3d printed robot for holding medical instruments during procedures and its control

A system for holding and controlling medical instruments during procedures, the system comprising:

• a first assembly of 3D printed components comprising:
• an end effector configured to hold a medical instrument;
• a rotational and translational (RT) mechanism configured to rotate and translate the medical instrument along an insertion axis;
• a platform coupled to the RT mechanism;
• and
• a second assembly of 3D printed components comprising a pair of parallel five-bar linkages configured to translate, pitch, and yaw the platform with respect to a principal axis that is parallel to the insertion axis,
• wherein the first assembly is coupled to the second assembly using a magnetic powered quick connect-disconnect mechanism.

A hinge joint capable of being 3D printed in a printed configuration and used in a deployed configuration comprises:

• an inner hinge member comprising:
• a follower component comprising a top portion and a bottom portion, and
• a plurality of splines spaced unevenly around the top portion and the bottom portion of the follower component;
• an outer hinge member comprising:
• a top base component comprising a first set of grooves distributed around an interior portion of the top base component, and
• a bottom base component comprising a second set of grooves distributed around an interior portion of the bottom base component;
• and
• wherein the follower component interconnects with the outer hinge member between the top base component and the bottom base component when in the printed configuration or the deployed configuration, and
• wherein the first set of grooves and the second set of grooves are spaced such that (a) the splines align with the grooves when the hinge joint is in the printed configuration and (b) the splines do not align with the grooves when the hinge joint is in the deployed configuration.