Patents by Inventor Moshe Shoham

Moshe Shoham 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).

  • Publication number: 20230020476
    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.
    Type: Application
    Filed: July 15, 2021
    Publication date: January 19, 2023
    Inventors: Dany Junio, Moshe Shoham
  • Publication number: 20230009618
    Abstract: A modular robotic surgical system comprising: a base; a plurality of tool-receivers arranged as separate units, each tool-receiver unit operable to move an elongate surgical tool received therein; a plurality of interface coupling pairs, each coupling pair comprising a first coupler as part of the base and a second coupler as part of each of the tool-receiver units; wherein each of the tool-receiver units is independently and interchangeably attachable to the base via the coupling pair.
    Type: Application
    Filed: November 26, 2020
    Publication date: January 12, 2023
    Applicants: Microbot Medical Ltd., Technion Research & Development Foundation Limited
    Inventors: Simon SHARON, Idan BOADER, Evgeny KOFMAN, Eran COHEN, Eyal MORAG, Harel GADOT, Moshe SHOHAM
  • Publication number: 20220395330
    Abstract: An exemplary 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.
    Type: Application
    Filed: August 16, 2022
    Publication date: December 15, 2022
    Inventors: Moshe Shoham, Shlomit Steinberg
  • Publication number: 20220395374
    Abstract: A personalized intervertebral disc replacement for a subject includes a first element adapted to contact a first vertebra in the spine of the subject, a second element adapted to contact a second vertebra adjacent to the first vertebra in the spine of the subject, and a set of links coupling the first and second elements, the links arranged as a passive parallel mechanism, each of the links having a predetermined stiffness and length, and at least some of the links being oriented obliquely to a direction perpendicular to either of the first and second elements.
    Type: Application
    Filed: December 13, 2018
    Publication date: December 15, 2022
    Inventors: Or DAVID, Moshe SHOHAM
  • Publication number: 20220296321
    Abstract: A compact robotic device for driving movement of two or more elongate surgical tools configured for a telescopic arrangement when said two or more elongate surgical tools are at least partially received within said device, the device comprising: a housing comprising walls which define an inner volume including at least two inner pathways for accommodating the two or more elongate surgical tools; the housing encasing: a plurality of motors, and two or more tool actuation assemblies configured at a position of each of the two or more inner pathways; the actuation assemblies driven by the plurality of motors and configured to operably contact an elongate surgical tool at least partially received in the inner pathway to at least one of advance, retract and/or roll said elongate surgical tool.
    Type: Application
    Filed: February 23, 2022
    Publication date: September 22, 2022
    Applicants: Microbot Medical Ltd., Technion Research & Development Foundation Limited
    Inventors: Simon SHARON, Idan BOADER, Evgeny KOFMAN, Moshe SHOHAM, Eran COHEN, Eyal MORAG
  • Publication number: 20220280251
    Abstract: A method and apparatus for steering of a flexible needle into tissue using a steering robotic platform for manipulation of the needle shaft, and by use of a semi-active arm for locating and orienting of the steering robot on the patient's body. As opposed to other steering methods, the robot does not hold the base of the needle, which is its proximal region, but rather grips the shaft of the needle by means of a manipulatable needle gripping device, near its distal end. The needle gripper attached to the robotic platform may be equipped with a traction assembly to provide motion to the needle in its longitudinal direction, such that it co-ordinates the entry of the needle with the desired entry angle. The gripping of the needle at its distal end, close to its insertion point, provides the needle manipulator with a low profile, with concomitant advantages.
    Type: Application
    Filed: May 24, 2022
    Publication date: September 8, 2022
    Inventors: Daniel GLOZMAN, Gonen DASKAL, Moshe SHOHAM, Michael ARAD, Yoav PINSKY
  • Patent number: 11432876
    Abstract: An exemplary 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.
    Type: Grant
    Filed: July 12, 2019
    Date of Patent: September 6, 2022
    Assignee: MAZOR ROBOTICS LTD.
    Inventors: Moshe Shoham, Shlomit Steinberg
  • Publication number: 20220241016
    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.
    Type: Application
    Filed: January 13, 2022
    Publication date: August 4, 2022
    Inventors: Dany Junio, Moshe Shoham
  • Publication number: 20220241026
    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.
    Type: Application
    Filed: January 25, 2022
    Publication date: August 4, 2022
    Inventors: Moshe Shoham, Avi Turgeman, Yizhaq Shmayahu
  • Publication number: 20220218421
    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.
    Type: Application
    Filed: January 6, 2022
    Publication date: July 14, 2022
    Inventors: Dany Junio, Aviv Ellman, Eli Zehavi, Moshe Shoham, Yonatan Ushpizin, Ido Zucker, Elad Ratzabi, Gillan Grimberg, Nir Ofer, Yair Schwartz, Nimrod Dori
  • Patent number: 11369444
    Abstract: A method and apparatus for steering of a flexible needle into tissue using a steering robotic platform for manipulation of the needle shaft, and by use of a semi-active arm for locating and orienting of the steering robot on the patient's body. As opposed to other steering methods, the robot does not hold the base of the needle, which is its proximal region, but rather grips the shaft of the needle by means of a manipulatable needle gripping device, near its distal end. The needle gripper attached to the robotic platform may be equipped with a traction assembly to provide motion to the needle in its longitudinal direction, such that it co-ordinates the entry of the needle with the desired entry angle. The gripping of the needle at its distal end, close to its insertion point, provides the needle manipulator with a low profile, with concomitant advantages.
    Type: Grant
    Filed: December 16, 2019
    Date of Patent: June 28, 2022
    Assignee: TECHNION RESEARCH & DEVELOPMENT FOUNDATION LIMITED
    Inventors: Daniel Glozman, Gonen Daskal, Moshe Shoham, Michael Arad, Yoav Pinsky
  • Publication number: 20220189047
    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.
    Type: Application
    Filed: November 15, 2021
    Publication date: June 16, 2022
    Inventors: Amir Lev-Tov, Shay Shimon Peretz, Yaniv Ben Zriham, Moshe Shoham
  • Publication number: 20220175462
    Abstract: 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: Application
    Filed: November 15, 2021
    Publication date: June 9, 2022
    Inventors: Avi Turgeman, Moshe Shoham, Eli Zehavi
  • Publication number: 20220168048
    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.
    Type: Application
    Filed: November 29, 2021
    Publication date: June 2, 2022
    Inventors: Moshe Shoham, Yizhaq Shmayahu
  • Publication number: 20220151714
    Abstract: 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: Application
    Filed: September 15, 2021
    Publication date: May 19, 2022
    Inventors: Eli Zehavi, Moshe Shoham, Yonatan Ushpizin, Avi Turgeman
  • Publication number: 20220144394
    Abstract: A flotation device for providing emergency flotation for a person swimming or passing through a body of water, comprising a container filled with a charge of a gaseous material under a pressure such that it is in its liquid phase at normal environmental temperatures. The container is connected to a flexible flotation chamber through a passage which remains normally closed until actuated by the user. When the device is actuated by opening the passage, the charge expands into the flotation chamber, thereby inflating it, and providing support to the user in the water. The gaseous material has thermodynamic properties such that it remains in its liquid phase right up to the maximum temperatures to which the device is expected to be exposed to. Consequently, its volume, and hence the internal pressure within the gas container, does not increase significantly, thereby enabling the container to be of lightweight construction.
    Type: Application
    Filed: April 7, 2020
    Publication date: May 12, 2022
    Inventors: Oriya SHOHAM, Moshe SHOHAM, Matityahu AZRIEL
  • Patent number: 11291515
    Abstract: A compact robotic device for driving movement of two or more elongate surgical tools configured for a telescopic arrangement when said two or more elongate surgical tools are at least partially received within said device, the device comprising: a housing comprising walls which define an inner volume including at least two inner pathways for accommodating the two or more elongate surgical tools; the housing encasing: a plurality of motors, and two or more tool actuation assemblies configured at a position of each of the two or more inner pathways; the actuation assemblies driven by the plurality of motors and configured to operably contact an elongate surgical tool at least partially received in the inner pathway to at least one of advance, retract and/or roll said elongate surgical tool.
    Type: Grant
    Filed: April 19, 2021
    Date of Patent: April 5, 2022
    Assignees: Microbot Medical Ltd., Technion Research & Development Foundation Limited
    Inventors: Simon Sharon, Idan Boader, Evgeny Kofman, Moshe Shoham, Eran Cohen, Eyal Morag
  • Publication number: 20220096161
    Abstract: A robotic device for performing intracranial procedures, comprising a baseplate for mounting on the subject's skull and a rotatable base element rotating on the baseplate. The rotatable base element has a central opening through which a cannulated needle can protrude such that it can rotate around an axis perpendicular to the baseplate. This cannulated needle is robotically controlled to provide motion into and out of the subject's skull. A flexible needle is disposed coaxially within the cannulated needle, and it is controlled to move into and out of a non-axial aperture in the distal part of the cannulated needle. Coordinated control of the insertion motion of the cannulated and flexible needles, and rotation of the combined cannulated/flexible needle assembly enables access to be obtained to a volume of a region of the brain having lateral dimensions substantially larger than the width of the cannulated needle.
    Type: Application
    Filed: December 13, 2021
    Publication date: March 31, 2022
    Applicant: Technion Research & Development Foundation Limited
    Inventors: David ZARROUK, Moshe SHOHAM, Menashe ZAAROOR, Hadas ZISO
  • Publication number: 20220096188
    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.
    Type: Application
    Filed: September 1, 2021
    Publication date: March 31, 2022
    Inventors: Aviv Ellman, Moshe Shoham
  • Publication number: 20220071723
    Abstract: An assembly for driving linear movement and roll movement of an elongate surgical tool, comprising: an elongate shaft comprising a central lumen extending along the shaft long axis; the elongate shaft comprising a plurality of apertures extending across walls of the elongate shaft and into the central lumen; a set of wheels positioned opposing each other and aligned on two sides of the central lumen, the set of wheels at least partially extending through the apertures beyond the walls of the elongate shaft and into the central lumen to contact an elongate surgical tool received therein; the set of wheels being coupled to the elongate shaft and configured to rotate with the elongate shaft as a single unit when the elongate shaft is rotated about the shaft long axis.
    Type: Application
    Filed: November 15, 2021
    Publication date: March 10, 2022
    Applicants: Microbot Medical Ltd., Technion Research & Development Foundation Limited
    Inventors: Simon SHARON, Idan BOADER, Moshe SHOHAM, Eran COHEN, Eyal MORAG