In-vivo robotic imaging, sensing and deployment devices and methods for medical scaffolds

Abstract

A multifunctional robotic system for performing in vivo procedures includes a control unit comprising a computer processor and a robotic arm in communication with the control unit for multi-axis movement of the robotic arm. The robotic arm has a plurality of passages therein. A printer head is disposed in one of the passages and is configured to create multi-dimensional objects in vivo. The robotic system includes a measuring system disposed in one of the passages.. The computer processor has executable software configured to receive signals from the measuring system and is configured to control the printer head and the measuring system to position the object in an in vivo location based upon the signals from the measuring system.

1 - 40 . (canceled) 
     
     
         41 . A robotic method for performing medical procedures, the method comprising:
 providing a control unit comprising a computer processor, and a robotic arm in communication with the control unit, the robotic arm comprising: a casing having a plurality of passages therein, a printer head disposed in at least one of the plurality of passages, and an imaging system disposed in at least one of the plurality of passages, wherein the computer processor is in communication with the printer head and the imaging system, and the computer processor comprises executable software;   receiving signals from the imaging system;   at least one of:
 (a) in vivo measuring, via the imaging system, a cavity for receiving an object to obtain measurements of the cavity; or 
 (b) in vivo mapping, via the imaging system, a receiving surface for receiving the object to obtain a surface map; 
   analyzing, by the executable software, at least one of the cavity measurements and the surface map, to generate installation parameters;   creating, via the printer head, the object based upon the installation parameters; and   positioning the object in a predetermined patient specific in vivo location, based upon the installation parameters.   
     
     
         42 . The robotic method of  claim 41 , further comprising creating the object at least one of ex vivo and in vivo. 
     
     
         43 . The robotic method of  claim 41 , further comprising:
 providing a sensor system disposed in at least one of the plurality of passages;   in vivo ascertaining, via the sensor system, properties of the receiving surface and areas proximate thereto; and   analyzing, by the executable software, the cavity measurements, the surface map,. and the properties of the receiving surface, to generate the installation parameters.   
     
     
         44 . The robotic method of  claim 43 , further comprising ascertaining, via the sensor system, at least one of density, hardness, pressure, force, temperature, or chemical composition of the receiving surface and areas proximate thereto. 
     
     
         45 . The robotic method of  claim 41 , further comprising providing a biologically engineered substance. 
     
     
         46 . The robotic method of  claim 45 , wherein the biologically engineered substance is at least one of:
 (a) applied to the object in vivo;   (b) applied to the object ex vivo;   (c) flowable;   (d) injectable;   (e) a putty;   (f) a paste;   (g) a powder;   (h) applied to area proximate to the object;   (i) forms at least a portion of the object;   (j) printable via the printer head; or   (k) in vivo and ex vivo curable.   
     
     
         47 . The robotic method of  claim 45 , further comprising:
 providing a coating deployment system disposed in at least one of the plurality of passages; and   in vivo applying, by the coating deployment system, a biologically engineered substance to at least one of the object or the receiving surface.   
     
     
         48 . The robotic method of  claim 45 , wherein the biologically engineered substance comprises at least one of:
 (a) a vascularization promoting substance;   (b) a growth factor substance;   (c) an immune reaction deterrent substance;   (d) a bone regeneration substance; or   (e) a tissue regeneration substance;   the robotic method further comprising:   disposing the biologically engineered substance in the coating deployment system; and   applying the biologically engineered substance to at least one of the object and the receiving surface.   
     
     
         49 . The robotic method  claim 41 , further comprising:
 providing a curing device in at least one of the plurality of passages; and   in vivo curing the object, via the curing device.   
     
     
         50 . The robotic method of  claim 41 , further comprising providing at least one in vivo miniaturized medical device in communication with the computer processor. 
     
     
         51 . The robotic method of  claim 41 , further comprising providing an interactive group of in vivo miniaturized medical devices in communication with the computer processor. 
     
     
         52 . The robotic method of  claim 41 , wherein the robotic method is performed in a single procedure. 
     
     
         53 . The robotic method of  claim 41 , further comprising:
 providing at least one of a post-positioning monitoring system and a post-positioning alteration system, each being in communication with the computer processor;   monitoring, via the post-positioning monitoring system, positions of the object relative to the receiving surface after in vivo placement of the object;   transmitting the positions of the object to the computer processor;   evaluating the positions of the object, via the executable software;   determining, via the executable software, the adequacy of the positions of the object;   generating, by the executable software, commands to the post-positioning alteration system; and   altering the positions of the object based upon the commands.   
     
     
         54 . The robotic method of  claim 53 , wherein at least one of the monitoring of the positions, the transmitting of the positions, the evaluating of the positions, the determining of the adequacy of the positions, the generating of the commands or the altering of the positions is accomplished by at least one in vivo miniaturized medical device. 
     
     
         55 . The robotic method of  claim 41 , further comprising:
 forming at least one segment of the object ex-vivo; and   transporting the segment into the cavity via at least one of the passages.   
     
     
         56 . The robotic method of  claim 41 , further comprising forming the object via a plurality of layers of the material upon one another to establish a predetermined size of the object based upon the properties of the receiving surface and the areas proximate thereto. 
     
     
         57 . The robotic method of  claim 41 , further comprising:
 providing a material removal system in at least one of the plurality of passages; and   forming the object oversized relative to the cavity and removing material from the object via the material removal system thereby establishing a predetermined size of the object based upon the properties of the receiving surface and the areas proximate thereto.   
     
     
         58 . The robotic method of  claim 41 , further comprising:
 providing an assembly system in at least one of the passages; in vivo forming a plurality of segments of the object, each of the segments having an interlocking system thereon; and   in vivo assembling the segments to one another using the assembly system.   
     
     
         59 . The robotic method of  claim 41 , further comprising at least one of:
 (a) wherein the object comprises a medical scaffold positioned between adjacent vertebral bodies, the cavity is located between the adjacent vertebral bodies and the receiving surface is on the adjacent vertebral bodies;   (b) wherein the robotic method is employed for in vivo repairing of damaged hard bone Or cartilage;   (c) wherein the robotic method is employed for in vivo reconstruction of hard bone comprising in vivo reshaping the hard bone by in vivo forming and erecting the medical scaffold on a surface of the hard bone;   (d) wherein the robotic method is employed for in vivo repair of a damaged ligament site, comprising imaging the damaged site and determining parameters for a medical scaffold and in vivo forming and erecting the medical scaffold in the damaged site such that the medical scaffold expands and contracts with the ligament and to urge a first torn ligament end towards a second torn ligament end;   (e) wherein the robotic method is employed for in vivo repair of soft tissue;   (f) wherein the robotic method is employed for in vivo nerve repair;   (g) wherein the robotic method is employed for hernia repair; or   (h) wherein the robotic method is employed for bronchial procedures.   
     
     
         60 . (canceled)