Robotic System For Shoulder Arthroplasty Using Stemless Implant Components

Patent metadata

Field	Value
Publication number	US-2022031413-A1
Application number	US-202117500182-A
Country	US
Kind code	A1
Filing date	Oct 13, 2021
Priority date	Nov 7, 2017
Publication date	Feb 3, 2022
Grant date	—

Abstract

Robotic systems 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 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. The virtual objects are located based on density data of the bone such that, when one or more shoulder implants are fully seated in the bone, distal portions of the implants are located in a first region of the bone having a density characteristic greater than an adjacent second region of the bone.

First claim

What is claimed is:

1 . A robotic surgery system for preparing a bone to receive a stemless implant having a proximal body defining a center axis and an eccentric distal projection configured for attachment to the bone, the robotic surgery system comprising:
a robotic manipulator; a cutting tool to be coupled to the robotic manipulator; a localizer configured to track movement of the cutting tool and the bone; and a controller coupled to the robotic manipulator and the localizer, the controller configured to operate the robotic manipulator to control movement of the cutting tool relative to the bone based on a virtual object defined at least partially by the eccentric distal projection of the stemless implant, wherein the virtual object defines a volume of material to be removed from the bone to receive the eccentric distal projection, the virtual object being defined in a coordinate system at a location based on density data of the bone such that, when the stemless implant is fully seated in the bone, the eccentric distal projection is located in a first region of cancellous bone having a density characteristic greater than an adjacent second region of cancellous bone.

2 . The robotic surgery system of claim 1 , wherein the controller is configured to:
define a virtual resection plane in the coordinate system; and define the virtual object in the coordinate system based on a location of the virtual resection plane such that the virtual object extends below the virtual resection plane in the coordinate system.

3 . The robotic surgery system of claim 1 , wherein the coordinate system is registered to the bone.

4 . The robotic surgery system of claim 2 , wherein the controller is configured to determine positions of a plurality of landmarks on the bone.

5 . The robotic surgery system of claim 4 , wherein the controller is configured to define the virtual resection plane based on the positions of the plurality of landmarks.

6 . The robotic surgery system of claim 1 , wherein the virtual object is 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 canal of the bone remains intact after the stemless implant is fully seated in the bone.

7 . The robotic surgery system of claim 1 , wherein the virtual object comprises a virtual cutting boundary.

8 . The robotic surgery system of claim 7 , wherein the robotic manipulator is operable to generate haptic feedback to the user based on a position of the cutting tool relative to the virtual cutting boundary.

9 . The robotic surgery system of claim 8 , wherein the virtual object comprises a trajectory having a starting point and a target point.

10 . The robotic surgery system of claim 9 , wherein the robotic manipulator is operable to generate the haptic feedback to the user in response to the cutting tool reaching the target point along the trajectory.

11 . The robotic surgery system of claim 7 , wherein the robotic manipulator is operable in a haptic mode in which a user manually manipulates the cutting tool and the robotic manipulator generates haptic feedback in response to the cutting tool reaching or exceeding the virtual cutting boundary.

12 . The robotic surgery system of claim 7 , wherein the robotic manipulator is operable in a free mode in which a user is allowed to freely manipulate the cutting tool beyond the virtual cutting boundary.

13 . The robotic surgery system of claim 1 , wherein the robotic manipulator is operable in an autonomous mode in which the controller operates the robotic manipulator to control movement of the cutting tool autonomously along a tool path.

14 . The robotic surgery system of claim 1 , wherein the cutting tool comprises a saw blade.

15 . The robotic surgery system of claim 1 , wherein the cutting tool comprises a bur.

16 . The robotic surgery system of claim 1 , wherein the cutting tool comprises a drill.

17 . The robotic surgery system of claim 1 , wherein the controller is configured to evaluate the density characteristics of the bone based on bone mineral density distribution data determined preoperatively.

18 . The robotic surgery system of claim 1 , wherein the controller is configured to evaluate the density characteristics of the bone based on bone mineral density distribution data determined intraoperatively.

Assignees

• Howmedica Osteonics Corp

Inventors

• Yadav Rajan
• Singh Jetinder
• Rao Koustubh

Classifications

• B25J9/1666 Primary

  Avoiding collision or forbidden zones · CPC title

• A61B34/10

  Computer-aided planning, simulation or modelling of surgical operations · CPC title

• A61B34/20

  Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis · CPC title

• A61B17/1659

  Surgical rasps, files, planes, or scrapers · CPC title

• A61B2034/107

  Visualisation of planned trajectories or target regions · CPC title