation of the bone cement into the orthopedic void. The simulation is repeated using different operational parameters until said propagation of said bone cement is deemed satisfactory.
Abstract translation: 计划将骨水泥插入椎骨的整形外科空隙中的方法。 使用椎体的三维术前图像并分析体素以提供体素吸收水平。 吸收水平被转换成椎骨区域的机械性质，从而产生椎骨的机械性能的三维网格。 在椎骨上选择入口点和入口角度，通过该入口点和骨骼角度将骨粘固剂注入空隙。 然后，使用骨水泥的已知粘度并且使用入口点和进入角，可以在网上进行有限元分析以模拟骨水泥向整形外科空隙的传播。 使用不同的操作参数重复模拟，直到所述骨水泥的传播被认为是令人满意的为止。
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公开(公告)号：AU2021229198A1
公开(公告)日：2022-03-31
申请号：AU2021229198
申请日：2021-09-08
Applicant: MAZOR ROBOTICS LTD
Inventor： ZUCKER IDO , MANLEY PRAKASH , LAOUAR YAHIA , CHENG XIAOMING , MIRI MOHAMMAD , PALM MATTHEW
IPC: A61B17/16 , A61B17/14 , A61B17/3211 , A61B18/14
Abstract: A surgical tool may include a mechanical tool for selectively cutting or removing anatomical tissue, and an electrosurgery device selectively operable to apply an electric current to anatomical tissue. The mechanical tool may include a tool bit and a driver operatively connected to the tool bit, and the electrosurgery device may include a first electrode and a second electrode different than the first electrode. SURGICAL TOOL MECHANICAL DEVICE ELECTROSURGICAL DEVICE COMMUNICATION INTERFACE ROBOT "MEMORY PROCESSOR(S) 116 1 INSTRUCTIONS COMMUNICATION INTERFACE(S) INTERFACE(S) DATABASE CLOUD
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公开(公告)号：CA3116288A1
公开(公告)日：2020-04-23
申请号：CA3116288
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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