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3d printed robot for holding medical instruments during surgery and its control

A medical device, surgery technology, applied in the field of 3D printing robots for holding medical devices during surgery and its control, which can solve the problems of reduced precision and the like

Active Publication Date: 2021-08-03
SIEMENS HEALTHCARE GMBH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, as the part is produced layer by layer, accuracy decreases as the depth / vertical dimension of the part increases

Method used

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  • 3d printed robot for holding medical instruments during surgery and its control
  • 3d printed robot for holding medical instruments during surgery and its control
  • 3d printed robot for holding medical instruments during surgery and its control

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Embodiment Construction

[0025] The following disclosure describes the invention in terms of several embodiments relating to methods, systems and apparatus related to 3D printed robots for holding medical instruments during surgery. In some embodiments, a pair of five-bar parallel linkages is used to position and orient a platform on which a rotation and translation mechanism is mounted. In other embodiments, a five-bar spherical linkage is used to position and orient the platform about a remote center of motion. The two designs used in the embodiments described above can be optimized such that they can be manufactured with current 3D printing techniques and plastics. This means that the design must respect the limited load-bearing capacity, precision and layered manufacturing process of the 3D printed part. The control architecture of these parts is also unique in that it must also take into account the limitations of part accuracy created by incorporating measurements of the observed scene and part...

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Abstract

A system for holding and controlling a medical instrument during surgery includes: an end effector configured to hold the medical instrument; and a rotation and translation (RT) mechanism configured to rotate and translate the medical instrument along an insertion axis. The system further includes: a platform coupled to the RT mechanism; and a pair of parallel five-bar planar linkages configured to translate, pitch and roll the platform relative to a primary axis parallel to the insertion axis.

Description

[0001] Cross References to Related Applications [0002] This application claims the benefit of US Provisional Application Serial No. 62 / 341,841, filed May 26, 2016, which is hereby incorporated by reference in its entirety. technical field [0003] The present disclosure generally relates to methods, systems, and devices associated with a 3D printed robot for holding medical instruments during surgery and control of the robot. Background technique [0004] Traditionally, industrial and medical robots have been constructed from individually machined metal parts. While this produces a very precise mechanism, it increases cost because it does not use manufacturing for scale. [0005] With the current state of the art in 3D printing (additive manufacturing), it is possible to produce production quality parts with sub-millimeter precision. In such a process, the parts are manufactured by melting plastic material layer by layer, either by photolithography or by laser sintering....

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/30A61B90/50B33Y80/00A61B34/20
CPCA61B90/50A61B34/30A61B2034/304A61B2034/2048A61B2034/2065B33Y80/00B29C64/153B29C64/129A61B2562/0261B25J18/00B29L2031/7546
Inventor A.卡普尔
Owner SIEMENS HEALTHCARE GMBH
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