CN106361431A - Biological 3D printing technology-based cutting and repairing integrated surgical robot - Google Patents

Biological 3D printing technology-based cutting and repairing integrated surgical robot Download PDF

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Publication number
CN106361431A
CN106361431A CN201610754176.5A CN201610754176A CN106361431A CN 106361431 A CN106361431 A CN 106361431A CN 201610754176 A CN201610754176 A CN 201610754176A CN 106361431 A CN106361431 A CN 106361431A
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CN
China
Prior art keywords
described
3d printing
biological 3d
tool
tool heads
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CN201610754176.5A
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Chinese (zh)
Inventor
赖雪聪
徐铭恩
倪孝杰
王玲
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杭州捷诺飞生物科技有限公司
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Priority to CN201610754176.5A priority Critical patent/CN106361431A/en
Publication of CN106361431A publication Critical patent/CN106361431A/en

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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B33ADDITIVE MANUFACTURING TECHNOLOGY
    • B33YADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y50/00Data acquisition or data processing for additive manufacturing

Abstract

The invention discloses a biological 3D printing technology-based cutting and repairing integrated surgical robot, which relates to the technical field of medical appliances and can solve the problems of incapability of accurate locating and repairing in a conventional surgical process. The biological 3D printing technology-based cutting and repairing integrated surgical robot comprises a control table, a tool head assembly, a mechanical arm and a controller, wherein the tool head assembly is arranged on the control table and at least comprises a surgical knife tool head used for drilling, cutting, polishing and locating a held appliance, a three-dimensional scanning tool head used for scanning wound surfaces and defects in a surgery, and a biological 3D printing tool head used for extruding biological materials or living cells to repair, fill and bond the defects in the surgery; the mechanical arm is arranged on the control table and used for grabbing and switching the tool heads in the tool head assembly and driving the tool heads to move along a required working path; and the controller is connected with the mechanical arm and used for controlling a working state and a moving path of the mechanical arm.

Description

Integrated operation robot is repaired in cutting based on biological 3d printing technique

Technical field

The present invention relates to technical field of medical instruments, repair one particularly to a kind of cutting based on biological 3d printing technique Body operating robot.

Background technology

Biological 3d printing technique, is a kind of accumulation manufacturing technology, i.e. one kind of Rapid Prototyping technique, and it is a kind of numeral mould Based on type file, with biological cell or biocomponents block, by " print on demand " biological cell from level to level or biological structure Agglomeration is lived the technology of organ manufacturing real biological tissue or human body.

The controlled assembling of cell three-dimensional, is that living cells and biocompatibility preferable host material are blended, load needle tubing or Spray chamber, using discrete-stack shaping principle, presses the spatial lattice structure of prior design by cell/base by Rapid Prototyping technique Matter is extruded by syringe needle or shower nozzle sprays, and forms specific three dimensional structure;Using the physics of the host materials such as gelatin, fibrin, Three dimensional structure after chemical characteristic keeps shaping is stable, and cell continues survival, propagation in a three-dimensional structure, connects etc., and wherein three In dimension structure, the fineness degree of cell/substrate can be controlled in several microns and arrives in hundreds of micron or broader scope.This technology extensively should Many for the repair and reconstruction (regeneration) of tissue and organ, drug detection, organism micro-system and biosensor etc. Frontline technology aspect.

For example, traditional bone surgery needs operating doctor according to clinical experience, patient's pathological changes skeleton to be cut or bore Milling, segmental defect repairing operation even more needs operating doctor to take bone with patient, and live bonding, split fill up defect portion Position, repairs the professional skill that perfect degree then leans on operating doctor entirely.

However, present inventor finds, traditional operation process there is a problem of to be accurately positioned and repairing, i.e. handss All cuttings during art and repair all can only judge according to the clinical experience of operating doctor, thus to operating doctor Clinical experience has high requirement.

Therefore, a kind of cutting based on biological 3d printing technique how is provided to repair integrated operation robot, with can Enough realize the original position printing of skeleton is reproduced, can be used for assisting operating doctor to carry out hi-Fix cutting and repair in situ again Mend, become the technical problem of those skilled in the art's urgent need to resolve.

Content of the invention

It is an object of the invention to provide integrated operation robot is repaired in a kind of cutting based on biological 3d printing technique, To solve the technical problem that traditional operation process presence cannot be accurately positioned and repair.

The present invention provides a kind of cutting based on biological 3d printing technique to repair integrated operation robot, comprising: control Platform;Bit assembly;Described bit assembly is arranged on described control station, and at least include surgical knife tool tool heads, three Dimension scanning tools head and biological 3d printing tools head;Described surgical knife tool tool heads are used for holing, cut, polish and positioning holding Tool, described 3-D scanning tool heads are used for wound surface and defect in scanning operation, and described biology 3d printing tools head is used for extruding Biomaterial or living cells are to repair, to fill up, to bond the defect in operation;Mechanical arm;Described mechanical arm is arranged on described control On platform, described mechanical arm is used for capturing, switches described surgical knife tool tool heads, described 3-D scanning tool heads and described biology 3d Printing tools head, and drive described surgical knife tool tool heads, described 3-D scanning tool heads and described biology 3d printing tools head Move along required operating path;Controller;Described controller is connected with described mechanical arm, and described controller is used for controlling described The working condition of mechanical arm and motion path.

During practical application, the described cutting based on biological 3d printing technique is repaired integrated operation robot and is also included: power Feedback operation handle;Described force feedback operation handle is connected with described controller, and is provided with described surgical knife tool tool heads Mechanics sensor.

Wherein, the described cutting based on biological 3d printing technique is repaired integrated operation robot and is also included: image procossing Device;Described image processor is connected with described 3-D scanning tool heads and described controller, and described image processor is used for institute State the wound surface information of 3-D scanning tool heads acquisition and defect information is converted to three-dimensional data, and be sent to described controller.

Specifically, the described cutting based on biological 3d printing technique is repaired integrated operation robot and is also included: operating-table; The video camera being connected with described image processor is provided with described operating-table, described video camera is used for obtaining described operating-table The operation information of patient and body information, and be sent to described image processor.

Further, described image processor is additionally operable to the described operation information of described video camera acquisition and described body Information is converted to three-dimensional data, and is sent to described controller.

During practical application, the described cutting based on biological 3d printing technique is repaired integrated operation robot and is also included: takes out Inhale device;Described aspirator is used for clearing up the body fluid overflowing in operation process and/or bone meal residue.

Wherein, it is built-in with motor driver in described surgical knife tool tool heads.

Specifically, described biology 3d printing tools head enables or electronic enable for source of the gas.

Further, described mechanical arm is many arm configurations.

Further, described bit assembly also includes: minimal access bone tool heads.

With respect to prior art, integrated operation machine is repaired in the cutting based on biological 3d printing technique of the present invention People has the advantage that

The cutting based on biological 3d printing technique that the present invention provides is repaired in integrated operation robot, comprising: control Platform, bit assembly, mechanical arm and controller;Wherein, bit assembly is arranged on control station, and at least includes scalpel Tool tool heads, 3-D scanning tool heads and biological 3d printing tools head;Specifically, surgical knife tool tool heads be used for holing, cut, Polishing and positioning are armed, and 3-D scanning tool heads are used for wound surface and defect in scanning operation, and biological 3d printing tools head is used for Extrusion biomaterial or living cells are to repair, to fill up, to bond the defect in operation;Further, mechanical arm is arranged on control station On, mechanical arm is used for capturing, switches surgical knife tool tool heads, 3-D scanning tool heads and biological 3d printing tools head, and drives Surgical knife tool tool heads, 3-D scanning tool heads and biological 3d printing tools head move along required operating path;Further Ground, controller is connected with mechanical arm, and controller is used for working condition and the motion path of control machinery arm.Thus analysis understands, When repairing integrated operation robot using the cutting based on biological 3d printing technique that the present invention provides, because controller can The working condition of control machinery arm and motion path, mechanical arm can capture, the surgical knife tool instrument in diverter tool head assembly Head, 3-D scanning tool heads and biological 3d printing tools head, and drive the corresponding tool head in bit assembly along required work Make path to move, and surgical knife tool tool heads can hole, cut, polish and position armed, 3-D scanning tool heads can Wound surface in scanning operation and defect, biological 3d printing tools head can extrude biomaterial or living cells to repair, to fill up, viscous Close the defect in operation, integrated operation robot energy is repaired in the cutting based on biological 3d printing technique that therefore present invention provides Enough auxiliary operating doctors carry out high precision positional dissection and in-situ repair, are capable of the original position printing of skeleton is reproduced simultaneously.

Brief description

In order to be illustrated more clearly that the specific embodiment of the invention or technical scheme of the prior art, below will be to concrete In embodiment or description of the prior art the accompanying drawing of required use be briefly described it should be apparent that, below describe in Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not paying creative work Put, other accompanying drawings can also be obtained according to these accompanying drawings.

Fig. 1 is that integrated operation robot is repaired in the cutting based on biological 3d printing technique provided in an embodiment of the present invention Main structure diagram;

Fig. 2 is that integrated operation robot is repaired in the cutting based on biological 3d printing technique provided in an embodiment of the present invention Overlooking the structure diagram;

Fig. 3 is that integrated operation robot is repaired in the cutting based on biological 3d printing technique provided in an embodiment of the present invention Right side structural representation.

In figure:

1- control station;2- bit assembly;

21- surgical knife tool tool heads;22- 3-D scanning tool heads;

23- biology 3d printing tools head;3- mechanical arm;

4- controller;5- force feedback operation handle;

6- image processor;7- operating-table;

8- video camera;9- aspirator.

Specific embodiment

Below in conjunction with accompanying drawing, technical scheme is clearly and completely described with the enforcement it is clear that described Example is a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill The every other embodiment that personnel are obtained under the premise of not making creative work, broadly falls into the scope of protection of the invention.

In describing the invention, it should be noted that term " " center ", " on ", D score, "left", "right", " vertical ", The orientation of instruction such as " level ", " interior ", " outward " or position relationship are based on orientation shown in the drawings or position relationship, merely to Be easy to describe the present invention and simplify description, rather than instruction or the hint device of indication or element must have specific orientation, With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.Additionally, term " first ", " second ", " the 3rd " is only used for describing purpose, and it is not intended that indicating or hint relative importance.

In describing the invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or is integrally connected;Can To be to be mechanically connected or electrical connection;Can be to be joined directly together it is also possible to be indirectly connected to by intermediary, permissible It is the connection of two element internals.For the ordinary skill in the art, can understand that above-mentioned term exists with concrete condition Concrete meaning in the present invention.

Fig. 1 is that integrated operation robot is repaired in the cutting based on biological 3d printing technique provided in an embodiment of the present invention Main structure diagram.

As shown in figure 1, the embodiment of the present invention provides a kind of cutting based on biological 3d printing technique to repair integrated operation Robot, comprising: control station 1;Bit assembly 2;Bit assembly 2 is arranged on control station 1, and at least includes scalpel Tool tool heads 21,3-D scanning tool heads 22 and biological 3d printing tools head 23;Surgical knife tool tool heads 21 are used for holing, cut Cut, polish and position armed, 3-D scanning tool heads 22 are used for wound surface and defect in scanning operation, biological 3d printing tools head 23 are used for extruding biomaterial or living cells to repair, to fill up, to bond the defect in operation;Mechanical arm 3;Mechanical arm 3 is arranged on On control station 1, mechanical arm 3 is used for capturing, switches surgical knife tool tool heads 21,3-D scanning tool heads 22 and biological 3d printing work Tool 23, and drive surgical knife tool tool heads 21,3-D scanning tool heads 22 and biological 3d printing tools head 23 along required work Make path to move;Controller 4;Controller 4 is connected with mechanical arm 3, and controller 4 is used for working condition and the fortune of control machinery arm 3 Dynamic path.

With respect to prior art, Integral manual is repaired in the cutting based on biological 3d printing technique described in the embodiment of the present invention Art robot has the advantage that

Cutting based on biological 3d printing technique provided in an embodiment of the present invention is repaired in integrated operation robot, such as schemes Shown in 1, comprising: control station 1, bit assembly 2, mechanical arm 3 and controller 4;Wherein, bit assembly 2 is arranged on control station 1 On, and at least include surgical knife tool tool heads 21,3-D scanning tool heads 22 and biological 3d printing tools head 23;Specifically, Surgical knife tool tool heads 21 are used for holing, cut, polish and position armed, and 3-D scanning tool heads 22 are used in scanning operation Wound surface and defect, biological 3d printing tools head 23 is used for extruding biomaterial or living cells to repair, to fill up, to bond in operation Defect;Further, mechanical arm 3 is arranged on control station 1, and mechanical arm 3 is used for capturing, switches surgical knife tool tool heads 21, three Dimension scanning tools head 22 and biological 3d printing tools head 23, and drive surgical knife tool tool heads 21,3-D scanning tool heads 22 and Biological 3d printing tools head 23 moves along required operating path;Further, controller 4 is connected with mechanical arm 3, controller 4 working conditions being used for control machinery arm 3 and motion path.Thus analysis understands, is based on using provided in an embodiment of the present invention When integrated operation robot is repaired in the cutting of biological 3d printing technique, because controller 4 is capable of the work shape of control machinery arm 3 State and motion path, mechanical arm 3 can capture, the surgical knife tool tool heads 21 in diverter tool head assembly 2,3-D scanning instrument 22 and biological 3d printing tools head 23, and drive the corresponding tool head in bit assembly 2 to move along required operating path, And surgical knife tool tool heads 21 can hole, cut, polish and position armed, and 3-D scanning tool heads 22 can scan operation In wound surface and defect, biological 3d printing tools head 23 can extrude biomaterial or living cells to repair, to fill up, to bond operation In defect, cutting based on biological 3d printing technique therefore provided in an embodiment of the present invention repairs integrated operation robot energy Enough auxiliary operating doctors carry out high precision positional dissection and in-situ repair, are capable of the original position printing of skeleton is reproduced simultaneously.

Herein it should be added that, cutting based on biological 3d printing technique provided in an embodiment of the present invention repairs one Body operating robot, due to having bit assembly 2, and bit assembly 2 possesses the tool heads (example of multiple difference in functionalitys As: surgical knife tool tool heads 21,3-D scanning tool heads 22 and biological 3d printing tools head 23), controller 4 can be passed through simultaneously Automatically captured, switched with mechanical arm 3, play the motion of control machinery arm 3, plan as a whole each tool heads by controller 4 The effect of the working condition of switching and control tool heads, therefore, it is possible to be prevented effectively from the dropping of causing because of manual switching tool heads Phenomenon is such that it is able to be prevented effectively from the problems such as perform the operation pollution.

During practical application, in order to play the effect making operating robot and operating doctor interact, as shown in figure 1, base Cutting reparation integrated operation robot in biological 3d printing technique can also include: force feedback operation handle 5;This force feedback Operation handle 5 can be electrically connected with controller 4 or signal is connected, and can be provided with mechanics biography in surgical knife tool tool heads 21 Sensor, thus operating doctor can obtain the true power of surgical knife tool tool heads 21 when skeleton is cut by mechanics sensor Degree, and suitably can be adjusted according to different surgery situation, and then setting while lifting operating doctor operation feel Dynamics early warning, to avoid the irreversible damage causing because of operation technique exertin.Additionally, above-mentioned force feedback operation handle 5 can also Enough pass through working condition and the motion path of controller 4 control machinery arm 3.

Herein it should be added that, carried out instead by the mechanics sensor being arranged in surgical knife tool tool heads 21 Feedback, and by identifying the information of surgical knife tool tool heads 21, read in physical dimension and the quality information of surgical knife tool tool heads 21 Calculated, thus the stressing conditions of automatic conversion surgical knife tool tool heads 21 end.

Wherein, in order to improve control accuracy, control efficiency and the effect of controller 4, as shown in figure 1, being beaten based on biological 3d The cutting of print technology is repaired integrated operation robot and can also be included: image processor 6;This image processor 6 can be with three Dimension scanning tools head 22 and controller 4 are electrically connected or signal connection, thus image processor 6 can be by 3-D scanning tool heads The wound surface information of 22 acquisitions and defect information are converted to three-dimensional data, and are sent to controller 4, with the control of lifting controller 4 Precision, control efficiency and effect.

Fig. 2 is that integrated operation robot is repaired in the cutting based on biological 3d printing technique provided in an embodiment of the present invention Overlooking the structure diagram.

Specifically, for the ease of carrying and fixing patient with operation, as shown in Fig. 2 the cutting based on biological 3d printing technique Repair integrated operation robot can also include: operating-table 7, thus carried by operating-table 7 laying and fixing operation trouble Person.Meanwhile, in order to the situation of patient in the operation of preferably real-time detection, as Fig. 2 combines shown in Fig. 1, on above-mentioned operating-table 7 Can be provided with image processor 6 electrically or the video camera 8 that is connected of signal, thus operating-table 7 is obtained by this video camera 8 On the operation information of patient and body information, and be timely transmitted to image processor 6.

Herein it should be added that, in order to ensure Detection results, it is to avoid shooting blind angle amount, above-mentioned video camera 8 can Multiple to be provided with, for example it is provided with four, and four video cameras 8 can be located at four top corner regions of operating-table 7 respectively, such as Shown in Fig. 2.

Further, in order to carry out the suitable adjustment of operation plan according to concrete detection case, above-mentioned image processor 6 is also The operation information that video camera 8 obtains and body information can be converted to three-dimensional data, and be sent to controller 4, thus operating Doctor can carry out the suitable adjustment of operation plan by force feedback operation handle 5 and controller 4 according to concrete detection case.

Fig. 3 is that integrated operation robot is repaired in the cutting based on biological 3d printing technique provided in an embodiment of the present invention Right side structural representation.

During practical application, in order to improve the overall performance of operating robot, as shown in figure 3, based on biological 3d printing technique Cutting repair integrated operation robot can also include: aspirator 9, thus operation is cleared up by this aspirator 9 During the body fluid that overflows and/or bone meal residue, and then improve surgical effect and efficiency.

During practical set, as shown in Figure 1-Figure 3, above-mentioned draw-out device 9 can be arranged with perioperatively platform 7, thus effectively carrying Convenience during high extraction and efficiency.

Wherein, in order to ensure the flexible operating of surgical knife tool tool heads 21, in above-mentioned surgical knife tool tool heads 21 can within It is equipped with motor driver.

Specifically, in order to ensure biological 3d printing tools head 23, there is service behaviour well, above-mentioned biology 3d prints work Tool 23 can enable or electronic enable for source of the gas.

When actual production manufactures, above-mentioned mechanical arm 3 can be single arm structure.Further, in order to ensure that mechanical arm 3 can To multiple directions flexible motion, so that the tool heads in bit assembly 2 can be accurately positioned to relevant position for mechanical arm 3, Above-mentioned mechanical arm 3 can be preferably many arm configurations, thus passing through multiple interconnective single armeds, to carry out multiple different directions Mobile.

Further, in order that operating robot can adapt to more different surgery situation, the such as minimally invasive handss of orthopaedics Art, above-mentioned bit assembly 2 can also include: minimal access bone tool heads, thus being entered by minimal access bone tool heads Row orthopaedics Minimally Invasive Surgery.It is, of course, also possible to include other tool heads, depending on concrete condition can be according to surgery situation.

Repair integrated operation machine to using the cutting based on biological 3d printing technique provided in an embodiment of the present invention below The operation process that device people is carried out is briefly described.

Operating doctor cuts the skin in corrective surgery region by hand, exposes operation visual field;By the controlling interface of controller Selection target surgical knife tool (for example: surgical knife tool tool heads);Surgical knife tool tool heads are controlled to enter by operating force feedback handle Row cutting, polishing, (position in operation process and angle information can carry out automatic three-dimensional by patient's ct data for the operation such as boring Reconstruction obtains and navigates);Prosthese, nail, the implant such as titanium plate are installed by hand by operating doctor;Scanned by 3-D scanning tool heads The defect location that patient's needs are filled up, obtains the three-dimensional information of defect;Repair by biological 3d printing tools head and using orthopaedics Multiple material carries out mesh filling to the defect needing to fill up, and (parameter such as porosity of filling part can be passed through by operating doctor Controller carries out parameter setting);Operating doctor sutures patient skin, terminates operation.

Cutting based on biological 3d printing technique provided in an embodiment of the present invention repairs integrated operation robot, with multiaxis Based on robot, with many shower nozzles 3d print system as core, being capable of synchronous complex three-dimensional scanning and biology in bone surgery 3d printing technique, carries out automatically three-dimensional to the bone defects position of patient and fills up and repair.

The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention Within god and principle, any modification, equivalent substitution and improvement made etc., should be included within the scope of the present invention.

Claims (10)

1. a kind of cutting based on biological 3d printing technique repairs integrated operation robot it is characterised in that including:
Control station;
Bit assembly;Described bit assembly is arranged on described control station, and at least include surgical knife tool tool heads, three Dimension scanning tools head and biological 3d printing tools head;Described surgical knife tool tool heads are used for holing, cut, polish and positioning holding Tool, described 3-D scanning tool heads are used for wound surface and defect in scanning operation, and described biology 3d printing tools head is used for extruding Biomaterial or living cells are to repair, to fill up, to bond the defect in operation;
Mechanical arm;Described mechanical arm is arranged on described control station, and described mechanical arm is used for capturing, switches described surgical knife tool work Tool head, described 3-D scanning tool heads and described biology 3d printing tools head, and drive described surgical knife tool tool heads, described three Dimension scanning tools head and described biology 3d printing tools head move along required operating path;
Controller;Described controller is connected with described mechanical arm, and described controller is used for controlling the working condition of described mechanical arm And motion path.
2. integrated operation robot, its feature are repaired in the cutting based on biological 3d printing technique according to claim 1 It is, also includes: force feedback operation handle;
Described force feedback operation handle is connected with described controller, and is provided with mechanics sensing in described surgical knife tool tool heads Device.
3. integrated operation robot, its feature are repaired in the cutting based on biological 3d printing technique according to claim 1 It is, also includes: image processor;
Described image processor is connected with described 3-D scanning tool heads and described controller, and described image processor is used for institute State the wound surface information of 3-D scanning tool heads acquisition and defect information is converted to three-dimensional data, and be sent to described controller.
4. integrated operation robot, its feature are repaired in the cutting based on biological 3d printing technique according to claim 3 It is, also includes: operating-table;
The video camera being connected with described image processor is provided with described operating-table, described video camera is used for obtaining described operation The operation information of the patient on platform and body information, and it is sent to described image processor.
5. integrated operation robot, its feature are repaired in the cutting based on biological 3d printing technique according to claim 4 It is, described image processor is additionally operable to for the described operation information of described video camera acquisition and described body information to be converted to three Dimension data, and it is sent to described controller.
6. integrated operation robot, its feature are repaired in the cutting based on biological 3d printing technique according to claim 1 It is, also includes: aspirator;Described aspirator is used for clearing up the body fluid overflowing in operation process and/or bone meal residue.
7. integrated operation machine is repaired in the cutting based on biological 3d printing technique according to any one of claim 1-6 People is it is characterised in that be built-in with motor driver in described surgical knife tool tool heads.
8. integrated operation robot, its feature are repaired in the cutting based on biological 3d printing technique according to claim 7 It is, described biology 3d printing tools head enables or electronic enable for source of the gas.
9. integrated operation robot, its feature are repaired in the cutting based on biological 3d printing technique according to claim 8 It is, described mechanical arm is many arm configurations.
10. integrated operation robot, its feature are repaired in the cutting based on biological 3d printing technique according to claim 7 It is, described bit assembly also includes: minimal access bone tool heads.
CN201610754176.5A 2016-08-29 2016-08-29 Biological 3D printing technology-based cutting and repairing integrated surgical robot CN106361431A (en)

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PCT/CN2017/083817 WO2018040612A1 (en) 2016-08-29 2017-05-10 Biological 3d printing technology-based cutting and repairing integrated surgical robot and method for using same

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WO2018040612A1 (en) * 2016-08-29 2018-03-08 杭州捷诺飞生物科技股份有限公司 Biological 3d printing technology-based cutting and repairing integrated surgical robot and method for using same
WO2018185755A1 (en) * 2017-04-02 2018-10-11 Mazor Robotics Ltd. Three dimensional robotic bioprinter

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