# US 12,213,741 B2 · Apparatus for robotic joint arthroscopic surgery

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 12,213,741 B2
- Document ID: US12213741B2
- Status: Granted
- Kind: B2
- Application number: 18/461,723
- Filed: 2023-09-06
- Published: 2024-05-02
- Granted: 2025-02-04
- Earliest claimed: 2022-10-26
- Assignees: IX Innovation LLC
- Applicants: IX Innovation LLC
- Inventors: Jeffrey Roh; Justin Esterberg; John Cronin; Seth Cronin; Michael John Baker; Mihir Patel
- Web page: https://patentgrep.com/patent/US12213741B2

## CPC

- A61B 34/10: Computer-aided planning, simulation or modelling of surgical operations
- A61B 34/25: {User interfaces for surgical systems}
- A61B 34/30: Surgical robots
- A61B 34/32: operating autonomously
- A61B 34/35: for telesurgery
- A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B 90/361: {Image-producing devices, e.g. surgical cameras}
- A61B 90/96: using barcodes
- A61B 90/98: using electromagnetic means, e.g. transponders
- 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 2034/252: {indicating steps of a surgical procedure}
- A61B 2034/256: {having a database of accessory information, e.g. including context sensitive help or scientific articles}
- A61B 2034/305: {Details of wrist mechanisms at distal ends of robotic arms}
- A61B 2090/374: {NMR or MRI}
- A61B 2090/376: {using X-rays, e.g. fluoroscopy}
- A61B 2090/3937: {Visible markers}
- A61F 2002/30952: {using CAD-CAM techniques or NC-techniques}
- A61F 2002/4632: {using computer-controlled surgery, e.g. robotic surgery}
- A61F 2002/4633: {for selection of endoprosthetic joints or for pre-operative planning}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- 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)

## Abstract

Methods, apparatuses, and systems for performing robotic joint arthroscopic surgery are disclosed. The disclosed systems use a surgical robot to perform robotic joint arthroscopic surgery for soft tissue. The disclosed systems enable a surgeon or physician to perform a virtual surgical procedure in a virtual environment, storing robotic movements, workflow objects, user inputs, or a description of tools used. The surgical robot filters the stored data to determine a surgical workflow from the stored data. The surgical robot displays information describing a surgical step in the surgical workflow, enabling the surgeon or physician to optionally adjust the surgical workflow. The surgical robot stores the optional adjustments and performs the surgical procedure on a patient by executing surgical actions of the surgical workflow.

## Claims

### Claim 1

A surgical robot comprising:
a non-transitory computer-readable storage medium storing computer instructions, which when executed by one or more computer processors cause the surgical robot to:
extract information describing an arthroscopic surgical procedure from a surgical database performing the arthroscopic surgical procedure by the surgical robot;
identify injured soft tissue within an anatomy of a patient using images of the anatomy obtained using an imaging sensor of the surgical robot; and
perform the arthroscopic surgical procedure based on the information, wherein the computer instructions cause the surgical robot to:
secure, by one or more end effectors of the surgical robot, the injured soft tissue; and
suture, by the one or more end effectors, the injured locations to repair the injured soft tissue.

### Claim 2 (depends on 1)

The surgical robot of claim 1, wherein the one or more end effectors comprise at least one material that absorbs X-rays, reflects X-rays, or is transparent to X-rays to facilitate visibility of the one or more end effectors when viewed using angiography or fluoroscopy.

### Claim 3 (depends on 1)

The surgical robot of claim 1, wherein the surgical robot comprises a mechanically actuated robotic arm or lever having at least two degrees of freedom.

### Claim 4 (depends on 3)

The surgical robot of claim 3, wherein the robotic arm comprises the one or more end effectors or the imaging sensor.

### Claim 5 (depends on 1)

The surgical robot of claim 1, wherein the imaging sensor is integrated into a catheter assembly.

### Claim 6 (depends on 1)

The surgical robot of claim 1, wherein sensor data acquired by the imaging sensor is used to train a machine learning model for generating the information.

### Claim 7 (depends on 1)

The surgical robot of claim 1, wherein the imaging sensor comprises an X-ray dosimeter configured to monitor an intensity of X-rays emitted toward the patient to prevent a dose of radiation from exceeding a threshold.

### Claim 8 (depends on 7)

The surgical robot of claim 7, wherein the surgical robot is configured to prevent the dose of radiation from exceeding the threshold based on monitoring the intensity of X-rays emitted toward the patient by reducing the intensity of the X-rays.

### Claim 9 (depends on 7)

The surgical robot of claim 7, wherein the surgical robot is configured to prevent the dose of radiation from exceeding the threshold based on monitoring the intensity of X-rays emitted toward the patient by reducing a duration in which the X-rays are emitted toward the patient.