Covidien LP

Mazor Robotics Ltd.

Yissum Research Development Company of the Hebrew University of Jerusalem Ltd.

Leo Joskowicz

Oren P Weingarten

Dorian Averbuch

Ran Cohen

Igor A Markov

Ivan Vorobeychyk

Moshe Shoham

Ariel Simkin

Charles Milgrom

Ziv Yaniv

Eli Zehavi

Reuven Ruby Shamir

Achia Kronman

Moti Freiman

Guy Medan

Yigal Shoshan

Igor Markov

A method for using an assembled three-dimensional image to construct a three-dimensional model for determining a path through a lumen network to a target. The three-dimensional model is automatically registered to an actual location of a probe by tracking and recording the positions of the probe and continually adjusting the registration between the model and a display of the probe position. The registration algorithm becomes dynamic (elastic) as the probe approaches smaller lumens in the periphery of the network where movement has a bigger impact on the registration between the model and the probe display.

Adaptive navigation technique for navigating a catheter through a body channel or cavity

There is provided a method of locating a tip of a metallic instrument inserted in a body, utilizing a baseline sinogram comprising projections in N exposure directions and derived from a prior computerized tomography (CT) scanning of the body, the method comprising: performing three-dimensional Radon space registration of a sparse repeat sinogram to the baseline sinogram, the repeat CT scanning having the metallic instrument inserted into the body, the metallic instrument having an attached marker located at a known distance from the instrument tip; subtracting the baseline sinogram from the repeat sinogram in accordance with the registration parameters to obtain projection difference images; and using the projection difference images and the known distance of the attached marker from the metallic instrument tip to determine a three-dimensional location of the metallic instrument tip.

Method of needle localization via partial computerized tomographic scanning and system thereof

A robot-guided system to assist orthopedic surgeons in performing orthopedic surgical procedures on pre-positioned inserts, including for the fixation of bone fractures, and especially for use in long bone distal intramedullary locking procedures. The system provides a mechanical guide for drilling the holes for distal screws in intramedullary nailing surgery. The drill guide is automatically positioned by the robot relative to the distal locking nail holes, using data derived from only a small number of X-ray fluoroscopic images. The system allows the performance of the locking procedure without trial and error, thus enabling the procedure to be successfully performed by less experienced surgeons, reduces exposure of patient and operating room personnel to radiation, shortens the intra-operative time, and thus reduces post-operative complications.

Robot for use with orthopaedic inserts

A novel image-guided system for precise automatic targeting in minimally invasive keyhole neurosurgery. The system consists of a miniature robot fitted with a mechanical guide for needle, probe, or catheter insertion. Intraoperative, the robot is directly affixed to a head clamp or to the patient skull. It automatically positions itself with respect to predefined entry points and targets in a preoperative CT/MRI image following an anatomical registration with an intraoperative 3D surface scan of the patient facial features and a registration jig. The registration procedure is a novel three-way scheme, in which the intraoperative surface scan including the registration jig is matched to a model generated from the preoperative CT/MRI image, the robot position is known in relation to the registration jig, and the entry and target points are known from the preoperative CT/MRI image, such that the robot position can be related to the entry and target points.

Image guided robotic system for keyhole neurosurgery

A robot-guided system to assist orthopaedic surgeons in performing orthopaedic surgical procedures on pre-positioned inserts, including for the fixation of bone fractures, and especially for use in long bone distal intramedullary locking procedures. The system provides a mechanical guide for drilling the holes for distal screws in intramedullary nailing surgery. The drill guide is automatically positioned by the robot relative to the distal locking nail holes, using data derived from only a small number of X-ray fluoroscopic images. The system allows the performance of the locking procedure without trial and error, thus enabling the procedure to be successfully performed by less experienced surgeons, reduces exposure of patient and operating room personnel to radiation, shortens the intra-operative time, and thus reduces post-operative complications.

Robotic method for use with orthopedic inserts

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Jerusalem, Israel

Leo Joskowicz