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1. (WO2018185755) THREE DIMENSIONAL ROBOTIC BIOPRINTER

Pub. No.:    WO/2018/185755    International Application No.:    PCT/IL2018/050384
Publication Date: Fri Oct 12 01:59:59 CEST 2018 International Filing Date: Tue Apr 03 01:59:59 CEST 2018
IPC: A61B 34/30
B33Y 10/00
B33Y 30/00
A61L 27/54
Applicants: MAZOR ROBOTICS LTD.
Inventors: SHOHAM, Moshe
Title: THREE DIMENSIONAL ROBOTIC BIOPRINTER
Abstract:
A minimally invasive system using a surgical robot as a three-dimensional printer for fabrication of biological tissues inside the body of a subject. A preoperative plan is used to direct and control both the motion of the robot and the robotic bio-ink extrusion. The robotic motion is coordinated with the ink extrusion to form layers having the desired thickness and dimensions, and use of different types of ink enables composite elements to be laid down. Such systems have a small diameter bio-ink ejecting mechanism, generally in the form of a piston driven cannula, enabling access to regions such as joints, with limited space. The robotic control is programmed such that angular motion takes place around a pivot point at the point of insertion into the subject. The bio-inks can be stored in predetermined layers in the cannula to enable sequential dispensing from one cannula.