US Patent 11877812 System and method for preparing bone

A robotic system for preparing a bone to repair a bone fracture, includes a controllable guide structure configured to guide preparation of at least one bone piece during execution of a surgical plan and a control system configured to define the surgical plan. Defining the surgical plan includes determining a desired relationship between at least a first bone piece and a second bone piece that are separated by the bone fracture and planning preparation of the first bone piece to include a prepared anatomical structure configured to align the first bone piece with the second bone piece such that when aligned, the first bone piece and the second bone piece will achieve the desired relationship. The control system is further configured to control the controllable guide structure according to the surgical plan.