Session: 17-01-01: Research Posters

Paper Number: 150916

150916 - In Situ Robotic Fabrication of Ligaments for the Rehabilitation of Prosthetic Finger Joints Utilizing a 6-Dof Platform 

A novel approach in regenerative medicine using a six-axis articulated robot outfitted with an extruder and sensing apparatus for dispensing materials to construct ligaments in prosthetic fingers is presented. With the increasing demand for prosthetics, it is anticipated that users will seek cost-effective solutions that will offer them maximum functionality while resembling human anatomy in design. This approach aims to better resemble human anatomy, offering patients a cost-effective and highly functional alternative. The prosthetic finger concept encompasses four key elements: bone, muscle, tendon, and ligament, mimicking the structure of the human finger. The prosthetic finger concept integrates bones and ligaments into a cohesive structure. Foundational elements such as finger bones are fabricated using traditional 3D printing techniques, while ligaments are directly printed onto the prosthetic base using this robotic system. A 6-DOF ABB robot, equipped with a precision extruder for accurate material deposition, forms the foundation of the prosthetic fabrication setup. An extensive array of sensors employing optical and radar technologies will furnish real-time positional feedback to the robot. Utilizing high-resolution cameras and LiDAR technology, the robot receives instantaneous feedback for continual adjustments to its position and the extruder's trajectory, ensuring the accurate placement of printed ligaments in the most advantageous positions. The robotic system leverages real-time feedback from optical and laser-based sensors to ensure accurate ligament placement. Toolpath simulations using Bézier curves demonstrate the feasibility of creating smooth, continuous extrusion paths. A Python script generates target points along these curves, which are then converted to ABB RAPID targets and movement instructions for robotic execution. These toolpath simulations not only highlight the precision of the robotic system but also underscore the importance of advanced mathematical modeling in achieving desired outcomes in prosthetic design. Preliminary tests with printed ligaments will assess the system's efficacy. The integration of additive manufacturing techniques in orthopedic medicine represents a pivotal advancement in treating patients experiencing partial body loss. Bioprinting technology enables the creation of personalized prosthetics tailored to individual anatomies, thereby reducing costs and alleviating strain on the healthcare system. As advanced robotics continue to permeate healthcare, this work heralds a shift towards more accessible and customizable solutions, further impacting healthcare efficiency. Future work will involve integrating the extruder and sensors to validate the results in the real world, ensuring that the proposed methodology can be effectively translated from theoretical models to practical applications, ultimately benefiting patients who require highly functional and anatomically accurate prosthetic devices.

Presenting Author: Richard M. Gonzalez Rochester Institute of Technology

Presenting Author Biography: Richard M. Gonzalez is a master's student in the Manufacturing and Mechanical Systems Integration program (MMSI) in the Department of Manufacturing and Mechanical Engineering Technology, College of Engineering Technology at Rochester Institute of Technology. He is also an Automation and Controls Engineer with experience in the renewable energy, automotive, and e-commerce industries. He received his bachelor's degree in Electrical Engineering at Rensselaer Polytechnic Institute in Aug 2023. His current research focus is additive manufacturing in the bioengineering field.

Authors:

Richard M. Gonzalez Rochester Institute of Technology
Jun Han Bae Rochester Institute of Technology