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公开(公告)号：WO2023286052A1
公开(公告)日：2023-01-19
申请号：PCT/IL2022/050742
申请日：2022-07-10
Applicant: MAZOR ROBOTICS LTD.
Inventor： JUNIO, Dany , SHOHAM, Moshe
Abstract: Systems, methods, and devices for planning a path are provided. A work volume and one or more no-fly zones may be mapped. The work volume may define a volume in which a robot may access and each of the one or more no-fly zones may define at least one volume in which a robot is restricted from accessing. Information may be received about a position of at least one instrument and a void volume may be calculated based on the position of the at least one instrument. The work volume may be updated to include the void volume to yield an updated work volume. A path may be calculated for a robotic arm of a robot from outside a patient anatomy to within the patient anatomy that is within the updated work volume and avoids the one or more no-fly zones.
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公开(公告)号：WO2022130371A1
公开(公告)日：2022-06-23
申请号：PCT/IL2021/051452
申请日：2021-12-07
Applicant: MAZOR ROBOTICS LTD.
Inventor： LEV-TOV, Amir , PERETZ, Shay , BEN ZRIHAM, Yaniv , SHOHAM, Moshe
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：WO2022069985A1
公开(公告)日：2022-04-07
申请号：PCT/IB2021/058420
申请日：2021-09-15
Applicant: MAZOR ROBOTICS LTD.
Inventor： ELLMAN, Aviv , SHOHAM, Moshe
Abstract: Methods and systems for detecting, monitoring, and accounting for anatomical motion is provided. An initial contact between a first robotic arm and an anatomical element of a patient may be detected based on information received from at least one internal sensor of the first robotic arm. A position of the anatomical element may be determined based on the information. The determined position may be compared to an expected position of the anatomical element. A tool trajectory of a second robotic arm may be updated when the determined position is offset from the expected position.
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公开(公告)号：WO2020079596A1
公开(公告)日：2020-04-23
申请号：PCT/IB2019/058795
申请日：2019-10-15
Applicant: MAZOR ROBOTICS LTD.
Inventor： ZEHAVI, Eliyahu , SHOHAM, Moshe , USHPIZIN, Yonatan
Abstract: A robotic surgical system comprising at least two robotic arms having co-ordinate systems known relative to each other, one of the arms carrying an X-ray source, and the other an imaging detector plate. The arms are disposed to enable an image to be generated on the region of interest of a subject. One of the arms can additionally or alternatively carry a surgical tool or tool holder, such that the pose of the tool is known in the same co-ordinate system as that of an image generated by the X-ray source and detector. Consequently, any surgical procedure planned on such an X-ray image can be executed by the tool with high accuracy, since the tool position is known in the image frame of reference. This enables the surgeon to accurately position his tool in a real-time image without the need for an external registration procedure.
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公开(公告)号：WO2017221257A1
公开(公告)日：2017-12-28
申请号：PCT/IL2017/050699
申请日：2017-06-23
Applicant: MAZOR ROBOTICS LTD.
Inventor： ZUKER, Edo , SHOHAM, Moshe , CHEN, Yuval
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.
Abstract translation: 用于根据术前手术计划将椎间杆微创地插入到对象的椎骨内的系统和方法，该系统和方法还限定将杆夹紧螺钉插入椎骨中的位置。 计算用于连接螺钉头部的杆形状，并且路径规划算法用于通过对杆的近端进行纵向和旋转操纵来确定杆的远端是否可以穿过螺钉头。 如果是这样，则提供说明以形成该杆形状以及用于机器人插入螺钉孔和杆。 如果没有，则调整螺钉位置和杆形状中的任一个或两个，以调节杆中的弯曲，直到可以插入为止。 插入可以自动执行，或者，如果添加了导航跟踪系统，则可以手动执行。
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Patent Agency Ranking6.发明申请
公开(公告)号：WO2022168087A1
公开(公告)日：2022-08-11
申请号：PCT/IL2022/050141
申请日：2022-02-02
Applicant: MAZOR ROBOTICS LTD.
Inventor： SHOHAM, Moshe , TURGEMAN, Avi , SHMAYAHU, Yizhaq
Abstract: A device comprises at least one processor and a memory comprising instructions that when executed by the at least one processor cause the at least one processor to: generate a first signal that causes a vibration device to vibrate, the vibration device being in force-transmitting contact with a first anatomical element; receive, from a sensor, a second signal based on sensed vibration in a second anatomical element proximate the first anatomical element; and determine, based on the second signal, an amount of mechanical coupling between the second anatomical element and the first anatomical element.
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公开(公告)号：WO2022162670A1
公开(公告)日：2022-08-04
申请号：PCT/IL2022/050128
申请日：2022-01-30
Applicant: MAZOR ROBOTICS LTD.
Inventor： JUNIO, Dany , SHOHAM, Moshe
IPC: A61B90/00
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：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：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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