# US 2019/0167356 A1 · Robotic shoulder repair and reconstruction > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0167356 A1 - Document ID: US20190167356A1 - Status: Published application - Kind: A1 - Application number: 16/210,787 - Filed: 2018-12-05 - Published: 2019-06-06 - Earliest claimed: 2017-12-06 - Assignees: MedTech S.A. - Applicants: MedTech S.A. - Inventors: Orsa Britton; Pierre Couture - Web page: https://patentgrep.com/patent/US20190167356A1 ## CPC - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 34/30: Surgical robots - A61B 34/35: for telesurgery - A61B 34/70: {Manipulators specially adapted for use in surgery} - A61B 90/06: {Measuring instruments not otherwise provided for} - A61B 90/50: Supports for surgical instruments, e.g. articulated arms - A61B 17/1684: {for the shoulder} - A61B 34/10: Computer-aided planning, simulation or modelling of surgical operations - A61B 34/32: operating autonomously - 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} - A61B 2034/2046: {Tracking techniques} - A61B 2034/2055: {Optical tracking systems} - 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 and surgical system for performing a surgical procedure. The surgical system includes a robotic system with a robotic arm having a surgical instrument attached thereto. A computer system of the robotic system receives at least one image and forms a model of a surgical area. A computer operated tracking system of the robotic system obtains position data related to a patient's bone from tracking elements. Based on the model of the surgical area and the tracked bone position, the robotic arm then performs the surgical procedure with the surgical instrument, and the robotic system adjusts the procedure as a result of the tracked bone position. ## Claims ### Claim 1 A method of inserting a humeral implant into a humerus of a patient, the method comprising: receiving selection of a virtual humeral implant including humeral implant dimensions; receiving a patient position from one or more position sensors secured to the patient; and adjusting, using a robotic manipulator, a position of the humeral implant relative to the humerus based on at least one of the patient position and the humeral implant dimensions. ### Claim 2 (depends on 1) The method of claim 1, further comprising: displaying on a user interface device a graphic representation of the humeral implant dimensions. ### Claim 3 (depends on 1) The method of claim 1, further comprising: wherein the humeral implant dimensions include one or more of height, inclination, and version of the humeral implant. ### Claim 4 (depends on 1) The method of claim 1, further comprising: reaming the humerus to create a humeral canal based on at least one of the patient position and the humeral implant dimensions. ### Claim 5 (depends on 4) The method of claim 4, further comprising: inserting the implant into the humeral canal of the humerus with the robotic manipulator based on at least one of the patient position and the humeral implant dimensions. ### Claim 6 (depends on 5) The method of claim 5, further comprising: receiving an image of a patient shoulder comprising a humerus; and developing a three-dimensional (3D) shoulder model. ### Claim 7 (depends on 6) The method of claim 6, further comprising: placing, matingly, bone fragments together with the robotic manipulator based on the 3D shoulder model. ### Claim 8 (depends on 7) The method of claim 7, further comprising: obtaining force data with a force sensor disposed on the robotic manipulator to determine a post-surgery range of motion of the patient shoulder. ### Claim 9 (depends on 1) The method of claim 1, further comprising: securing the humeral implant to the humerus while implant position is adjusted automatically based on at least one of the patient position, the implant position, or the humeral implant dimensions. ### Claim 10 (depends on 9) The method of claim 9, wherein the implant position is adjusted by a robotic arm. ### Claim 11 (depends on 9) The method of claim 9, wherein the implant position is adjusted automatically based on an image of a healthy shoulder of the patient. ### Claim 12 (depends on 1) The method of claim 1, further comprising: creating a three-dimensional model of a shoulder joint of a patient and a three-dimensional model of the implant. ### Claim 13 (depends on 12) The method of claim 12, wherein the image includes a plurality of bone fragments of the patient. ### Claim 14 (depends on 13) The method of claim 13, further comprising: virtually reassembling the plurality of bone fragments. ### Claim 15 (depends on 1) The method of claim 1, wherein the humeral implant is a humeral head implant that includes an interface for an optical tracking assembly; and wherein the method further comprises: providing an expected humeral head position; determining a humeral head position with the optical tracking assembly; and comparing the humeral head position to the expected humeral head position to determine differences in the expected humeral head position and humeral head position. ### Claim 16 (depends on 15) The method of claim 15, wherein the expected humeral head position is determined by optical navigation. ### Claim 17 (depends on 15) The method of claim 15, further comprising: automatically prompting a message on a user interface device to change a head size or neck size of the humeral head implant. ### Claim 18 (depends on 5) The method of claim 5, wherein the robotic manipulator comprises a first robotic arm that inserts the implant into the humeral canal of the humerus and a second robotic arm that holds the humerus during insertion of the implant into the humeral canal. ### Claim 19 A method for preparing a humeral bone for an implant, the method comprising: tracking a humeral bone position within a three-dimensional space using a computer-operated tracking system of a robotic system; receiving an image of the humeral bone; reaming a canal within the humeral bone with a surgical instrument of a robotic system; during reaming, tracking movement in the humeral bone position; and adjusting position of the surgical instrument based on the movement in humeral bone position. ### Claim 20 (depends on 19) The method of claim 19, wherein the robotic system comprises a first robotic arm having a reamer for reaming the canal in the humeral bone and a second arm having a gripping device to hold the humeral bone.