ROBOTIC MEDICAL SYSTEM AND MANIPULATOR FOR 3D BIOPRINTING FOR FULL-THICKNESS SKIN DEFECT CLOSURE Russian patent published in 2024 - IPC A61M35/00 A61B34/30 B25J9/00 B25J13/00 

FIELD: medicine.

SUBSTANCE: invention relates to a robotic medical system for 3D bioprinting by direct application of material for printing on a patient's skin defect in real time. Proposed system includes a manipulator, a manipulator controller, a computing module configured to calculate a printing trajectory based on the obtained data, controlling the speed and direction of movement of the manipulator, controlling the speed of extrusion of the material and controlling the temperature of the printing material, controlling printing. Manipulator is made in the form of a collaborative robotic arm, to the flange of which a working member is attached, including at least one dispenser, a cooling system, a positioning module, a control unit, at least, one distance sensor directed to the printing surface. Performing a positioning module of two rotary mechanisms configured to move the dispenser along the surface of the defect, and a linear movement mechanism for moving the dispenser along the axis of the dispenser, which is perpendicular to the printing surface, enables to correct the trajectory of the working member during printing.

EFFECT: enabling fast non-invasive printing of material on most irregular surfaces, including taking into account the bending of the surface of the human (patient) body at the point of the defect, as well as irregularities of the wound surface itself.

26 cl, 27 dwg, 2 tbl