My sister's second child had a shoulder dystocia and a broken collarbone as a result. She got pregnant for the third time and had the same worries but her doctor told her that there is no reason to expect it to happen again and that she could give birth vaginally. She ended up with twins that were transverse so she needed a c-section anyways, but it wasn't because of a previous baby with shoulder dystocia.
I'm sorry, that must have been so scary. The good news is that the recurrence rate for shoulder dystocia is only around 1-4%, though it may be higher for women with certain risk factors. This might be helpful info for you:
"Recurrent shoulder dystocia is more likely in women with
Prepregnancy weight greater than in the index [first] pregnancy
Gestational weight gain greater than in the index pregnancy
Birth weight greater than in the index pregnancy
Birth weight >4000 g
Second stage of labor longer than in the index pregnancy"
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