Per Yahoo Sports' Shams Charania, Richardson plans to play through a sprained AC joint in his left shoulder for Game 5.
The injury occurred during the second quarter of Miami's 106-102 loss when Richardson collided with Joel Embiid diving for a loose ball.
The Heat officially announced Richardson sustained a contusion on his left shoulder, but he was able to return later. The 24-year-old finished the game with 10 points, seven assists and seven steals in 35 minutes.
Richardson led the Heat with 3.5 defensive win shares during the regular season, per Basketball Reference. He also averaged a career-high 12.9 points and 3.5 rebounds per game.
The Heat trail the 76ers 3-1 in the series and must win out to keep their season alive.