Patent ID: 11864795
Assignee: MAZOR ROBOTICS LTD.
Field: Medical technology (Instruments)
Classification: CPC A  B | IPC A  B

Claim 0:
1. A system for forming a three-dimensional tissue element, the system comprising:
a cannula having a proximal portion opposite a distal portion and first lateral dimensions, the cannula configured for insertion into a subject through a surface opening having second lateral dimensions, the proximal portion configured to be attached to a surgical robot and the distal portion comprising a nozzle adapted to eject one or more bio-inks to form at least one layer of biomaterial within a region of the subject;
at least one bio-ink extruder configured to eject the one or more bio-inks from the distal portion of the cannula; and
a controller adapted:
to register a coordinate system of the surgical robot to a three-dimensional preoperative image set including three-dimensional preoperative images of the region of the subject, wherein a preoperative surgical plan for ejecting the one or more bio-inks is determined based on at least the three-dimensional preoperative image set;
to direct the surgical robot within the registered coordinate system to adjust a longitudinal position of the cannula and, using the surface opening as a pivot point, an orientation of the cannula within the subject in accordance with the preoperative surgical plan; and
to control the at least one bio-ink extruder such that the one or more bio-inks is ejected in accordance with the longitudinal position and the orientation of the cannula to form, within the subject, a three-dimensional tissue element having dimensions larger than the first lateral dimensions.