Robotic Glenoid Preparation With Virtual Haptics for Stemless Implants

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Solution Overview

Problem

Existing robotic systems lack precision and accuracy in preparing the glenoid for shoulder arthroplasty, particularly for stemless implants, which require less bone removal and secure implantation.

Innovation Solution

A robotic surgical system with a first and second cutting tool, a robotic manipulator, navigation system, and control system to define virtual boundaries and haptics for precise material removal and screw hole formation in the glenoid, facilitating stemless implant installation.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Manufacturing precision

If robotic systems are used for shoulder arthroplasty, then precision and accuracy in glenoid preparation should improve, but existing systems lack the necessary precision for stemless implants

Engineering Contradiction:

Improveglenoid preparation precisionVSAvoidimplant placement accuracy

Core Design Contradiction:

Manufacturing precisionVSReliability

Solution Approach 1:

The system performs pre-operative planning and creates virtual boundaries and haptic constraints before the actual surgery. The virtual boundary is defined based on implant geometry, and haptic constraints are established along screw trajectories, allowing the surgeon to plan precisely where material should be removed and where screws should be placed before entering the operating room.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The robotic system provides real-time haptic feedback to constrain cutting tools within virtual boundaries. When the cutting tool approaches the defined boundary, the haptic constraint prevents further movement beyond that point, ensuring that material removal stays within the precisely defined volume and that screw holes are drilled along accurate trajectories.

Inventive Principle:

Principle #23Feedback

2Loss of substance

If less bone material is removed for stemless implants, then bone preservation is improved, but secure implantation becomes more difficult

Engineering Contradiction:

Improvebone material removalVSAvoidimplant stability

Core Design Contradiction:

Loss of substanceVSStrength

Solution Approach 1:

The system pre-defines the exact volume of bone material to be removed based on the specific implant geometry. The virtual boundary is calculated to remove only the necessary minimum amount of bone while preserving surrounding healthy bone tissue, ensuring adequate bone stock remains for secure implant fixation.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system applies different preparation requirements to different locations in the glenoid. The virtual boundary defines precise removal zones, while haptic constraints define precise screw trajectories. This localized precision ensures that bone removal is minimized overall while critical areas receive appropriate preparation for secure implant and screw fixation.

Inventive Principle:

Principle #3Local quality

3Manufacturing precision

If virtual boundaries and haptic constraints are implemented, then cutting precision is improved, but system complexity increases

Engineering Contradiction:

Improvecutting tool precisionVSAvoidrobotic system complexity

Core Design Contradiction:

Manufacturing precisionVSDevice complexity

Solution Approach 1:

The system introduces virtual boundaries and haptic constraints as intermediary software layers between the surgeon's commands and the robotic manipulator's physical actions. These virtual constructs translate surgical intent into precise robotic movements without requiring complex mechanical modifications to the robotic system itself.

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The system replaces complex mechanical constraint mechanisms with software-based haptic constraints and virtual boundaries. Instead of requiring physical guides, rails, or mechanical stops, the system uses computational models and force feedback to constrain the cutting tools, reducing mechanical complexity while maintaining or improving precision.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Data Source

PatentUS20260013999A1Robotic System For Preparing A Glenoid For Shoulder Arthroplasty

Publication Date: 2026.01.15 HOWMEDICA OSTEONICS CORP

AI summary

Robotic surgical systems and methods for preparing a glenoid for a receiving an implant in a shoulder joint replacement surgery. A control system associates, with the glenoid, a virtual boundary that defines a volume of material that should be removed from the glenoid and a virtual line haptic being defined based on a planned trajectory of a screw to be implanted into the glenoid to facilitate installation of the implant. The control system controls a robotic manipulator to operate and constrain a first cutting tool relative to the virtual boundary to remove the volume of material from the glenoid to prepare a surface of the glenoid to receive a base of the implant. The control system controls the robotic manipulator to operate and constrain a second cutting tool relative to the virtual line haptic to form a center hole within the glenoid to receive the screw.