End effector for robotic shoulder arthroplasty
AssigneeOrthosoft Ulc
InventorsJean-Guillaume Abiven, Karine Dupuis, Trong-Tin Nguyen
Life of this patent
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Abstract
A robotic surgical system can include an end effector coupled to a robotic arm. A reamer operable to ream bone can be coupled to the end effector (e.g., via a retainer). The reamer can include a primary driveshaft and a cutting head. The primary driveshaft can be rotatable about a first axis of rotation and the cutting head can be rotatable about a second axis of rotation, for example parallel to and offset from the first axis of rotation.
Claims23
A robotically controlled reamer, the reamer comprising:
- a primary driveshaft configured to rotate about a first axis of rotation via a motor;
- a cutting head coupled to a distal end of the primary driveshaft, the cutting head configured to rotate about a second axis of rotation, parallel to and laterally offset from the first axis of rotation, and a cutting depth of the cutting head controllable by a robotic arm.
A robotic surgical system comprising:
- a reamer operable to ream bone coupled to an end effector, the reamer comprising:
- a primary driveshaft configured to rotate about a first axis of rotation;
- a cutting head coupled to a distal end of the primary driveshaft, the cutting head configured to rotate about a second axis of rotation, parallel to and laterally offset from the first axis of rotation;
- and
- a robotic arm including the end effector, the robotic arm configured to control a cutting depth of the cutting head.
A reamer for shaping a bone without requiring a guide pin, the reamer comprising:
- a primary driveshaft configured to rotate about a first axis of rotation;
- a cutting head coupled to a distal end of the primary driveshaft, the cutting head configured to rotate about a second axis of rotation laterally offset from the first axis of rotation.
A method of robotically controlling a reamer comprising:
- using processing circuitry, controlling movement of a robotic arm to position an end effector at a distal end of the robotic arm within a glenoid cavity of a patient;
- activating a reamer affixed to the end effector to ream a glenoid surface of the patient within the glenoid cavity along a trajectory;
- identifying a change to the trajectory;
- controlling, using the processing circuitry, movement of the robotic arm to reposition the end effector according to the changed trajectory;
- and
- causing the reamer to ream the glenoid surface at the changed trajectory.
A method of robotically controlling a reamer comprising:
- using processing circuitry, controlling movement of a robotic arm to position an end effector at a distal end of the robotic arm within a glenoid cavity of a patient;
- activating a reamer affixed to the end effector to ream a glenoid surface of the patient within the glenoid cavity along a trajectory;
- and
- controlling a cutting depth of the reamer, using the robotic arm, based on a specified maximum cutting depth.
Dependencies are inferred from the claim text.