A Rod-Driven Minimally Invasive Bioprinting Continuum Robotic System for Repairing Knee Joint Cartilage Defects
Li, Xinyu Tang, Qian Liu, Wei Wang, Yuhao Zhang, Ying Zheng, Gang Wu, Ke
Li, Xinyu
Tang, Qian
Liu, Wei
Wang, Yuhao
Zhang, Ying
Zheng, Gang
Wu, Ke
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Robotics
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Journal article
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English
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Abstract
Robot-assisted minimally invasive bioprinting for knee cartilage repair remains a significant clinical challenge. Ensuring bioprinting quality requires the robotic tip to stay perpendicular to the working surface. Rigid robots are limited in controlling tip orientation in the joint cavity, whereas continuum robots, with enhanced flexibility, provide promising solutions. In this article, a minimally invasive bioprinting continuum robot (BCR) system (BCRS) is proposed. First, a novel four-rod-driven double-layer rigid–flexible-coupled BCR is designed and fabricated, featuring enhanced dexterity to accommodate the spatial characteristics of the knee joint cavity. Second, a Lagrangian-based kinetostatic model of the BCR is derived using the geometrically nonlinear Euler–Bernoulli beam theory. Based on this model, an Eulerian analytical moment–equilibrium formulation is established to verify structural safety, and an open-loop feedforward controller is developed to precisely regulate the BCR tip pose. Finally, path-tracking and bioprinting experiments are performed, with results showing a root-mean-square error of 1.89 mm in position and 2.50$^{\circ }$ in orientation. Minimally invasive perpendicular bioprinting within the knee joint cavity is achieved using the proposed BCRS, thereby reducing undesirable molding effects caused by bioink fluidity and providing an effective solution for cartilage repair.
Citation
X. Li, Q. Tang, W. Liu, Y. Wang, Y. Zhang, G. Zheng , et al., "A Rod-Driven Minimally Invasive Bioprinting Continuum Robotic System for Repairing Knee Joint Cartilage Defects," IEEE/ASME Transactions on Mechatronics, vol. PP, no. 99, pp. 1-12, 2026, https://doi.org/10.1109/tmech.2026.3670164.
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IEEE/ASME Transactions on Mechatronics
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Keywords
40 Engineering, 4003 Biomedical Engineering
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IEEE