US 11,696,788 B2
Shaper for vertebral fixation rods
Edo Zucker, Tel Aviv (IL); and Moshe Shoham, Hoshaya (IL)
Assigned to MAZOR ROBOTICS LTD., Caesarea (IL)
Filed by MAZOR ROBOTICS LTD., Caesarea (IL)
Filed on Dec. 24, 2019, as Appl. No. 16/726,720.
Application 16/726,720 is a continuation of application No. 15/533,037, granted, now 10,631,907, previously published as PCT/IL2015/051182, filed on Dec. 4, 2015.
Claims priority of provisional application 62/087,314, filed on Dec. 4, 2014.
Prior Publication US 2020/0129217 A1, Apr. 30, 2020
Int. Cl. A61B 17/88 (2006.01); B21D 7/12 (2006.01); B21D 7/14 (2006.01); A61B 5/00 (2006.01); A61B 5/107 (2006.01); A61B 34/10 (2016.01); A61B 17/70 (2006.01); A61B 17/00 (2006.01)
CPC A61B 17/8863 (2013.01) [A61B 5/0036 (2018.08); A61B 5/107 (2013.01); A61B 34/10 (2016.02); B21D 7/12 (2013.01); B21D 7/14 (2013.01); A61B 17/70 (2013.01); A61B 17/7002 (2013.01); A61B 2017/00526 (2013.01); A61B 2034/108 (2016.02)] 17 Claims
OG exemplary drawing
 
1. A rod-shaping system, comprising:
a rod-shaping device, comprising:
a housing comprising a first end, a second end opposite the first end, a first side, and a second side opposite the first side, the first side and the second side extending between the first end and the second end;
a pair of clamps for gripping an intervertebral connection rod, one of the pair of clamps disposed at the first end and another of the pair of clamps disposed at the second end, the pair of clamps aligned on a common axis; and
a plurality of selectively adjustable plungers, each of the plurality of selectively adjustable plungers secured to one of the first side or the second side, the plurality of selectively adjustable plungers configured to generate bends in the intervertebral connection rod by extending to apply a lateral force to the intervertebral connection rod gripped by the pair of clamps at preselected longitudinal positions along the intervertebral connection rod; and
a control system that:
receives location information about a position and orientation of a plurality of pedicle screws in a subject's vertebrae, each of the plurality of pedicle screws comprising a pedicle screw head;
generates, from the location information, positional data comprising co-ordinates of points corresponding to a location of the each pedicle screw head; and
causes the rod-shaping device to bend the intervertebral connection rod gripped by the pair of clamps, based on the positional data;
wherein the location information is based on feedback signal from a robot that inserts the plurality of pedicle screws into the subject's vertebrae.