# US 11,432,945 B2 · Robotic system for shoulder arthroplasty using stemless implant components > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,432,945 B2 - Document ID: US11432945B2 - Status: Granted - Kind: B2 - Application number: 16/181,750 - Filed: 2018-11-06 - Published: 2019-05-09 - Granted: 2022-09-06 - Earliest claimed: 2017-11-07 - Assignees: Howmedica Osteonics Corp. - Applicants: Howmedica Osteonics Corp. - Inventors: David Viscardi; Jan Heinsohn; Andrew Nelson; Rajan Yadav; Jetinder Singh - Web page: https://patentgrep.com/patent/US11432945B2 ## CPC - A61F 2/4612: {of shoulders} - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 34/30: Surgical robots - A61B 34/32: operating autonomously - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 34/76: {Manipulators having means for providing feel, e.g. force or tactile feedback} - A61B 34/77: {Manipulators with motion or force scaling} - A61F 2/4003: {Replacing only the epiphyseal or metaphyseal parts of the humerus, i.e. endoprosthesis not comprising an entire humeral shaft (replacing only the epiphyseal or metaphyseal parts of the femur A61F2/3601)} - B25J 9/1666: {Avoiding collision or forbidden zones} - B25J 9/1676: {Avoiding collision or forbidden zones} - A61B 17/14: Surgical saws ({A61B17/1637 takes precedence;} dental saws for teeth A61C3/12) - A61B 17/164: {intramedullary} - A61B 2034/101: {Computer-aided simulation of surgical operations} - A61B 2034/102: {Modelling of surgical devices, implants or prosthesis} - A61B 2034/105: {Modelling of the patient, e.g. for ligaments or bones} - A61B 2034/107: {Visualisation of planned trajectories or target regions} - A61B 2034/2055: {Optical tracking systems} - A61B 2034/2057: {Details of tracking cameras} - A61B 2034/2065: {Tracking using image or pattern recognition} - A61B 2034/2068: {using pointers, e.g. pointers having reference marks for determining coordinates of body points} - A61B 2090/062: {penetration depth} - A61B 2090/08021: {of the patient or his organs} - A61F 2/30749: {Fixation appliances for connecting prostheses to the body} - A61F 2002/30332: {Conically- or frustoconically-shaped protrusion and recess} - A61F 2002/30426: {Bayonet coupling} - A61F 2002/30784: {Plurality of holes} - A61F 2002/30878: {with non-sharp protrusions, for instance contacting the bone for anchoring, e.g. keels, pegs, pins, posts, shanks, stems, struts} - A61F 2002/30881: {Circumferential ribs, flanges or fins} - A61F 2002/30883: {dovetail-shaped} - A61F 2002/4007: {implanted without ablation of the whole natural humeral head} - A61F 2002/4632: {using computer-controlled surgery, e.g. robotic surgery} - A61F 2002/4633: {for selection of endoprosthetic joints or for pre-operative planning} - G05B 2219/45117: Medical, radio surgery manipulator - G05B 2219/45168: Bone prosthesis - G05B 2219/45171: Surgery drill - 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) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract Robotic system and methods for robotic arthroplasty. The robotic system includes a machining station and a guidance station. The guidance station tracks movement of various objects in the operating room, such as a surgical tool, a humerus of a patient, and a scapula of the patient. The guidance station tracks these objects for purposes of displaying their relative positions and orientations to the surgeon and, in some cases, for purposes of controlling movement of the surgical tool relative to virtual cutting boundaries or other virtual objects associated with the humerus and scapula to facilitate preparation of bone to receive a shoulder implant system. ## Claims ### Claim 1 A robotic surgery system for preparing a bone of a shoulder joint to receive a shoulder implant, the robotic surgery system comprising: a shoulder implant having a proximal body, a distal body, and a locking member; a robotic manipulator; a cutting tool to be coupled to said robotic manipulator; a localizer configured to track movement of said cutting tool and the bone; and a controller coupled to said robotic manipulator and said localizer, said controller configured to operate said robotic manipulator to control movement of said cutting tool relative to the bone based on one or more virtual objects associated with said shoulder implant, wherein said one or more virtual objects define a volume of material to be removed from the bone to form a first cavity sized to receive said distal body of said shoulder implant and to form a second cavity radially off-set from the first cavity relative to an implant axis and sized to rotationally receive said locking member, the second cavity defining an undercut in the bone whereby when said shoulder implant is at least partially inserted into the first cavity said locking member is rotated about the implant axis from an unlocked position in the first cavity to a locked position in the second cavity to rotate said locking member into engagement with the undercut of the second cavity formed by said cutting tool to limit withdrawal of said shoulder implant from the bone. ### Claim 2 (depends on 1) The robotic surgery system of claim 1, wherein said controller is configured to operate said robotic manipulator to control movement of said cutting tool based on said one or more virtual objects to form the second cavity about an implant axis so that said locking member is rotated about the implant axis from the unlocked position to the locked position. ### Claim 3 (depends on 2) The robotic surgery system of claim 2, wherein said one or more virtual objects are sized and shaped so that said locking member is rotated at least 10 degrees about the implant axis to move to the locked position. ### Claim 4 (depends on 3) The robotic surgery system of claim 3, wherein said one or more virtual objects are sized and shaped so that said locking member is rotated at least 30 degrees about the implant axis to move to the locked position. ### Claim 5 (depends on 1) The robotic surgery system of claim 1, wherein said one or more virtual objects are sized so that a distal portion of the volume of material to be removed from the bone extends below an anatomical neck of the bone and terminates above a diaphysis of the bone so that a substantial portion of a humeral canal of the bone remains intact after said shoulder implant is fully seated in the bone. ### Claim 6 (depends on 1) The robotic surgery system of claim 1, wherein said one or more virtual objects comprise a virtual cutting boundary. ### Claim 7 (depends on 6) The robotic surgery system of claim 6, wherein said robotic manipulator is configured to generate haptic feedback to a user based on a position of said cutting tool relative to said virtual cutting boundary. ### Claim 8 (depends on 6) The robotic surgery system of claim 6, wherein said robotic manipulator is operated in a haptic mode in which a user manually manipulates said cutting tool to form the first cavity and the second cavity and said robotic manipulator generates haptic feedback in response to the cutting tool reaching or exceeding said virtual cutting boundary. ### Claim 9 (depends on 6) The robotic surgery system of claim 6, wherein said robotic manipulator is operated in a free mode in which a user is allowed to freely manipulate said cutting tool beyond said virtual cutting boundary. ### Claim 10 (depends on 1) The robotic surgery system of claim 1, wherein said robotic manipulator is operated in an autonomous mode in which said controller operates said robotic manipulator to control movement of said cutting tool autonomously along a tool path to form the first cavity and the second cavity. ### Claim 11 (depends on 1) The robotic surgery system of claim 1, wherein said controller is configured to: determine positions of a plurality of landmarks on the bone; define a virtual resection plane in a coordinate system based on the positions of the plurality of landmarks, the coordinate system being registered to the bone; and define said one or more virtual objects in the coordinate system based on a location of the virtual resection plane. ### Claim 12 (depends on 11) The robotic surgery system of claim 11, wherein said controller is configured to: define a virtual intramedullary axis of the bone in the coordinate system prior to forming the first cavity and the second cavity; and define the virtual resection plane in the coordinate system based on a location of the virtual intramedullary axis. ### Claim 13 A method for performing robotic surgery with a robotic manipulator and a cutting tool coupled to the robotic manipulator to prepare a bone of a shoulder joint to receive a shoulder implant, the method comprising the steps of: providing the shoulder implant, the shoulder implant having a proximal body, a distal body, and a locking member; tracking movement of the cutting tool; tracking movement of the bone; controlling movement of the cutting tool relative to the bone based on one or more virtual objects associated with the shoulder implant to form a first cavity in the bone sized to receive the distal body of the shoulder implant and to form a second cavity in the bone sized to receive the locking member, the second cavity radially off-set from the first cavity relative to an implant axis and defining an undercut in the bone whereby the locking member is moved from an unlocked position in the first cavity to a locked position in the second cavity to limit withdrawal of the shoulder implant from the bone; and inserting the shoulder implant at least partially into the first cavity and rotating the implant about the implant axis to rotate the locking member into engagement with the undercut of the second cavity formed by the cutting tool and place the implant into the locked position. ### Claim 14 (depends on 13) The method of claim 13, comprising controlling movement of the cutting tool based on the one or more virtual objects to form the second cavity about an implant axis so that the locking member is rotated about the implant axis from the unlocked position to the locked position. ### Claim 15 (depends on 14) The method of claim 14, wherein the one or more virtual objects are sized and shaped so that the locking member is rotated at least 10 degrees about the implant axis to move to the locked position. ### Claim 16 (depends on 15) The method of claim 15, wherein the one or more virtual objects are sized and shaped so that the locking member is rotated at least 30 degrees about the implant axis to move to the locked position. ### Claim 17 (depends on 13) The method of claim 13, wherein the one or more virtual objects are sized so that a distal portion of a volume of material removed from the bone extends below an anatomical neck of the bone and terminates above a diaphysis of the bone so that a substantial portion of a humeral canal of the bone remains intact after the shoulder implant is fully seated in the bone. ### Claim 18 (depends on 13) The method of claim 13, wherein the one or more virtual objects comprise a virtual cutting boundary. ### Claim 19 (depends on 18) The method of claim 18, comprising generating haptic feedback to the user based on a position of the cutting tool relative to the virtual cutting boundary. ### Claim 20 (depends on 18) The method of claim 18, comprising controlling movement of the cutting tool in a haptic mode of the robotic manipulator in which a user manually manipulates the cutting tool to form the first cavity and the second cavity and the robotic manipulator generates haptic feedback in response to the cutting tool reaching or exceeding the virtual cutting boundary. ### Claim 21 (depends on 18) The method of claim 18, comprising controlling movement of the cutting tool in a free mode of the robotic manipulator in which a user is allowed to freely manipulate the cutting tool beyond the virtual cutting boundary. ### Claim 22 (depends on 13) The method of claim 13, comprising controlling movement of the cutting tool in an autonomous mode of the robotic manipulator to control movement of the cutting tool autonomously along a tool path to form the first cavity and the second cavity. ### Claim 23 (depends on 13) The method of claim 13, comprising: determining positions of a plurality of landmarks on the bone; defining a virtual resection plane in a coordinate system based on the positions of the plurality of landmarks, the coordinate system being registered to the bone; and defining the one or more virtual objects in the coordinate system based on a location of the virtual resection plane. ### Claim 24 A robotic surgery system for preparing a bone of a shoulder joint to receive a shoulder implant system, the robotic surgery system comprising: said shoulder implant system having a proximal body, a distal body, and a locking member; a robotic manipulator; a cutting tool to be coupled to said robotic manipulator; a localizer configured to track movement of said cutting tool and the bone; and a controller coupled to said robotic manipulator and said localizer, said controller configured to operate said robotic manipulator to control movement of said cutting tool relative to the bone based on one or more one or more virtual objects associated with said shoulder implant system, wherein said one or more virtual objects defines a volume of material to be removed from the bone to form a first cavity sized to receive said distal body of said shoulder implant system and to form a second cavity defining an undercut in the bone and radially off-set from the first cavity relative to an implant axis and sized to rotationally receive said locking member whereby when said shoulder implant is at least partially inserted into the first cavity and rotating said locking member about the implant axis from an unlocked position in the first cavity to a locked position in the second cavity to engage said locking member to the undercut of the second cavity formed by said cutting tool to limit withdrawal of said shoulder implant system from the bone. ### Claim 25 (depends on 24) The robotic surgery system of claim 24, wherein said controller is configured to operate said robotic manipulator to control movement of said cutting tool based on said one or more virtual objects to form the first cavity about a first axis and to form the second cavity about a second axis oriented at an acute angle relative to the first axis. ### Claim 26 A method for performing robotic surgery with a robotic manipulator and a cutting tool coupled to the robotic manipulator to prepare a bone of a shoulder joint to receive a shoulder implant system, the method comprising the steps of: providing the shoulder implant system having a proximal body, a distal body, and a locking member; tracking movement of the cutting tool; tracking movement of the bone; and controlling movement of the cutting tool relative to the bone based on one or more virtual objects associated with the shoulder implant system to form a first cavity in the bone sized to receive the distal body of the shoulder implant system and to form a second cavity in the bone that is radially off-set from the first cavity relative to an implant axis and sized to receive the locking member, whereby the locking member limits withdrawal of the shoulder implant system from the bone; and inserting the shoulder implant system at least partially into the first cavity and rotating the implant about the implant axis to rotate the locking member into the second cavity formed by the cutting tool and the implant into a locked position. ### Claim 27 (depends on 26) The method of claim 26, comprising controlling movement of the cutting tool based on the one or more virtual objects to form the first cavity about a first axis and to form the second cavity about a second axis oriented at an acute angle relative to the first axis.