Zeitschriftenartikel zum Thema „Robotic Laser Cutting“

Abstract Conventional bone surgery leads to unwanted damage to the surrounding tissues and a slow healing process for the patients. Additionally, physicians are not able to perform free cutting shapes due to the limitations of available systems. These issues can be overcome by robot-assisted contactless laser surgery since it provides less mechanical stress, allows precise functional cuts, and leads to faster healing. The remaining drawback of laser surgery is the low ablation rate that is not yet competitive with conventional mechanical piezo-osteotomes. Therefore, we aim at maximizing the efficiency in hard tissue laser ablation by optimizing the lateral movement speed for different irrigation conditions. The results of this study show a non-linear relationship between cutting rates, speeds, and depths that should be critically considered for integration in robotic laser surgery.

Manufacturing companies in both the mechanical and electrical sectors of industry are now beginning to adopt lasers for an increasing range of materials processing applications, including cutting, drilling, welding and surface treatments of both metals and non-metals. In some of these applications the process or product is completely novel, but for many others the compatibility of the laser with computer numerically controlled (CNC) and robotic techniques, its flexibility in operation, or other practical factors, are helping it to compete with older established fabrication technologies. Some illustrative applications drawn from nuclear, aerospace, and mass production industries are discussed in detail. The paper also touches briefly on the potential importance of laser technology for other industrial applications such as measurement, information technology and chemistry, as well as a few ‘high profile’ scientific applications.

Background: Cataracts are the leading cause of blindness and are treated surgically. Capsulotomy describes the opening of the lens capsule during this surgery and is most commonly performed by manual tearing, thermal cutting, or laser ablation. This work focuses on the development of a flexible instrument for high precision capsulotomy, whose motion is controlled by a hybrid mechanical-magnetic actuation system. Methods: A flexible instrument with a magnetic tip was directed along a circular path with a hybrid mechanical-magnetic actuation system. The system’s motion control and thermal cutting behavior were tested on ex vivo porcine lenses. Results: Position control of the magnetic tip on a circular path with radius of 2.9[Formula: see text]mm resulted in a relative positioning error of 3% at a motion period of 60[Formula: see text]s. The instrument’s accuracy improves with decreasing speed. A fully automated capsulotomy is achieved on an ex vivo porcine lens capsule by continuously coagulating the tissue under controlled conditions. Conclusions: Robot assisted capsulotomy can be performed with excellent precision in ex vivo conditions.

Object. Robotic surgery can be used as a novel technology in ultramicrosurgery. A microscopic-manipulator (micromanipulator) system, which has a rigid neuroendoscope and three guiding manipulators, was developed in Japan for less invasive telerobotic neurosurgery. To apply this system in a clinical setting, it is necessary to confirm that it is capable of performing various surgical procedures including cutting, coagulation, and bleeding control. The authors chose the potassium titanyl phosphate (KTP) laser for such procedures. The aim of this paper was to evaluate the feasibility of this system mounted with the KTP laser. Methods. A prototypical micromanipulator system was tested in rats. Two kinds of in vivo experiments were performed using the KTP laser: coagulation and biopsy. The coagulated lesions were precisely aligned and their maximum depths were proportional to the energy applied during the coagulation experiment. The diagnosable specimens were obtained during the biopsy experiment. The micromanipulator system was able to perform all surgical procedures accurately. There was no complication relating to the use of the micromanipulator system such as brain injury or uncontrollable bleeding. Conclusions. The results from this study proved that this system works precisely and safely and will become a new neurosurgical tool in managing lesions that are difficult to treat using conventional microsurgery or neuroendoscopic surgery.

Background: Monopolar electrocautery (EC) is the surgical cutting and haemostatic tool most commonly used for transoral robotic surgery (TORS). The aim of this study was to retrospectively compare EC efficacy in the treatment of patients affected by T1 or T2 oropharyngeal and supraglottic squamous cell carcinomas with the more recently introduced laser fibres. Methods: We considered all TORS patients admitted to our department from January 2010 to June 2019. The outcomes of patients treated with Thulium: yttrium aluminium garnet (YAG) laser (TY-TORS), CO2 laser (CO2-TORS) and EC (EC-TORS) were analysed in order to assess surgical performances, functional outcomes and postoperative complications. Results: Twenty patients satisfied the enrolling criteria, of which nine underwent laser-TORS, and the remaining 11 underwent EC-TORS. In all candidates, TORS procedures were completed without the need for microscopic/open conversion. Close or positive margins were significantly more frequent in EC-TORS (p = 0.028). A considerable difference was found in overall functional parameters: times of nasogastric tube and tracheostomy removal and time of hospital discharge were significantly shorter in laser-TORS (p = 0.04, p = 0.05, p = 0.04, respectively). Conclusions: Laser-TORS showed better results in comparison with EC-TORS in term of tumour resection margins and patient functional outcomes. Our findings can be justified with the greater tissue thermal damage caused by EC-TORS, despite prospective randomized trials and increased patient numbers being needed to confirm these preliminary conclusions.

Human environments are filled with large open spaces that are separated by structures like walls, facades, glass windows, etc. Most often, these structures are largely passive offering little to no interactivity. In this paper, we present Duco, a large-scale electronics fabrication robot that enables room-scale & building-scale circuitry to add interactivity to vertical everyday surfaces. Duco negates the need for any human intervention by leveraging a hanging robotic system that automatically sketches multi-layered circuity to enable novel large-scale interfaces. The key idea behind Duco is that it achieves single-layer or multi-layer circuit fabrication on 2D surfaces as well as 2D cutouts that can be assembled into 3D objects by loading various functional inks (e.g., conductive, dielectric, or cleaning) to the wall-hanging drawing robot, as well as employing an optional laser cutting head as a cutting tool. Our technical evaluation shows that Duco's mechanical system works reliably on various surface materials with a wide range of roughness and surface morphologies. The system achieves superior mechanical tolerances (0.1mm XY axis resolution and 1mm smallest feature size). We demonstrate our system with five application examples, including an interactive piano, an IoT coffee maker controller, an FM energy-harvester printed on a large glass window, a human-scale touch sensor and a 3D interactive lamp.

Handling, welding or painting are currently the main fields of application for industrial robots. Due to their high flexibility and low investment costs industrial robots are increasingly used for machining processes in production environments. Robotic milling is one example of these processes, which nowadays can only be applied for tasks with low accuracy requirements and minor cutting forces. The main reason for this is the low stiffness of the robot structure and hence the huge deflection of the tool caused by the cutting forces. Robotic milling tests of aluminum show deviations of the programmed track in the millimeter range even with moderate depth of cut. To harness high possible savings of milling robots, a new method to increase the machining accuracy was developed at the Institute of Machine Tools and Industrial Management (iwb). The core of the method is a model-based controller for the compensation of deviations that are caused by the cutting forces. The input variables of the controller are the axis angles of the robot (provided by the robot controller) and the cutting forces (measured by a three-component force plate). Based on the cutting forces and the axis angles, the deflection of the Tool Center Point (TCP) is calculated by means of a simulation model. The calculated offset is transmitted to the robot controller so that the tool path is corrected. To implement the compensation strategy, a real-time model of the robot which includes all major compliances of the structure needs to be developed. Besides the real-time requirement, the model needs to be valid for the main working area of the robot. A major challenge in this regard is the determination of the relevant compliance parameters of the robot. In addition to the stiffness values of the gears and bearings the elasticities of the robot links need to be identified. The paper presents a novel method to determine the relevant stiffness parameters of a robot by measurements with a 3D-Scanning-Laser-Doppler-Vibrometer (LDV). In these measurements the robot is loaded with a defined force induced by an actuator at its TCP. During this process, the deflection of the robot is detected by the LDV at a multitude of measuring points. From the relative movements of the measuring points, the tilting-angles of the gears, bearings, and the structural components are calculated. Using the known torques caused by the defined load the stiffness parameters are calculated. In order to minimize the experimental effort it is aspired to identify all necessary parameters by one single measurement. To achieve this goal, the best measurement setup consisting of the position and the orientation of the TCP as well as the direction of the actuator force, is identified by a multibody system (MBS) to ensure sufficient torques in every axis of the robot and all directions (transmission direction and perpendicular to it). The simulation shows that such a measuring setup exists, so that the required parameters, which were validated in additional experiments, could be determined with a single measurement. The determined parameters are used in a controller model to calculate the displacement of the TCP due to the cutting forces during the machining process. Since this model needs to be very efficient regarding the computation time, a MBS cannot be used so that an analytical model must be developed. The analytical model is based on conventional forward kinematics, which is used for determining the position and orientation of the TCP of the robot. In conventional forward kinematics, the rotation of an axis is described by a transformation matrix, which also takes the (constant) dimensions of the robot arms into account. This description only includes a single degree of freedom to the joint angle of the axis and is extended to provide additional degrees of freedom to represent the elasticity of the gear and the bearing. To be able to consider the elasticity of the robot arms, additional transformation matrices are introduced in the center of the arm and the link arm. The computing time of this analytical model is in the range of 1 to 2 ms, so that the model is suitable for the control. In initial machining experiments with a robot of type KR 240 R2500 prime the proposed approach was validated. Milling tests with aluminium showed a significant reduction of the process-related path deviations using the presented control strategy.

This paper describes an expert system for a class of automated cutting operations which are of practical use in the offshore manufacturing industry. These operations include plasma cutting, oxy-fuel cutting, laser cutting and water-jet cutting. The common features in these processes, which define this class of cutting operations, are: 1) the work material is cut by the sweeping action of a line segment; 2) the cutting effect terminates at an imprecise point along the cutting segment; 3) the cutting task at hand can be fully described by the surface-boundary representation of the workpiece and the surface to be cut. The fundamental problem in such a planning task is that neither a strictly geometrical analysis, nor a purely heuristic approach is sufficient when considered alone. In this paper, we present a knowledge-based system which blends heuristics with spatial reasoning within the framework of a solid modeling system.

Purpose This study aims to develop an optimized 3D laser point reconstruction using Descent Gradient algorithm. Precise and accurate reconstruction of 3D laser point cloud of the complex environment/object is a key solution for many industries such as construction, gaming, automobiles, aerial navigation, architecture and automation. A 2D laser scanner along with a servo motor/pan tilt/inertial measurement unit is used for generating 3D point cloud (either environment/object or both) by acquiring the real-time data from sensors. However, while generating the 3D laser point cloud, various problems related to time synchronization problem between laser and servomotor and torque variation in servomotors arise, which causes misalignment in stacking the 2D laser scan for generating the 3D point cloud of the environment. Because of the misalignment in stacking, the 2D laser scan corresponding to the erroneous angular and position information by the servomotor and the 3D laser point cloud become distorted in terms of inconsistency for measuring the dimension of the objects. Design/methodology/approach This paper addresses a modified 3D laser system assembled from a 2D laser scanner coupled with a servomotor (dynamixel motor) for developing an efficient 3D laser point cloud with the implementation of an optimization technique: descent gradient filter (DGT). The proposed approach reduces the cost function (error) in the angular and position coordinates of the servo motor caused because of torque variation and time synchronization, which resulted in enhancing the accuracy in 3D point cloud mapping for the accurate measurement of the object’s dimensions. Findings Various real-world experiments are performed with the proposed DGT filter linked with laser scanner and servomotor and an improvement of 6.5 per cent in measuring the accurate dimension of object is obtained while comparing with conventional approaches for generating a 3D laser point cloud. Originality/value This proposed technique may be applicable for various industrial applications that are based on robotics arms (such as painting, welding and cutting) in the automobile industry, the optimized measurement of object, efficient mobile robot navigation, precise 3D reconstruction of environment/object in construction, architecture applications, airborne applications and aerial navigation.

Recent theoretical work suggests that systematic pruning of disordered networks consisting of nodes connected by springs can lead to materials that exhibit a host of unusual mechanical properties. In particular, global properties such as Poisson’s ratio or local responses related to deformation can be precisely altered. Tunable mechanical responses would be useful in areas ranging from impact mitigation to robotics and, more generally, for creation of metamaterials with engineered properties. However, experimental attempts to create auxetic materials based on pruning-based theoretical ideas have not been successful. Here we introduce a more realistic model of the networks, which incorporates angle-bending forces and the appropriate experimental boundary conditions. A sequential pruning strategy of select bonds in this model is then devised and implemented that enables engineering of specific mechanical behaviors upon deformation, both in the linear and in the nonlinear regimes. In particular, it is shown that Poisson’s ratio can be tuned to arbitrary values. The model and concepts discussed here are validated by preparing physical realizations of the networks designed in this manner, which are produced by laser cutting 2D sheets and are found to behave as predicted. Furthermore, by relying on optimization algorithms, we exploit the networks’ susceptibility to tuning to design networks that possess a distribution of stiffer and more compliant bonds and whose auxetic behavior is even greater than that of homogeneous networks. Taken together, the findings reported here serve to establish that pruned networks represent a promising platform for the creation of unique mechanical metamaterials.

Constant demand for new naval and commercial vessels has created special conditions for the Government-owned Soviet shipbuilding industry, which practically has not been affected by the world shipbuilding crisis. On the other hand, such chronic diseases of the centralized economy as lack of incentive, material shortage and poor workmanship cause specific problems for ship construction. Being technically and financially unable to rapidly improve the overall technology level and performance of the entire industry, the Soviets concentrate their efforts on certain important areas and have achieved significant results, especially in welding and cutting titanium and aluminum alloys, modular production methods, standardization, etc. All productivity improvement efforts are supported by an army of highly educated engineers and scientists at shipyards, in multiple scientific, research and design institutions. Discussion Edwin J. Petersen, Todd Pacific Shipyards Three years ago I addressed the Ship Production Symposium as chairman of the Ship Production Committee and outlined some major factors which had contributed to the U.S. shipbuilding industry's remarkable achievements in building and maintaining the world's largest naval and merchant fleets during the five-year period starting just before World War II. The factors were as follows:There was a national commitment to get the job done. The shipbuilding industry was recognized as a needed national resource. There was a dependable workload. Standardization was extensively and effectively utilized. Shipbuilding work was effectively organized. Although these lessons appear to have been lost by our Government since World War II, the paper indicates that the Soviet Union has picked up these principles and has applied them very well to its current shipbuilding program. The paper also gives testimony to the observation that the Soviet Government recognizes the strategic and economic importance of a strong merchant fleet as well as a powerful naval fleet. In reviewing the paper, I found great similarity between the Soviet shipbuilding productivity improvement efforts and our own efforts or goals under the National Shipbuilding Research Program in the following areas:welding technology, flexible automation (robotics), application of group technology, standardization, facilities development, and education and training. In some areas, the Soviet Union appears to be well ahead of the United States in improving the shipbuilding process. Most noteworthy among these is the stable long-and medium-range planning that is possible by virtue of the use and adherence to the "Table of Vessel Classes." It will be obvious to most who hear and read these comments what a vast and significant improvement in shipbuilding costs and schedules could be achieved with a relatively dependable 15year master ship procurement plan for the U.S. naval and merchant fleets. Another area where the Soviet Union appears to lead the United States is in the integration of ship component suppliers into the shipbuilding process. This has been recognized as a vital step by the National Shipbuilding Research Program, but so far we have not made significant progress. A necessary prerequisite for this "supplier integration" is extensive standardization of ship components, yet another area in which the Soviets have achieved significantly greater progress than we have. Additional areas of Soviet advantage are the presence of a multilevel research and development infrastructure well supported by highly educated scientists, engineering and technical personnel; and better integration of formally educated engineering and technical personnel into the ship production process. In his conclusion, the author lists a number of problems facing the Soviet economy that adversely affect shipbuilding productivity. Perhaps behind this listing we can delve out some potential U.S. shipbuilding advantages. First, production systems in U.S. shipyards (with the possible exception of naval shipyards) are probably more flexible and adjustable to meet new circumstances as a consequence of not being constrained by a burdensome centralized bureaucracy, as is the case with Soviet shipyards. Next, such initiatives as the Ship Production Committee's "Human Resources Innovation" projects stand a better chance of achieving product-oriented "production team" relationship among labor, management, and technical personnel than the more rigid Soviet system, especially in view of the ability of U.S. shipyard management to offer meaningful financial incentives without the kind of bureaucratic constraints imposed in the Soviet system. Finally, the current U.S. Navy/shipbuilding industry cooperative effort to develop a common engineering database should lead to a highly integrated and disciplined ship design, construction, operation, and maintenance system for naval ships (and subsequently for commercial ships) that will ultimately restore the U.S. shipbuilding process to a leadership position in the world marketplace (additional references [16] and [17]).On that tentatively positive note, it seems fitting to close this discussion with a question: Is the author aware of any similar Soviet effort to develop an integrated computer-aided design, production and logistics support system? The author is to be congratulated on an excellent, comprehensive insight into the Soviet shipbuilding process and productivity improvement efforts that should give us all adequate cause not to be complacent in our own efforts. Peter M. Palermo, Naval Sea Systems Command The author presents an interesting paper that unfortunately leaves this reader with a number of unanswered questions. The paper is a paradox. It depicts a system consisting of a highly educated work force, advanced fabrication processes including the use of standardized hull modules, sophisticated materials and welding processes, and yet in the author's words they suffer from "low productivity, poor product quality, . . . and the rigid production systems which resists the introduction of new ideas." Is it possible that incentive, motivation, and morale play an equally significant role in achieving quality and producibility advances? Can the author discuss underlying reasons for quality problems in particular—or can we assume that the learning curves of Figs. 5 and Fig. 6 are representative of quality improvement curves? It has been my general impression that quality will improve with application of high-tech fabrication procedures, enclosed fabrication ways, availability of highly educated welding engineers on the building ways, and that productivity would improve with the implementation of modular or zone outfitting techniques coupled with the quality improvements. Can the author give his impressions of the impact of these innovations in the U.S. shipbuilding industry vis-a-vis the Soviet industry? Many of the welding processes cited in the paper are also familiar to the free world, with certain notable exceptions concerning application in Navy shipbuilding. For example, (1) electroslag welding is generally confined to single-pass welding of heavy plates; application to thinner plates—l1/4 in. and less when certified—would permit its use in more applications than heretofore. (2) Electron beam welding is generally restricted to high-technology machinery parts; vacuum chamber size restricts its use for larger components (thus it must be assumed that the Soviets have solved the vacuum chamber problem or have much larger chambers). (3) Likewise, laser welding has had limited use in U.S. shipbuilding. An interesting theme that runs throughout the paper, but is not explicitly addressed, is the quality of Soviet ship fitting. The use of high-tech welding processes and the mention of "remote controlled tooling for welding and X-ray testing the butt, and for following painting" imply significant ship fitting capabilities for fitting and positioning. This is particularly true if modules are built in one facility, outfitted and assembled elsewhere depending on the type of ship required. Any comments concerning Soviet ship fitting capabilities would be appreciated. The discussion on modular construction seems to indicate that the Soviets have a "standard hull module" that is used for different types of vessels, and if the use of these hull modules permit increasing hull length without changes to the fore and aft ends, it can be assumed that they are based on a standard structural design. That being the case, the midship structure will be overdesigned for many applications and optimally designed for very few. Recognizing that the initial additional cost for such a piece of hull structure is relatively minimal, it cannot be forgotten that the lifecycle costs for transporting unnecessary hull weight around can have significant fuel cost impacts. If I perceived the modular construction approach correctly, then I am truly intrigued concerning the methods for handling the distributive systems. In particular, during conversion when the ship is lengthened, how are the electrical, fluid, communications, and other distributive systems broken down, reassembled and tested? "Quick connect couplings" for these type systems at the module breaks is one particular area where economies can be achieved when zone construction methods become the order of the day in U.S. Navy ships. The author's comments in this regard would be most welcome. The design process as presented is somewhat different than U.S. Navy practice. In U.S. practice, Preliminary and Contract design are developed by the Navy. Detail design, the development of the working drawings, is conducted by the lead shipbuilder. While the detail design drawings can be used by follow shipbuilders, flexibility is permitted to facilitate unique shipbuilding or outfitting procedures. Even the contract drawings supplied by the Navy can be modified— upon Navy approval—to permit application of unique shipbuilder capabilities. The large number of college-trained personnel entering the Soviet shipbuilding and allied fields annually is mind-boggling. According to the author's estimation, a minimum of about 6500 college graduates—5000 of which have M.S. degrees—enter these fields each year. It would be most interesting to see a breakdown of these figures—in particular, how many naval architects and welding engineers are included in these figures? These are disciplines with relatively few personnel entering the Navy design and shipbuilding field today. For example, in 1985 in all U.S. colleges and universities, there were only 928 graduates (B.S., M.S. and Ph.D.) in marine, naval architecture and ocean engineering and only 1872 graduates in materials and metallurgy. The number of these graduates that entered the U.S. shipbuilding field is unknown. Again, the author is to be congratulated for providing a very thought-provoking paper. Frank J. Long, Win/Win Strategies This paper serves not only as a chronicle of some of the productivity improvement efforts in Soviet shipbuilding but also as an important reminder of the fruits of those efforts. While most Americans have an appreciation of the strengths of the Russian Navy, this paper serves to bring into clearer focus the Russians' entire maritime might in its naval, commercial, and fishing fleets. Indeed, no other nation on earth has a greater maritime capability. It is generally acknowledged that the Soviet Navy is the largest in the world. When considering the fact that the commercial and fishing fleets are, in many military respects, arms of the naval fleet, we can more fully appreciate how awesome Soviet maritime power truly is. The expansion of its maritime capabilities is simply another but highly significant aspect of Soviet worldwide ambitions. The development and updating of "Setka Typov Su dov" (Table of Vessel Classes), which the author describes is a classic example of the Soviet planning process. As the author states, "A mighty fishing and commercial fleet was built in accordance with a 'Setka' which was originally developed in the 1960's. And an even more impressive example is the rapid expansion of the Soviet Navy." In my opinion it is not mere coincidence that the Russians embarked on this course in the 1960's. That was the beginning of the coldest of cold war periods—Francis Gary Power's U-2 plane was downed by the Russians on May 1, 1960; the mid-May 1960 Four Power Geneva Summit was a bust; the Berlin Wall was erected in 1961 and, in 1962, we had the Cuban Missile Crisis. The United States maritime embargo capability in that crisis undoubtedly influenced the Soviet's planning process. It is a natural and normal function of a state-controlled economy with its state-controlled industries to act to bring about the controlled productivity improvement developments in exactly the key areas discussed in the author's paper. As the author states, "All innovations at Soviet shipyards have originated at two main sources:domestic development andadaptation of new ideas introduced by leading foreign yards, or most likely a combination of both. Soviet shipbuilders are very fast learners; moreover, their own experience is quite substantial." The Ship Production Committee of SNAME has organized its panels to conduct research in many of these same areas for productivity improvement purposes. For example, addressing the areas of technology and equipment are Panels SP-1 and 3, Shipbuilding Facilities and Environmental Effects, and Panel SP-7, Shipbuilding Welding. Shipbuilding methods are the province of SP-2; outfitting and production aids and engineering and scientific support are the province of SP-4, Design Production Integration. As I read through the descriptions of the processes that led to the productivity improvements, I was hoping to learn more about the organizational structure of Soviet shipyards, the managerial hierarchy and how work is organized by function or by craft in the shipyard. (I would assume that for all intents and purposes, all Russian yards are organized in the same way.) American shipyard management is wedded to the notion that American shipbuilding suffers immeasurably from a productivity standpoint because of limitations on management's ability to assign workers across craft lines. It is unlikely that this limitation exists in Soviet shipyards. If it does not, how is the unfettered right of assignment optimized? What are the tangible, measurable results? I believe it would have been helpful, also, for the author to have dedicated some of the paper to one of the most important factors in improvement in the labor-intensive shipbuilding industry—the shipyard worker. There are several references to worker problems—absenteeism, labor shortage, poor workmanship, and labor discipline. The reader is left with the impression that the Russians believe that either those are unsolvable problems or have a priority ranking significantly inferior to the organizational, technical, and design efforts discussed. As a case in point, the author devotes a complete section to engineering education and professional training but makes no mention of education or training programs for blue-collar workers. It would seem that a paper on productivity improvement efforts in Soviet shipbuilding would address this most important element. My guess is that the Russians have considerable such efforts underway and it would be beneficial for us to learn of them.

Abstract Preparation of biological samples for further processing or analysis is generally performed manually by means of standard mechanical tools such as scalpels or biopsy punches. While this approach is uncomplicated and swift, it entails constraints such as low, operator-dependent cutting accuracy and reproducibility. Tissue segments surrounding the cut may further suffer mechanical and thermal damage due to shear forces and friction between tool and sample. These hindrances affect procedures both in the laboratory environment as well as within clinical settings. A system has been developed leveraging robotic positioning and laser light for precise, controlled, and contactless tissue ablation, and providing a concise and intuitive graphical user interface. Additionally, sterility of the process is demonstrated, a paramount element for clinical application. The proposed process does not require sterilization of the robotic components or the lasers, easing a prospective integration into existing workflows. In the context of the current work, mainly cartilage repair surgery is targeted. The proposed system allows for highly accurate and reproducible shaping of the cartilage lesion area as well as its corresponding engineered cartilage graft, possibly leading to better and faster integration at the defect site. Promising results could be obtained in a first test series with human cartilage samples, validating functionality of the preparation system and feasibility of the sterility concept.

Biological systems such as the gecko are complex, involving a wide variety of materials and length scales. Bio-inspired robotic systems seek to emulate this complexity, leading to manufacturing challenges. A new design for a membrane-based gripper for curved surfaces requires the inclusion of microscale features, macroscale structural elements, electrically patterned thin films, and both soft and hard materials. Surface and shape deposition manufacturing (S2DM) is introduced as a process that can create parts with multiple materials, as well as integrated thin films and microtextures. It combines SDM techniques, laser cutting and patterning, and a new texturing technique, surface microsculpting. The process allows for precise registration of sequential additive/subtractive manufacturing steps. S2DM is demonstrated with the manufacture of a gripper that picks up common objects using a gecko-inspired adhesive. The process can be extended to other integrated robotic components that benefit from the integration of textures, thin films, and multiple materials.