CN204092271U - A kind of biological 3D printing equipment - Google Patents
A kind of biological 3D printing equipment Download PDFInfo
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- CN204092271U CN204092271U CN201420628776.3U CN201420628776U CN204092271U CN 204092271 U CN204092271 U CN 204092271U CN 201420628776 U CN201420628776 U CN 201420628776U CN 204092271 U CN204092271 U CN 204092271U
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Abstract
This utility model relates to a kind of can application in vivo, can carry out the information search of organ-tissue disease damage and analysis in real time, and carries out the biometric print device of original position printing.Described biological 3D printing equipment comprises inside and is provided with the first pipe main body printing pipeline and pipelines, and described printing pipeline and pipelines are arranged side by side; Described printing pipeline comprises 3D printhead and second pipe main body; Print medium cavity and the piston in the activity of print media intracavity is provided with in described second pipe main body; Described pipelines front end is detecting head, and rear end is view data delivery outlet, and described detecting head is connected by data channel with view data delivery outlet; Described printing pipeline and pipelines stretch out from the outlet of the first pipe main body front end.Information search and biological 3D print member are sent into human body by the mode of Wicresoft by this utility model, and to be connected with external control system by the first pipe main body thus to realize internal in-situ reparation.
Description
Technical field
This utility model belongs to field of medical devices, is specifically related to a kind of can application in vivo, can carries out the information search of organ-tissue disease damage and analysis in real time, and carry out the biological 3D printing equipment of original position printing.
Background technology
Quite a few patient causes intracorporeal organ tissue to occur defect due to disease, thus needs to carry out organ transplantation or prosthesis, as liver disease damage, gastrointestinal fistula etc.Many operations all can bring larger wound, or repairing effect is unsatisfactory.
3D print (3D Printing) also referred to as " increase material manufacture (Additive Manufacturing) " be one based on design data file, by material layer by layer deposition or bind with the emerging rapid shaping technique being configured to three-dimensional body.It is combined with biomedical technology by industrial 3D printing technique that biological 3D prints, and with human body cell and biomaterial for printing raw material, carries out the bionical reconstruction of tissue and organ.3D printing technique has incomparable advantage compared to other tissue engineering bracket rapid shaping technique, is embodied in five aspects: the first, and the precision building complex organization or organ is high, really can realize assembling and the structure of cell aspect; The second, can realize cell and material organic assembling, 3D prints and according to the practical situation such as different cells, substrate in tissue or organ, can carry out emulation arrangement and combination, and one-shot forming; 3rd, instant, quick, controlled electronic 3-D model reproduction can be carried out according to the practical situation of defective tissue or organ.4th, individual character manufacturing complicated tissue organ, cost is controlled; 5th, portable, efficient, that energy consumption is low, biomaterial consumption is few quick manufacture can be realized.
Along with the development of industrial 3D printing technique, biomedical technology is combined with 3D biometric print, in order to carry out the bionical reconstruction of tissue and organ, developing direction in the future will be become, prior art concentrates on external to the research that biological 3D prints, and less to the report carrying out in-situ immobilization in body, this utility model provides one to be convenient in human body, carry out biological 3D printing equipment based on such fact.
Summary of the invention
For the shortcoming of prior art, this utility model provides the biological 3D printing equipment of combining information collection and the material/cell printing function used in a kind of body.
For solving the problems of the technologies described above, the technical solution adopted in the utility model is:
This utility model devises the biological 3D printing equipment of combining information collection and the material/cell printing function used in a kind of body, described 3D printing equipment comprises inside and is provided with the first pipe main body printing pipeline and pipelines, and described printing pipeline and pipelines are arranged side by side; Described printing pipeline comprises 3D printhead and second pipe main body; Print medium cavity and the piston in the activity of print media intracavity is provided with in described second pipe main body; Described pipelines front end is detecting head, and rear end is view data delivery outlet, and described detecting head is connected by data channel with view data delivery outlet; Described printing pipeline and pipelines stretch out from the outlet of the first pipe main body front end.
Print media is stored in print medium cavity by this utility model, by the motion of piston, print media is sprayed from 3D printhead, thus realizes printing.This utility model adopts this kind to arrange, and mainly comprise following several respects reason: first, print media viscosity is larger, carry very difficult in printing pipeline, accurate control is more difficult, and this utility model passes through the conveying of the motor control print media of piston, print procedure more easy to control; Secondly, adopt the mode of piston, the input of print media will be changed into and be inputted by 3D printhead side, can according to different needs, different types of print media is drawn successively by 3D printhead side, make the print media of formation similar " Filter column " hierarchy, realize the printing speed of the print media of heterogeneity, realize accurate treatment; Again, in order to the needs applied, medicine or bioactive substance may be added in print media.Due to some medicines or the less stable of bioactive substance own, existing long tube conveying may cause the situation of material degeneration or inactivation.And the situation that time-consuming, expense that mode of the present invention avoids long distance delivery are expected, conveyer can be completed fast and beat process, guarantee the activity of medicine or bioactive substance, also economize in raw materials.
Preferably, the connected mode of described 3D printhead and second pipe main body is for removably connecting.Adopt this kind that the cleaning being conducive to 3D printhead is on the one hand set, on the other hand, according to the needs of repair tissue, when using different print media, 3D printhead can be changed, preventing the intersection of print media from mixing thus affecting print quality.
On the other hand, removably connecting of 3D printhead also facilitates the fill of print media.
Preferably, described second pipe main body inner wall is provided with guide rail, and described piston is movable along this guide rail.Guide rail the effect can playing location to the activity of piston is set.The quantity of guide rail can be one or more, and accordingly, piston is provided with the extension coordinated with guide rail, and when piston is placed in second pipe main body, described extension is contained in guide rail, realizes location.As a kind of embodiment, described extension can be other suitable parts such as roller or guide rail slide block that can slide in guide rail.
Preferably, described biological 3D printing equipment also comprises the power transmission for control piston activity.Further preferably, described power transmission is fluid-pressure transmission device or pneumatic shuttle.Promote by power transmission the print media that piston press is arranged in print medium cavity, thus the success realizing print media is extruded.
Preferably, on the sidewall of described first pipe main body front end, be provided with opening, make printing pipeline by this opening.Sidewall is provided with opening to be made when 3D printing equipment arrives in-vivo tissue repair place, and printing pipeline can stretch out from the sidewall of the first pipe main body, and this can be avoided when carrying out internal in-situ and printing, and printing pipeline causes pipelines and blocks; Compare and stretch out from front end, the angle of the operated printing of stretching out from sidewall and scope are larger, easily can reach the position being difficult to from front end reach.
As a kind of preferred version, described 3D printing equipment also comprises guide wire, and described guide wire is arranged in the first pipe main body.Described guide wire enters patient's tissue site to be repaired for guiding 3D printing equipment, after 3D printing equipment puts in place, can remove guide wire and carry out original position printing reparation again.Further preferably, described guide wire front end is provided with blunt portion, and its rear end is provided with holding part, and the length of described guide wire is more than or equal to the length of the first pipe main body.
As another kind of preferred version, be also provided with interlayer in described first pipe main body, described interlayer will print pipeline and pipelines is isolated.This set printing pipeline making to be arranged in the first pipe main body is adopted to be independent of one another with pipelines and impregnable mutually, the situation of the human body tissue to be repaired that printing pipeline can detect according to pipelines and the location voluntarily of carrying out in a big way.
Preferably, the external diameter of described first pipe main body is 4 ~ 10mm, and length is 145 ~ 175mm; Described pipelines external diameter is 2 ~ 5mm, and described printing outer diameter tube is 1 ~ 5mm, and internal diameter is 0.1 ~ 2mm; The external diameter of further preferably described first pipe main body is 6mm, and its main body is made up of elastomeric material, more soft, can alleviate the misery of patient when importing human body; Described pipelines external diameter is 2 ~ 5mm, more preferably 3 mm; Described printing outer diameter tube is 1 ~ 5mm, and exit inside diameter is 0.1 ~ 2mm, and further preferably described printing outer diameter tube is 3mm, and described internal diameter is 1mm.
The outside of described 3D printing equipment is also provided with Information Collection System, print system and control system; Described Information Collection System is provided with display, and the detecting head of described pipelines front end is connected with described display; Described control system realizes printing reparation for controlling print system.
Preferably, described biological 3D printing equipment is also furnished with illuminator usually.Preferably, the front end of the first pipe main body is located at by described illuminator.
Preferably, described illuminator is LED, arranges illuminator and can provide illumination for the detecting head of pipelines, enables detecting head clearer acquisition data and image exactly, practical, and adopts LED energy-saving convenient.In order to clearly illustrate the image that detecting head is observed and taken, can arrange dedicated display, described detecting head is connected with display by USB connecting line; Dedicated display is the LCDs of 3.5 cun, its built-in rechargeable lithium battary and storage card, can the impact of tissue that detects of clear display detecting head, also detecting head can be connected to the smart machine such as notebook computer or panel computer; In order to can collect exactly and calculate the patient part tissue defect data that detecting head detects, can configuration information collection processing system implementing and control system, in described information management system, data processing software and computer terminal are installed, utilize described data processing software and computer terminal to process obtained data, then compare with normal structure data base and modeling; Controlling print system finally by control system makes printing pipeline carry out printing reparation to patient part tissue.
Preferably, described detecting head is preferably fiber detector or ccd image sensor, and its data channel is preferably optical fiber or data connecting line.
In order to avoid cross infection, described 3D printing equipment also comprises disposable protective sleeve, and during use, described disposable protective sleeve is sheathed on outside pipelines.Preferably, this disposable protective sleeve is polyurethane (Polyurethane) sheath, adopts this novel high-molecular organic material; be not easy breed bacteria; and quality is soft, high resilience, has good pliability, misery when also alleviating intubate to a certain extent, patient caused.
For the clinical object of difference, water-soluable gel, ingredient, cytokine or autologous patient cell in print media, can also be mixed with.
Preferably, the macromolecular material in described water-soluable gel comprises chitosan and/or hyaluronic acid etc.Described ingredient comprises antiinflammatory, sterilization and/or paroxysmal pain medicine etc.Described cytokine comprises VEGF (VEGF) and/or basic fibroblast growth factor (bFGF) etc.Described autogenous cell comprises endotheliocyte, smooth muscle cell and/or fibroblast etc.
Printing pipeline of the present utility model, can make print media realize in-situ solidifying molding in vivo, comprises the method using chemical crosslinking or physical crosslinking.The former comprise use cross-linking agent or photo-initiated crosslinking alginate, fumaric acid and derivant and ethylene glycol copolymer, polyethylene glycol acrylate derivant etc., the latter comprises Thermo-sensitive or molecular self-assembling forms crosslinked natural or synthetic polymer, as methylcellulose, PNIPAM copolymer, modified cyclodextrin etc.
3D printing equipment volume of the present utility model is little, can enter the inside and outsides such as human body esophagus, intestinal, vagina and run through tract, also enter in body as the position such as abdominal part, pelvic cavity by Minimally Invasive Surgery.This device comprises pipelines and prints pipeline, and the former is by taking the photograph the impaired places of method detection bodies inner tissue such as phase, infrared induction, supersonic sounding, and the latter can carry out printing reparation in position according to practical situation.This printing equipment can print natural/synthetic material, cell or both complexs.This utility model can realize internal in-situ treatment, reaches Wicresoft, accurately, reduces the therapeutic effect that foreign object enters human body, personalization.
Compared with prior art, the beneficial effects of the utility model are:
A kind of 3D printing equipment that this utility model provides, it is based on the first pipe main body, and inner interpolation prints pipeline, prints for internal in-situ; Information search and biological 3D are printed pipeline and send into human body by the mode of Wicresoft by this utility model, and are connected with external control system by the first pipe main body, realize internal in-situ reparation; Pipelines and printing pipeline are disposed side by side in the first pipe main body by this device, the detecting head that pipelines is arranged is utilized to position and data acquisition patient's patient part, this pipelines accurate positioning, the time of inserting is short, alleviates the misery that intubate causes patient; Meanwhile, 3D printing equipment of the present utility model is that the reparation of patient body inner tissue provides a kind of new therapeutic modality.
accompanying drawing explanation
Fig. 1 is the structural representation of this utility model 3D printing equipment;
Fig. 2 is A-A cross sectional view in Fig. 1;
Fig. 3 is the 3D printing equipment overall structure schematic diagram for clinical treatment;
Fig. 4 is the enlarged diagram of 3D printing equipment first pipe main body front end in embodiment 1;
Fig. 5 is when in embodiment 1,3D printing equipment arrives tissue repair place, carries out original position and prints the enlarged diagram repaired;
Fig. 6 is the side enlarged diagram that in embodiment 1,3D printing equipment prints pipeline;
The left figure of Fig. 7 is that right figure is the printing pipeline structural representation along A-A cross section in Fig. 1 along the piston structure schematic diagram printing pipeline A-A cross section in Fig. 1;
Fig. 8 is the enlarged diagram of 3D printing equipment first pipe main body front end in embodiment 2;
Fig. 9 is when in embodiment 2,3D printing equipment arrives tissue repair place, carries out original position and prints the enlarged diagram repaired.
Detailed description of the invention
Below in conjunction with detailed description of the invention, this utility model is further described.
embodiment 1 treats duodenal ulcer
The embodiment of the biological 3D printing equipment of this utility model as shown in Figure 1 to Figure 7 shows the, described 3D printing equipment comprises inside and is provided with the first pipe main body 10 printing pipeline 20 and pipelines 30, and described printing pipeline 20 and pipelines 30 are arranged side by side; The critical piece of described printing pipeline 20 comprises 3D printhead 201 and second pipe main body, is provided with print medium cavity 202 and the piston 203 in the activity of print media intracavity in described second pipe main body; Described pipelines 30 front end is detecting head 301, and rear end is view data delivery outlet 302, and described detecting head 301 is connected by data channel with view data delivery outlet 302, and described first pipe main body 10 front end is provided with illuminator 40; Described printing pipeline 20 and pipelines 30 stretch out from the outlet of the first pipe main body 10 front end.
Fig. 6 is the enlarged diagram of the printing pipeline 20 of 3D printing equipment in the present embodiment, and as shown in Figure 6, store print media in print medium cavity 202, print medium cavity 202 one end connects with 3D printhead 201, and the other end connects with piston 203; Described piston 203 is connected with power transmission (not shown in Fig. 5), and this power transmission can be fluid-pressure transmission device or pneumatic shuttle.As shown in Figure 6, guide rail 200 is provided with inside described printing pipeline 20, described piston 203 is provided with the extension 204 suitable with guide rail 200, in the present embodiment, described extension 204 is set to roller, under the promotion of power transmission, the roller on piston 203 is relative sliding in the guide rail printing the setting of pipeline 20 inwall, thus the promotion print media be stored in print medium cavity 202 is extruded from 3D printhead 201.In the present embodiment, the connected mode of described 3D printhead and second pipe main body is for removably connecting.
The present embodiment adopts above-mentioned setting, is stored in by print media in the print medium cavity 202 printing pipeline 20, makes gas or liquid push piston 203 move, print media is sprayed from 3D printhead and realizes printing by hydraulic pressure or pneumatic shuttle;
In addition, in the present embodiment, 3D printhead 201 is removably connected to and prints on pipeline 20, now 3D printhead 201 is removable, 3D printhead 201 can be changed according to the difference of print media when repairing tissue like this, thus prevent the intersection of print media from mixing thus affecting print quality.
According to the practical situation of tissue to be repaired, print pipeline 20 and also can stretch out from the front end of the first pipe main body 10.In this embodiment, described illuminator adopts LED as light source, and LED can provide illumination for the detecting head of pipelines, enables detecting head clearer acquisition data and image exactly, practical, and adopts LED energy-saving convenient.
As shown in Figure 3, when the biological 3D printing equipment of the present embodiment is used for clinical treatment, in order to can collect exactly and calculate the patient part tissue defect data that detecting head detects, can at this biological 3D printing equipment outer setting Information Collection System, print system and control system; Information Collection System can arrange dedicated display, and described detecting head is connected with display by USB connecting line; Also detecting head can be connected to the smart machine such as notebook computer or panel computer; In described information management system, data processing software and computer terminal are also installed, utilize described data processing software and computer terminal to process obtained data, then compare with the data base of normal structure and modeling; Controlling print system finally by control system makes printing pipeline carry out printing reparation to patient part tissue.
The first pipe main body 10 external diameter in the present embodiment is 6mm, and described first pipe main body 10 main body is made up of silica gel material, more soft, can alleviate the misery of patient when importing human body; Pipelines 30 external diameter is 3mm; Printing pipeline 20 external diameter is 3mm, and internal diameter is 1mm.Disposable polyurethane sheath is also provided with outside the pipelines 30 of 3D printing equipment, adopt this novel high-molecular organic material, be not easy breed bacteria, effectively avoid cross infection, and quality is soft, high resilience, there is good pliability, misery when can alleviate intubate, patient caused.
As shown in Figure 4, when carrying out clinical treatment, patient local or general anesthesia, enter in human body by biological 3D printing equipment from oral cavity, accurately arrive patient part by real-time monitored.Utilize the pipelines 30 on biological 3D printing equipment to collect defect information, feed back to computer and carry out date processing.Defect part 3D modeling is carried out after than normal tissue data base.In this embodiment, 3D printing equipment also comprises the guide wire of rustless steel or macromolecular material, and described guide wire front end is provided with blunt portion, and its rear end is provided with holding part, and the length of described guide wire is more than or equal to the duct length of pipeline.3D printing equipment is being imported the stage of human body, described guide wire is arranged in and prints in pipeline, to guide printing pipeline to enter patient's tissue site to be repaired, after device to be printed puts in place, can remove guide wire and carry out original position printing reparation again.In this embodiment, described detecting head is fiber detector, and its data channel is optical fiber or data connecting line.The information observed is fed back by detecting head in time, realizes real-time judge.
As shown in Figure 5, after determining sufferer information, select suitable print media according to defective tissue practical situation, namely comprise the gel of the composition such as cell (as epidermis cell, smooth muscle cell), somatomedin, medicine.Then printing pipeline is extend into tissue repair place, be placed on defect by adjusting the position printing pipeline 20 in real time, gel is printed on defect.After treatment terminates, take out printing equipment.Postoperative patient can be left hospital the same day.
embodiment 2 treats duodenum perforation
fig. 8, Fig. 9 are the another kind of embodiment of the biological 3D printing equipment of the present embodiment.As different from Example 1, print in pipeline 20 and do not arrange guide wire in the present embodiment, but be provided with interlayer 50 in the first pipe main body 10, printing pipeline 20 and pipelines 30 are kept apart by described interlayer 50.Printing pipeline in the present embodiment 20 and pipelines 30 are independent of one another and impregnable mutually, print the situation of human body tissue to be repaired that pipeline 20 can detect according to pipelines 30 and the location voluntarily of carrying out in a big way, that is, due to interlayer 50 be arranged so that print pipeline 20 there is larger degree of freedom.Other structure in the present embodiment is with embodiment 1.
The 3D printing equipment that this utility model provides, based on the first pipe main body, adds printing equipment in inside, prints for internal in-situ; Information search and biological 3D are printed pipeline and send into human body by the mode of Wicresoft by this utility model, and are connected with external control system by the first pipe main body, realize internal in-situ reparation; Pipelines and printing pipeline are disposed side by side in the first pipe main body by this device, the patient part of detecting head to patient that pipelines is arranged is utilized to position and data acquisition, this pipelines accurate positioning, the time of inserting is short, alleviates the misery that intubate causes patient; Meanwhile, 3D printing equipment of the present utility model is that the reparation of patient body inner tissue provides a kind of new therapeutic modality.
Claims (10)
1. a biological 3D printing equipment, is characterized in that, described 3D printing equipment comprises inside and is provided with the first pipe main body printing pipeline and pipelines, and described printing pipeline and pipelines are arranged side by side; Described printing pipeline comprises 3D printhead and second pipe main body; Print medium cavity and the piston in the activity of print media intracavity is provided with in described second pipe main body; Described pipelines front end is detecting head, and rear end is view data delivery outlet, and described detecting head is connected by data channel with view data delivery outlet; Described printing pipeline and pipelines stretch out from the outlet of the first pipe main body front end.
2. biological 3D printing equipment according to claim 1, is characterized in that, the connected mode of described 3D printhead and second pipe main body is for removably connecting.
3. biological 3D printing equipment according to claim 1, is characterized in that, described second pipe main body inner wall is provided with guide rail, and described piston is movable along described guide rail.
4. biological 3D printing equipment according to claim 1, is characterized in that, described biological 3D printing equipment also comprises the power transmission for control piston activity.
5. biological 3D printing equipment according to claim 4, is characterized in that, described power transmission is fluid-pressure transmission device or pneumatic shuttle.
6. biological 3D printing equipment according to claim 1, is characterized in that, is provided with opening, makes printing pipeline by described opening on the sidewall of described first pipe main body front end.
7. the biological 3D printing equipment according to the arbitrary claim of claim 1 to 6, is characterized in that, described 3D printing equipment also comprises guide wire, and described guide wire is arranged in the first pipe main body.
8. biological 3D printing equipment according to claim 7, is characterized in that, described guide wire front end is provided with blunt portion, and its rear end is provided with holding part, and the length of described guide wire is more than or equal to the length of the first pipe main body.
9. the biological 3D printing equipment according to the arbitrary claim of claim 1 to 6, is characterized in that, is also provided with interlayer in described first pipe main body, and described interlayer will print pipeline and pipelines is isolated.
10. the biological 3D printing equipment according to the arbitrary claim of claim 1 to 6, is characterized in that, the outside of described 3D printing equipment is also provided with Information Collection System, print system and control system; Described Information Collection System is provided with display, and the detecting head of described pipelines front end is connected with described display; Described control system realizes printing reparation for controlling print system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420628776.3U CN204092271U (en) | 2014-10-28 | 2014-10-28 | A kind of biological 3D printing equipment |
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| CN201420628776.3U CN204092271U (en) | 2014-10-28 | 2014-10-28 | A kind of biological 3D printing equipment |
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| CN204092271U true CN204092271U (en) | 2015-01-14 |
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| CN201420628776.3U Withdrawn - After Issue CN204092271U (en) | 2014-10-28 | 2014-10-28 | A kind of biological 3D printing equipment |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104337589A (en) * | 2014-10-28 | 2015-02-11 | 深圳迈普再生医学科技有限公司 | Three-dimensional (3D) biological printing device |
| CN104688388A (en) * | 2015-03-30 | 2015-06-10 | 中国人民解放军第三军医大学第一附属医院 | 3D (three-dimensional) printing technique-based cartilage repair system and method |
| US10888428B2 (en) | 2016-05-12 | 2021-01-12 | University Of Notre Dame Du Lac | Additive manufacturing device for biomaterials |
| EP4000551A1 (en) | 2017-04-02 | 2022-05-25 | Mazor Robotics Ltd. | Three dimensional robotic bioprinter |
| US11523916B2 (en) | 2019-12-17 | 2022-12-13 | Warsaw Orthopedic, Inc. | In-situ additive implants |
| US11523909B2 (en) | 2019-12-17 | 2022-12-13 | Warsaw Orthopedic, Inc. | In-situ additive implants |
| US11903841B2 (en) | 2020-06-22 | 2024-02-20 | Warsaw Orthopedic, Inc. | In-situ additive channeled implants |
| US11903846B2 (en) | 2019-12-17 | 2024-02-20 | Warsaw Orthopedic, Inc. | In-situ additive expandable implants |
| US11964074B2 (en) | 2019-12-17 | 2024-04-23 | Warsaw Orthopedic, Inc. | Additive-manufactured non-woven fibrous implants, systems, and related methods |
-
2014
- 2014-10-28 CN CN201420628776.3U patent/CN204092271U/en not_active Withdrawn - After Issue
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104337589A (en) * | 2014-10-28 | 2015-02-11 | 深圳迈普再生医学科技有限公司 | Three-dimensional (3D) biological printing device |
| CN104688388A (en) * | 2015-03-30 | 2015-06-10 | 中国人民解放军第三军医大学第一附属医院 | 3D (three-dimensional) printing technique-based cartilage repair system and method |
| US10888428B2 (en) | 2016-05-12 | 2021-01-12 | University Of Notre Dame Du Lac | Additive manufacturing device for biomaterials |
| US11779466B2 (en) | 2016-05-12 | 2023-10-10 | University Of Notre Dame Du Lac | Additive manufacturing device for biomaterials |
| EP4000551A1 (en) | 2017-04-02 | 2022-05-25 | Mazor Robotics Ltd. | Three dimensional robotic bioprinter |
| US11864795B2 (en) | 2017-04-02 | 2024-01-09 | Mazor Robotics Ltd. | Three dimensional robotic bioprinter |
| US11523916B2 (en) | 2019-12-17 | 2022-12-13 | Warsaw Orthopedic, Inc. | In-situ additive implants |
| US11523909B2 (en) | 2019-12-17 | 2022-12-13 | Warsaw Orthopedic, Inc. | In-situ additive implants |
| US11903846B2 (en) | 2019-12-17 | 2024-02-20 | Warsaw Orthopedic, Inc. | In-situ additive expandable implants |
| US11964074B2 (en) | 2019-12-17 | 2024-04-23 | Warsaw Orthopedic, Inc. | Additive-manufactured non-woven fibrous implants, systems, and related methods |
| US11903841B2 (en) | 2020-06-22 | 2024-02-20 | Warsaw Orthopedic, Inc. | In-situ additive channeled implants |
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