US 12,303,219 B2
Miniature bone-mounted robot for IN-SITU three-dimensional bioprinting
Alon Wolf, Haifa (IL)
Assigned to TECHNION RESEARCH & DEVELOPMENT FOUNDATION LTD., Haifa (IL)
Appl. No. 17/290,448
Filed by TECHNION RESEARCH & DEVELOPMENT FOUNDATION LTD., Technion (IL)
PCT Filed Oct. 31, 2019, PCT No. PCT/IB2019/059377
§ 371(c)(1), (2) Date Apr. 30, 2021,
PCT Pub. No. WO2020/089840, PCT Pub. Date May 7, 2020.
Claims priority of provisional application 62/753,967, filed on Nov. 1, 2018.
Prior Publication US 2021/0378765 A1, Dec. 9, 2021
Int. Cl. A61F 2/38 (2006.01); A61B 17/16 (2006.01); A61B 17/17 (2006.01); A61B 34/00 (2016.01); A61B 34/10 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01); A61F 2/30 (2006.01); A61B 17/00 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 17/1677 (2013.01); A61B 17/1767 (2013.01); A61B 34/10 (2016.02); A61B 34/70 (2016.02); A61B 90/06 (2016.02); A61B 90/361 (2016.02); A61B 90/37 (2016.02); A61F 2/30756 (2013.01); A61F 2/30942 (2013.01); A61F 2/3877 (2013.01); A61B 2017/00951 (2013.01); A61B 2034/105 (2016.02); A61B 2090/064 (2016.02); A61F 2002/30952 (2013.01); A61F 2002/30971 (2013.01); A61F 2002/30985 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A system for personalized joint repair comprising:
a medical robot activated by a controller, the robot adapted to be removably fixed to an anatomical surface, and, while the robot remains in a fixed position relative to the anatomical surface, to manipulate:
at least one surgical tool;
a surface mapping device adapted to obtain at least one intraoperative profile of an area of interest; and
at least one bioprinter adapted to deposit layers of bioink,
wherein the system is configured such that the surface mapping device, the at least one surgical tool, and the bioprinter, can be sequentially or iteratively manipulated by the robot using a common frame of reference while the robot remains in the fixed position relative to the anatomical surface, and such that the bioprinter during bioprinting is aligned with and in a same position as the surgical tool during surgical operation in the common frame of reference.