# US 12,758,317 B2 · Robotic joint revision system and method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,758,317 B2 - Document ID: US12758317B2 - Status: Granted - Kind: B2 - Application number: 18/669,523 - Filed: 2024-05-21 - Published: 2024-11-21 - Granted: 2026-10-13 - Earliest claimed: 2020-03-13 - Assignees: Revision Robotics Surgical Innovations, LLC - Applicants: Revision Robotics Surgical Innovations, LLC - Inventors: Cyrus Abbaschian; Joshua Haney; Jeff Fox - Web page: https://patentgrep.com/patent/US12758317B2 ## CPC - A61B 34/10: Computer-aided planning, simulation or modelling of surgical operations - A61B 17/142: {with reciprocating saw blades, e.g. with cutting edges at the distal end of the saw blades} - A61B 17/16: Instruments for performing osteoclasis; Drills or chisels for bones; Trepans {(arthroscopic bone cutters A61B17/320016)} - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 34/25: {User interfaces for surgical systems} - A61B 34/30: Surgical robots - A61B 90/36: {Image-producing devices or illumination devices not otherwise provided for} - 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 2034/2057: {Details of tracking cameras} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract Systems and methods for prosthetic implant revision surgery may include a robot having a robotic arm for attaching multiple surgical tools. The robot may generate a surgical plan for attaching the surgical tools to the robotic am (e.g., a large diameter wheel, an in-line cutting tip, a posterior curved cradle, a reciprocal saw, a long burr, a trephine reamer, an osteotome, a keel remover, etc.) and performing the steps to remove an anterior flange/cap of a prosthetic knee and debond cement from bone within the intramedullary canal of a tibia or femur. The robot may include cameras and/or tracking devices for mapping/generating a three-dimensional model of an operating space and the implant, and determine precise planes and angles for approaching the implant with the surgical tools. Accordingly, the systems and methods may perform revision surgery with less bone loss than previous techniques and may result in more reproducible outcomes. ## Claims ### Claim 1 A system for robotic joint revision surgery comprising: a robot including a plurality of components coupled together, the plurality of components including at least a robotic arm, the robot being configured to recognize a plurality of surgical tools and sequentially navigate individual surgical tools of the plurality of surgical tools, via the robotic arm, to remove a previous prosthetic joint from a patient; and wherein, the plurality of surgical tools are interchangeable in connection with the robotic arm, and the plurality of surgical tools include at least two of: a large diameter cutting wheel, an in-line cutting tip, a posterior curved cradle, a reciprocal saw, a long burr, a hemispherical or ⅓ trephine reamer, a small osteotome operable to chip away at cement, a curved osteotome, a vibrator attachment, a bonding rotary tool, a keel remover, a motion converter, a bone cement melter, or a tapered drill. ### Claim 2 (depends on 1) The system of claim 1, wherein the plurality of components includes a plurality of input devices which includes a plurality of sensors, a tracking ray, or a plurality of cameras. ### Claim 3 (depends on 2) The system of claim 2, wherein the plurality of input devices includes at least one of strain gauge, a tension gauge, or a patella tracking device. ### Claim 4 (depends on 1) The system of claim 1, wherein the plurality of components includes one or more output devices which includes a display unit. ### Claim 5 (depends on 4) The system of claim 4, wherein the one or more output devices is integral to other components of the plurality of components of the robot. ### Claim 6 (depends on 4) The system of claim 4, wherein the one or more output devices are separate from other components of the plurality of components of the robot. ### Claim 7 (depends on 1) The system of claim 1, wherein the plurality of components includes a plurality of input devices which are integral to other components of the plurality of components of the robot. ### Claim 8 (depends on 1) The system of claim 1, wherein the plurality of components include a plurality of input devices which are separate from other components of the plurality of components of the robot. ### Claim 9 (depends on 1) The system of claim 1, wherein the large diameter cutting wheel has a diameter of 40-50 mm. ### Claim 10 (depends on 1) The system of claim 1, wherein the reciprocal saw has a thickness of at least 1.89 mm. ### Claim 11 (depends on 1) The system of claim 1, wherein the long burr has a length of 120-135 mm. ### Claim 12 (depends on 1) The system of claim 1, further comprising: an adaptor bolt attached to the tapered drill; and a slap hammer operable to attach to the adaptor bolt and extract at least a portion of the previous prosthetic joint. ### Claim 13 (depends on 1) The system of claim 1, wherein the plurality of components includes a plurality of input devices and a processor configured to: receive a plurality of three-dimensional images of a limb of the patient having the previous prosthetic joint; generate a surgical plan based on the three-dimensional images; and execute instructions from a non-transitory computer readable medium in response to input from the plurality of input devices. ### Claim 14 (depends on 13) The system of claim 13, wherein the processor is configured to make changes to the surgical plan in response to the input from the plurality of input devices. ### Claim 15 A method to perform a robotic joint revision surgery, the method comprising steps of: determining a surgical plan for removing a previous prosthetic joint from a patient by using a robot having a robotic arm, the robot configured to provide robot-assisted navigation, based on the surgical plan, by recognizing and operating a plurality of surgical tools which are interchangeable with each other on the robotic arm; operating, by the robot, the plurality of surgical tools, the operating includes at least two of: attaching and releasing a large diameter cutting wheel in connection with the robotic arm to cut a first portion of the previous prosthetic joint; attaching and releasing a long burr in connection with the robotic arm to break cement between a bone of the patient and the previous prosthetic joint; or attaching and releasing a tapered drill in connection with the robotic arm to drill into a second portion of the previous prosthetic joint; attaching a hammer to the robotic arm; and extracting the second portion of the previous prosthetic joint via the hammer. ### Claim 16 (depends on 15) The method of claim 15, wherein: the first portion is a tibial tray of the previous prosthetic joint, and the second portion is a keel of the previous prosthetic joint. ### Claim 17 (depends on 15) The method of claim 15, further comprising: operating a reamer to cut around a stem of the previous prosthetic joint. ### Claim 18 (depends on 15) The method of claim 15, further comprising: receiving, at the robot, a plurality of three-dimensional images of the patient, the plurality of three-dimensional images used to generate the surgical plan. ### Claim 19 (depends on 15) The method of claim 15, further comprising: receiving input data, at the robot, via a plurality of input devices; and generating changes to the surgical plan based on the input data received from the plurality of input devices. ### Claim 20 A method for robotic joint revision, the method comprising steps of: determining a surgical plan for performing a robotic joint revision surgery of a previous prosthetic joint, the surgical plan including robot-assisted navigation by a robotic arm of a robot; operating a plurality of interchangeable surgical tools in connection with the robotic arm to perform the robotic joint revision surgery via the robot-assisted navigation and within parameters of the surgical plan, the operating of the plurality of interchangeable surgical tools includes: recognizing, by the robot, the plurality of interchangeable surgical tools; and sequentially navigating, by the robot, individual interchangeable surgical tools of the plurality of interchangeable surgical tools; receiving input data, at the robot, via one or more input devices in connection with the robot; and generating, via the robot, one or more changes to the surgical plan in response to the input data.