# US 10,441,434 B2 · Methods, devices and systems for computer-assisted robotic surgery

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- Number: US 10,441,434 B2
- Document ID: US10441434B2
- Status: Granted
- Kind: B2
- Application number: 14/417,446
- Filed: 2014-03-13
- Published: 2016-02-11
- Granted: 2019-10-15
- Earliest claimed: 2013-03-13
- Assignees: Think Surgical, Inc.
- Applicants: Denise A. Miller; Rose A. Cipriano; Lu Li
- Inventors: Denise A. Miller; Rose A. Cipriano; Lu Li
- Web page: https://patentgrep.com/patent/US10441434B2

## CPC

- A61F 2/4603: {for insertion or extraction of endoprosthetic joints or of accessories thereof}
- A61B 17/17: Guides {or aligning means} for drills {, mills, pins or wires}
- A61B 34/10: Computer-aided planning, simulation or modelling of surgical operations
- A61F 2/30942: {for designing or making customized prostheses, e.g. using templates, CT or NMR scans, finite-element analysis or CAD-CAM techniques}
- A61B 17/15: Guides therefor
- A61B 34/00: Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B 2034/101: {Computer-aided simulation of surgical operations}
- A61B 2034/102: {Modelling of surgical devices, implants or prosthesis}
- A61B 2034/104: {Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring}
- A61B 2034/105: {Modelling of the patient, e.g. for ligaments or bones}
- A61B 2034/107: {Visualisation of planned trajectories or target regions}
- A61B 2034/108: {Computer aided selection or customisation of medical implants or cutting guides}
- A61F: FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS (dental prosthetics A61C)
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)

## Abstract

Methods, devices and systems for the planning and execution of computer-assisted robotic surgery are provided. The methods include methods to collect information about bones and prostheses, use the information to create virtual models and simulations, optionally receive input based on user discretion in generating the cut file, and to generate instruction for the execution of cut paths during the surgery. The system and devices include computers and peripherals and set-ups to link the components together into functional systems.

## Claims

### Claim 1

A method for coupling of a prosthesis to a bone, the method comprising:
providing one or more of a model of the prosthesis, a model of the bone, or a model of a volume of bone to be removed to accommodate the coupling of the prosthesis to the bone;
providing a pre-existing cut file based on the model of the prosthesis, with cutting parameters to specify at least one cut path configured to create a volume of bone to be removed to receive the prosthesis;
a user providing a user-specified input to modify the pre-existing cut file, the user-specified input including modifications of at least one of: precut, depth of cut, length of cut, diameter of cut path, regions to be cut, number of cut paths, shapes of cut paths, and types and sizes of cutters to be used so as to create a modified cut file;
providing feedback, preoperatively, to the user if a volume of bone to be removed as specified by the modified cut file exceeds the volume of bone to be removed as specified by the pre-existing cut file;
robotically cutting the bone according to the modified cut file;
pausing the robotic cutting to further modify the user-specified input; and
coupling the prosthesis to the bone.

### Claim 2 (depends on 1)

The method of claim 1, wherein the model of the volume of bone to be removed is generated from the model of the bone.

### Claim 3 (depends on 1)

The method of claim 1, further comprising generating a simulation of the model of the bone overlaid with the model of the volume of bone to be removed.

### Claim 4 (depends on 1)

The method of claim 1, further comprising generating a simulation of the model of the volume of bone to be removed with the model of the prosthesis.

### Claim 5 (depends on 4)

The method of claim 4, wherein the model of the prosthesis is positioned at least partially within the model of the volume of bone to be removed.

### Claim 6 (depends on 1)

The method of claim 1, further comprising generating a simulation of the model of the bone with the model of the prosthesis.

### Claim 7 (depends on 6)

The method of claim 6, wherein the model of the prosthesis is positioned at least partially within the model of bone.