Patents by Inventor Eli Zehavi
Eli Zehavi has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Publication number: 20240008953Abstract: A surgical tool, systems, and method for cleaning an anatomical space is provided. At least one brush is disposed on a shaft extending through a tube. The tube includes a corresponding brush slot for each brush. A motor is operable to rotate the shaft to cause the at least one brush to move from a closed position to a cleaning position. The at least one brush is positioned entirely inside of the tube when in the closed position and at least partially outside of the tube when in the cleaning position. A fluid source is operable to supply fluid to the at least one brush as the at least one brush passes through the brush slot.Type: ApplicationFiled: September 22, 2023Publication date: January 11, 2024Inventors: Arik Levy, Eli Zehavi
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Patent number: 11864934Abstract: 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 pre-operative 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.Type: GrantFiled: November 22, 2018Date of Patent: January 9, 2024Assignee: MAZOR ROBOTICS LTD.Inventors: Dany Junio, Eli Zehavi
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Patent number: 11813108Abstract: A system according to at least one embodiment of the present disclosure includes an imaging source; an imaging detector; a sensor coupled to at least one of the imaging source and imaging detector; and a controller that adjusts a relative position of the imaging source and the imaging detector based on an output of the sensor.Type: GrantFiled: June 21, 2021Date of Patent: November 14, 2023Assignee: Mazor Robotics Ltd.Inventors: Ido Zucker, Avi Turgeman, Yonatan Ushpizin, Eli Zehavi, Eitan Detinis
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Patent number: 11793599Abstract: A surgical tool, systems, and method for cleaning an anatomical space is provided. At least one brush is disposed on a shaft extending through a tube. The tube includes a corresponding brush slot for each brush. A motor is operable to rotate the shaft to cause the at least one brush to move from a closed position to a cleaning position. The at least one brush is positioned entirely inside of the tube when in the closed position and at least partially outside of the tube when in the cleaning position. A fluid source is operable to supply fluid to the at least one brush as the at least one brush passes through the brush slot.Type: GrantFiled: August 4, 2020Date of Patent: October 24, 2023Assignee: Mazor Robotics Ltd.Inventors: Arik Levy, Eli Zehavi
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Patent number: 11638614Abstract: A method for verifying surgical tool placement includes attaching a guide sleeve to a surgical robot, the guide sleeve defining a guide sleeve axis; aligning the surgical robot such that the guide sleeve axis is directed at a predetermined target location; and attaching an aiming rod to the guide sleeve such that the aiming rod can rotate around the guide sleeve axis, the aiming rod having apertures along its length. The aiming rod is attached to the guide sleeve at an angle and position such that when the surgical robot is adjusted to align the guide sleeve axis with the predetermined target location, a center of each aperture of the apertures of the aiming rod and a center of the predetermined target location are collinear, independent of a rotational position of the aiming rod around the guide sleeve axis.Type: GrantFiled: March 3, 2021Date of Patent: May 2, 2023Assignee: Mazor Robotics Ltd.Inventors: Aviv Ellman, Eli Zehavi
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Publication number: 20220401056Abstract: A system according to at least one embodiment of the present disclosure includes an imaging source; an imaging detector; a sensor coupled to at least one of the imaging source and imaging detector; and a controller that adjusts a relative position of the imaging source and the imaging detector based on an output of the sensor.Type: ApplicationFiled: June 21, 2021Publication date: December 22, 2022Inventors: Ido Zucker, Avi Turgeman, Yonatan Ushpizin, Eli Zehavi, Eitan Detinis
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Publication number: 20220378521Abstract: A system according to at least one embodiment of the present disclosure includes an imaging source; an imaging detector; a depth sensor; and a controller, where the controller receives image information from the depth sensor, determines a gesture in relation to a working volume, and moves the imaging source and the imaging detector relative to the working volume based on the gesture.Type: ApplicationFiled: May 26, 2021Publication date: December 1, 2022Inventors: Avi Turgeman, Yonatan Ushpizin, Eli Zehavi, Ido Zucker
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Publication number: 20220346882Abstract: A system comprises a robotic arm in a robotic arm coordinate system, a camera in a fixed pose in a navigation coordinate system, at least one processor, and memory including instructions that when executed by the at least one processor, cause the at least one processor to determine a pose of the robotic arm within the navigation coordinate system, map the robotic arm coordinate system to the navigation coordinate system based on the pose of the robotic arm, and control, based on output of the camera, the robotic arm in the navigation coordinate system.Type: ApplicationFiled: April 5, 2022Publication date: November 3, 2022Inventors: Eli Zehavi, Yonatan Ushpizin, Ido Zucker, Adi Ess
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Publication number: 20220218421Abstract: 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.Type: ApplicationFiled: January 6, 2022Publication date: July 14, 2022Inventors: Dany Junio, Aviv Ellman, Eli Zehavi, Moshe Shoham, Yonatan Ushpizin, Ido Zucker, Elad Ratzabi, Gillan Grimberg, Nir Ofer, Yair Schwartz, Nimrod Dori
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Publication number: 20220175462Abstract: 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.Type: ApplicationFiled: November 15, 2021Publication date: June 9, 2022Inventors: Avi Turgeman, Moshe Shoham, Eli Zehavi
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Publication number: 20220151714Abstract: Systems and methods for robotic retraction of tissues in a surgical field. Two retractor mechanisms are used on either side of an incision. Each retractor is adapted to be held by a robotic arm, which applies force on the retractor mechanism to pull dissected tissue away from the incision, thus revealing the operative field. A force sensor is employed to measure the force on the retractor, an optional tracking sensor may be used to measure the extent of tissue retraction in two or three dimensions, and both sources of information provided to the robotic controller. By monitoring feedback from either the force sensor or the tracking sensor, the system is able to maintain equal retraction on both sides of the incision. The retractor elements incorporate mechanisms that move down the tissue as the retractors are pulled laterally.Type: ApplicationFiled: September 15, 2021Publication date: May 19, 2022Inventors: Eli Zehavi, Moshe Shoham, Yonatan Ushpizin, Avi Turgeman
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Publication number: 20220039910Abstract: A surgical tool, systems, and method for cleaning an anatomical space is provided. At least one brush is disposed on a shaft extending through a tube. The tube includes a corresponding brush slot for each brush. A motor is operable to rotate the shaft to cause the at least one brush to move from a closed position to a cleaning position. The at least one brush is positioned entirely inside of the tube when in the closed position and at least partially outside of the tube when in the cleaning position. A fluid source is operable to supply fluid to the at least one brush as the at least one brush passes through the brush slot.Type: ApplicationFiled: August 4, 2020Publication date: February 10, 2022Inventors: Arik Levy, Eli Zehavi
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Publication number: 20220031370Abstract: A spinal stabilization system includes a plurality of anchors and at least one bridge. Each anchor includes a clamp configured to engage an anatomical element, the clamp movable between a fully open position and a fully closed position; a locking screw configured to selectively prevent the clamp from being moved into the fully open position; and a bridge interface. The at least one bridge is a rigid member having a first end and a second end opposite the first end, each of the first end and the second end having an anchor interface. The bridge interface is configured to receive the anchor interface.Type: ApplicationFiled: July 31, 2020Publication date: February 3, 2022Inventors: Eli Zehavi, Yonatan Ushpizin, Aviv Ellman, Dany Junio, Elad Ratzabi, Yair Schwartz, Yuval Chen
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Publication number: 20210386491Abstract: 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.Type: ApplicationFiled: June 7, 2021Publication date: December 16, 2021Inventors: Yizhaq Shmayahu, Eli Zehavi
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Publication number: 20210386433Abstract: A surgical tool comprises a dilator, a cutter, a retractable brush, and at least one retractable drill. The dilator is configured to dilate tissue of a patient and can be positioned in an undilated configuration or a dilated configuration. The cutter is configured to cut the tissue and is disposed at a distal end of the dilator. The cutter is configured to move between a cutting position when the dilator is in the undilated configuration and a non-cutting position when the dilator is in the dilated configuration. The retractable brush is configured to brush a surface of an anatomical element of the patient to remove matter from the surface. The at least one retractable drill is configured to drill into the anatomical element.Type: ApplicationFiled: June 4, 2021Publication date: December 16, 2021Inventors: Eli Zehavi, Arik Levy
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Publication number: 20210186626Abstract: A method for verifying surgical tool placement includes attaching a guide sleeve to a surgical robot, the guide sleeve defining a guide sleeve axis; aligning the surgical robot such that the guide sleeve axis is directed at a predetermined target location; and attaching an aiming rod to the guide sleeve such that the aiming rod can rotate around the guide sleeve axis, the aiming rod having apertures along its length. The aiming rod is attached to the guide sleeve at an angle and position such that when the surgical robot is adjusted to align the guide sleeve axis with the predetermined target location, a center of each aperture of the apertures of the aiming rod and a center of the predetermined target location are collinear, independent of a rotational position of the aiming rod around the guide sleeve axis.Type: ApplicationFiled: March 3, 2021Publication date: June 24, 2021Inventors: Aviv Ellman, Eli Zehavi
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Patent number: 10939962Abstract: A system and method for verifying the accurate insertion positioning of a robotically guided surgical tool or probe, at its cranial target region, such as for Deep Brain Stimulation. A head mounted robot aligns a probe or tool guiding sleeve, together with an aiming rod attached at a predefined position and angle to the guiding sleeve. The aiming rod incorporates apertures through which an X-ray system can view the patient's skull. The aiming rod is attached to the tool guiding sleeve at an angle and position calculated such that the line of sight through the apertures falls exactly on the target region when the tool or probe is inserted to its predetermined depth. If the tip of the tool or probe is seen located at the center of the apertures in the X-ray image, verification is obtained that the insertion procedure has been performed accurately.Type: GrantFiled: April 4, 2016Date of Patent: March 9, 2021Assignee: Mazor Robotics Ltd.Inventors: Aviv Ellman, Eli Zehavi
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Publication number: 20200352651Abstract: 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 pre-operative 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.Type: ApplicationFiled: November 22, 2018Publication date: November 12, 2020Inventors: Dany JUNIO, Eli ZEHAVI
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Patent number: 10076385Abstract: Methods and apparatus for detecting or predicting surgical tool-bone skiving are disclosed. In some embodiments, the surgical tool is movably and/or snugly disposed within a guide-sleeve. In some embodiments, a magnitude of a lateral force between the surgical tool and the guide-sleeve is measured (e.g. by a force sensor or strain sensor). The present or future skiving may be detected or predicted according to the magnitude of the lateral force. In some embodiments, an alert signal is generated in response to the detecting or predicting of the skiving.Type: GrantFiled: December 8, 2014Date of Patent: September 18, 2018Assignee: MAZOR ROBOTICS LTD.Inventors: Moshe Shoham, Eli Zehavi
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Patent number: 9814535Abstract: 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.Type: GrantFiled: November 8, 2016Date of Patent: November 14, 2017Assignee: Mazor Robotics Ltd.Inventors: Yossef Bar, Eli Zehavi, Isidore Lieberman, Moshe Shoham