CN102599990B - Composite type complex organ precursor three-dimensional controlled forming system with multiple sprayers - Google Patents
Composite type complex organ precursor three-dimensional controlled forming system with multiple sprayers Download PDFInfo
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- CN102599990B CN102599990B CN201210080122.7A CN201210080122A CN102599990B CN 102599990 B CN102599990 B CN 102599990B CN 201210080122 A CN201210080122 A CN 201210080122A CN 102599990 B CN102599990 B CN 102599990B
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Abstract
A composite type complex organ precursor three-dimensional controlled forming system with multiple sprayers belongs to the technical field of tissue engineering and mainly comprises a box, a top support, a free jetting device, a fixed jetting device with multiple sprayers, a forming table, a three-dimensional motion mechanism, a refrigerating device and a control system. The free jetting device and the fixed jetting device with the multiple sprayers are combined to form a composite device with the multiple sprayers. As the fixed jetting device with the multiple sprayers moves vertically and the forming table rotates, the sprayers can relatively move and work independently or cooperatively, and a multidirectional and multi-angular fast accumulation and jetting forming process under the cooperation effect of the multiple sprayers is realized.
Description
Technical field
The invention belongs to field of tissue engineering technology, particularly the design of the many nozzle three-dimensional controlled forming system for complex organ precursor of a kind of combined type.
Background technology
Organizational project is a comparatively popular at present cross discipline.Its three large key element is cell, biomaterial scaffolds and somatomedin.
The Rapid Prototyping technique that late 1980s emerges progressively enters the molding field of support as a member important in advanced manufacturing technology, and formula new technology that what it was started add provides new thinking for the problem solved existing for traditional stent forming technology.The Massachusetts Institute of Technology of the U.S., Carnegie Mellon University, University of Michigan, NUS and domestic Tsing-Hua University are all being engaged in the research work of this respect.Wherein, some researcheres adopt existing fast shaping technology equipment and timbering material direct forming, as the bone tissue engineer center of the research group of NUS D.Hutmacher, the research group of Massachusetts Institute of Technology M.J.Cima and Carnegie Mellon University.Other researcher is then devoted to for the timbering material of organizational project develops new fast shaping technology, to meet the particular/special requirement of stent forming, as the laser fast forming center of Tsing-Hua University.Through the ongoing effort of nearly 20 years, realize three-dimensional fast shaping and have several large class technology such as SLA, FDM, 3DP, SLS and LOM.
Low-temperature Deposition Manufacturing technique (LDM) is the particular/special requirement be shaped for biomaterial by Tsing-Hua University's machinery based material process technology institute and the new technology developed.Low-temperature Deposition Manufacturing refers to makes liquid state by timbering material, via shower nozzle, is extruded by solution with thread, stack shaping in cryogenic forming room.
The concrete technical process of Low-temperature Deposition Manufacturing is:
1. setting up threedimensional model with 3 d modeling software, with layered shaping software by model layers, obtaining the coordinate code for being shaped.
2. the material of choice experiment, according to suitable proportions solution, makes for subsequent use.
3. joined by material in the ejector of each shower nozzle of former, the control software design in computer controls scanning motion and the extruding/jet motion of each shower nozzle according to the synusia file of input and the machined parameters of setting.In cryogenic forming room, material quick solidification out from shower nozzle and mutually bonding together, the freezing support of stack shaping.
4. freezing support being put into freezer dryer, carry out lyophilization process, remove solvent, is solid-state support under obtaining room temperature.In the process, the distillation of solvent makes to produce microcellular structure in freezing support.
There has been the controlled shaped device of three-dimensional rack of corresponding single spraying head and two shower nozzle in machinery system of current Tsing-Hua University, and has done correlational study to the design of shower nozzle and forming property, designs and has made piston press shower nozzle.As Tsing-Hua University advanced person manufactures the CLRF-2000-II type biomaterial fast forming machine of quick shaping laboratory independent research.
But, the composite construction that the complex organization in human body or organ are generally all made up of two or more different cell and cell epimatrix material, and connect each other between each structure.Along with deepening continuously of research, requirement is proposed to the shaping of the multiple different materials three dimensional structure of heterogeneous body.Original single spraying head and two shower nozzle cannot meet the requirement of organizational project and biomedical advancement; Design and the research and development with the complex organ three-dimensional controlled forming device of the many shower nozzles of compound just become inevitable.And the relevant R&D target of each colleges and universities and research institution is only limited to the shower nozzle quantity that increases under same fixed support and changes relative arrangement now, can not fundamentally solve how simultaneously moulding material different structure and accurately implant cell, the problem such as how to reduce that operation is raised the efficiency, by the advantage draw inspiration of traditional machinery industry machining center, free style many shower nozzles rapid prototyping system of processing will become following development trend.
Chinese patent literature (application number 201110205970.1) relates to a kind of fixed type multi-sprayer three-dimensional complex organ precursor, injection apparatus is fixed, only comprise three-dimensional motion device motion, nozzle component is arranged on rectangular disk or disk, and different nozzle component is equipped with different moulding materials; All shower nozzles are in same plane, and during switching shower nozzle, motion three-dimensional motion device makes work shower nozzle and forming table align.But fixed many shower nozzles formation system has following weak point:
1. fixed injection apparatus can only be processed with some shower nozzles simultaneously, and shaping efficiency is low, and require three-dimensional motion device centering again when switching shower nozzle, shower nozzle jet-action Interconnection error is larger;
2. head cartridge upper nozzle quantity more but same time only has a shower nozzle to carry out work, and all the other shower nozzles can not move or collaborative work, and between shower nozzle, relative position is fixed, inefficiency;
3. forming table can only rely on three-dimensional motion device to move, and when processing circular section and ring cross-section class forming materials, location parameter is controlled by orthogonal X-axis Y-axis, and degree of accuracy has much room for improvement;
4. fixed sprinkler is screw extrusion type and non-exchange, adds and there is structural drawback man-hour, uncontrollable cell printing quantity and exact position carrying out cell printing;
5. each shower nozzle of injection apparatus only has a nozzle, and when carrying out various kinds of cell, multi-faceted shaping, limitation is larger.
Summary of the invention
The present invention is directed to the weak point of prior art, there is provided a kind of combined type many nozzle three-dimensional controlled forming system for complex organ precursor, the many ejecting devices of combined type that this system adopts free style to combine with fixed sprinkler, with reach each shower nozzle can relative movement, independence or Combined process, realize the process of rapid accumulation under multi-faceted, multi-angle, many shower nozzles synergism and reaction-injection moulding.
Technical scheme of the present invention is as follows: the many nozzle three-dimensional controlled forming system for complex organ precursor of combined type, and described three-dimensional controlled forming system comprises casing, fixed multi-nozzle injection device, top-support, three-dimensional motion mechanism, forming table, temperature control and refrigerating plant and sterilizing device; Fixed multi-nozzle injection device is fixed on casing top center by top-support; Three-dimensional motion mechanism and forming table are arranged on box house, and described three-dimensional motion mechanism comprises X-axis motion, Y-axis motion and Z axis motion; Forming table is fixed on three-dimensional motion mechanism, affixed with described Z axis motion; It is characterized in that: described three-dimensional controlled forming system also comprises at least one free style injection apparatus, described free style injection apparatus is fixedly mounted on wall box, each free style injection apparatus comprises mechanical arm, material delivery tubes, clamping device and shower nozzle, and described shower nozzle is arranged on mechanical arm tail end by clamping device.
The many nozzle three-dimensional controlled forming system for complex organ precursor of combined type of the present invention, it is characterized in that: described fixed multi-nozzle injection device comprises shower nozzle, fixed sprinkler support, head cartridge leading screw, head cartridge guide rail and motor, described head cartridge leading screw and head cartridge guide rail are fixed on described top-support, the described fixed sprinkler Bracket setting of shower nozzle is housed on head cartridge leading screw and head cartridge guide rail, move up and down along head cartridge guide rail, described motor adopts motor or servomotor.
The many nozzle three-dimensional controlled forming system for complex organ precursor of combined type of the present invention, is characterized in that: free style injection apparatus adopts four, are arranged on the corner location on casing top respectively.
The many nozzle three-dimensional controlled forming system for complex organ precursor of combined type of the present invention, it is characterized in that: described fixed sprinkler rack surface is regular polygon or circle, nozzle component is evenly distributed on described fixed sprinkler support with single, arranged side by side or array.
The many nozzle three-dimensional controlled forming system for complex organ precursor of combined type of the present invention, is characterized in that: described shower nozzle adopts electric motor boosted formula shower nozzle or piezoelectric type shower nozzle, and described electric motor boosted formula shower nozzle comprises screw extrusion type shower nozzle and air pressure driving shower nozzle; Described shower nozzle end is equipped with single or multiple nozzle.
The many nozzle three-dimensional controlled forming system for complex organ precursor of combined type of the present invention, is characterized in that: described forming table adopts rotary forming table, and described forming table comprises pallet and forming table servomotor; Forming table servomotor is arranged on below pallet, and the Z axis motion of described forming table servomotor and described three-dimensional motion mechanism is affixed.
The present invention has the following advantages and salience effect:
1. present invention employs the fixed many sprinkler design of compound combined with free style injection apparatus, wherein free style injection apparatus range of movement is large, relative position and move separate, and each shower nozzle can be worked in coordination with or the forming process of complete independently material; Can be used for the multiple biomaterial of heterogeneous body, comprise the shaping of solid-state or liquid synthesis macromolecule, solution or gel state natural polymer and cell/host material; Wherein fixed multi-nozzle injection device can move both vertically and facilitate Combined process to avoid interfering, the shower nozzle installed of fixed bracket adopt single, side by side or array way to construct the arrangement mode of many shower nozzles.
2. present invention employs the design of rotatable forming table, forming table pallet is circular or other regular figures, pallet lower central position is provided with servomotor or motor, forming table can be rotated around geometric center, tubulose column spheroidal material forming accuracy under prior art level can be improved, can forming efficiency be improved simultaneously.
3. the present invention adopts free style and the replaceable sprinkler design of fixed injection apparatus, shower nozzle can adopt electric motor boosted formula shower nozzle or piezoelectric type shower nozzle, the nozzle of each shower nozzle adopts single nozzle or multiple nozzle, be applicable to multiinjector and be combined with piezoelectric type shower nozzle and carry out high accuracy single or multiple lift cell three-dimensional and be shaped.
4. the present invention can select the shower nozzle of suitable quantity to carry out independence or Combined process as required, and machining area is applicable to the forming dimension requirement of most biological tissue and organ precursor.
5. present invention achieves rapid accumulation in forming table under different temperatures, multi-angle, many shower nozzles synergism of the tissue stent material of two or more various different performance, cell/host material, cell suspending liquid and cell growth factor solution and stage of spray forming process.
To sum up, many shower nozzles that system of the present invention utilizes combined type multi-nozzle injection device, three-dimensional motion mechanism, rotary forming platform, control and software system comprehensively to achieve heterogeneous body multiple material complex three-dimensional structure are worked in coordination with and are efficiently shaped.This system utilizes the many ejecting devices of combined type and the mutual forming mode of forming table, there is the advantages such as high, each shower nozzle independence of forming accuracy or Combined process, nozzle be replaceable, be applicable to organizational project and organ manufacture in the three-dimensional Accurate Shaping of large-scale organ precursor of various heterogeneous body multiple material.
Accompanying drawing explanation
Fig. 1 is the front view (partial cross) of the embodiment of the many nozzle three-dimensional controlled forming system for complex organ precursor of combined type provided by the invention.
Fig. 2 is the top view (not drawing Box Cover and sterilizing device) of the embodiment of the many nozzle three-dimensional controlled forming system for complex organ precursor of combined type provided by the invention.
Fig. 3 is the front view (partial cross) of free style injection apparatus.
Fig. 4 is the fixed sprinkler support front view (for four shower nozzles) of mounting spray head.
Fig. 5 is the front view (half section) that forming table is connected with three-dimensional motion mechanism.
Fig. 6 is the top view of three-dimensional motion mechanism.
Fig. 7 a and Fig. 7 b is front view and the side view of screw extrusion type nozzle component.
Fig. 8 is the flow chart that control system completes material forming.
In Fig. 1 to Fig. 8:
1-casing, 2-shower nozzle, 3-top-support,
4-mechanical arm, 5-forming table, 6-temperature control device for cooling,
7-sterilizing device, 8-fixed sprinkler support, 9-head cartridge leading screw,
10-head cartridge guide rail, 11-head cartridge motor, 12-ejector,
13-controls motor, 14-briquetting, 15-briquetting screw rod,
16-nozzle component support, 17-pallet, 18-extenal fixation structure,
19-forming table servomotor, 20-X axle motor control motor, 21-X axial filament thick stick,
25-X axle motion guide rail, 26-X axle moving slide block, 27-Y axle motor control motor,
28-Y axial filament thick stick, 29-Y axle motion guide rail, 30-Y axle moving slide block one,
31-heating tube, 32-Z axle motor control motor, 33-briquetting guide groove,
34-control system hardware, 35-computer system, 36-material delivery tubes,
37-Z axle motion controlling screw, 38-Z axle motion guide groove, 39-Z axle moving slide block,
41-Y axle moving slide block two
Detailed description of the invention
Concrete structure of the present invention, operation principle and work process content is further described below in conjunction with accompanying drawing and embodiment.
The many nozzle three-dimensional controlled forming system for complex organ precursor of combined type of the present invention's design, as depicted in figs. 1 and 2, described system comprises casing 1, fixed multi-nozzle injection device, free style injection apparatus, top-support 3, three-dimensional motion mechanism, forming table 5, temperature control and refrigerating plant 6, sterilizing device 7 and control system.Fixed multi-nozzle injection device is fixed on casing 1 top center by top-support 3, top-support 3 and casing 1 connected mode are that bolt is connected, free style injection apparatus is fixed on casing 1 sidewall, in the present invention, free style injection apparatus adopts four, casing 1 top corner location is mounted on bolt respectively bottom it; It is inner that three-dimensional motion mechanism, forming table 5 and sterilizing device 7 are arranged on casing 1, described three-dimensional motion mechanism comprises X-axis motion, Y-axis motion and Z axis motion, three-dimensional motion mechanism is mounted on bottom casing 1 with bolt, forming table 5 is fixed on three-dimensional motion mechanism, affixed with described Z axis motion; It is outside that temperature control and refrigerating plant 6 are arranged on casing 1, by pipeline and casing 1 UNICOM.
Fig. 3 is the front view of free style injection apparatus, described three-dimensional controlled forming system comprises at least one free style injection apparatus, described free style injection apparatus is connected and fixed by bolt and is arranged on wall box, each free style injection apparatus comprises mechanical arm 4, clamping device, shower nozzle 2, material delivery tubes 36 and nozzle, described shower nozzle (2) is arranged on the end of mechanical arm 4 by clamping device, material delivery tubes 36 is bundled in outside mechanical arm 4, and clamping device can with bolts, structure such as pin connection, key connection etc.; Described free style injection apparatus adopts single spraying head mode, and each free style injection apparatus is worked in coordination with or the forming process of complete independently material.Free style injection apparatus can in horizontal plane driving mechanical arm 4 posterior rotation, slewing area is 90 °, intermediate arm is hinged with it, around hinge large rotation in perpendicular, mechanical arm 4 end of last hinged installation clamping device, shower nozzle is connected and fixed on clamping device with bolt, nozzle type and nozzle replaceable; Each free style injection apparatus totally can be allocated by control system and avoid interfering coordination exercise.
Fig. 4 is the fixed sprinkler support front view (for four shower nozzles) of mounting spray head, described three-dimensional controlled forming system comprises a fixed multi-nozzle injection device, described fixed multi-nozzle injection device comprises shower nozzle, fixed sprinkler support 8, head cartridge leading screw 9, head cartridge guide rail 10 and motor 11, described head cartridge leading screw 9 and head cartridge guide rail 10 are fixed on described top-support 3, the fixed sprinkler support 8 that shower nozzle is housed is arranged on head cartridge leading screw 9 and head cartridge guide rail 10, move up and down along head cartridge guide rail 10, can independently carry out processing or idle time rise as the free-jetting device in work provides more spaces, be bolt connecting mode between shower nozzle and described fixed sprinkler support 8, described motor 11 adopts motor or servomotor, described fixed sprinkler support 8 surface is the regular figure such as regular polygon, circle, nozzle component is evenly distributed on described fixed sprinkler support 8 with single, arranged side by side or array, shower nozzle adopts piezoelectric type shower nozzle and electric motor boosted formula shower nozzle, shower nozzle end can be equipped with single or multiple nozzle, and described fixed multi-nozzle injection device can form separately processing or coordinate with free style injection apparatus and finish the work.
Fig. 5 is the front view that forming table 5 is connected with three-dimensional motion mechanism, and described forming table 5 adopts rotary forming table 5, comprises pallet 17, forming table servomotor 19 and extenal fixation structure 18; Described pallet 17 is circular or other regular figures, and forming table servomotor 19 is installed on below pallet 17; Described forming table 5 is connected and fixed with bolt with the Z axis motion of described three-dimensional motion mechanism.Described forming table 5 is controlled to rotate around pallet geometric center by control system.When formed machining circular section and ring cross-section class material, only need Rotary tray and avoid shower nozzle in the movement of horizontal plane, improving machining accuracy and efficiency.
Fig. 6 is the top view of three-dimensional motion mechanism of the present invention, and described three-dimensional motion mechanism comprises X-axis motion, Y-axis motion and Z axis motion; Described X-axis motion comprises X-axis motion guide rail 25, X-axis moving slide block 26, X-axis leading screw 21 and X-axis motor control motor 20; Described Y-axis motion comprises Y-axis motion guide rail 29, Y-axis moving slide block, Y-axis leading screw 28 and Y-axis motor control motor 27; Y-axis moving slide block comprises Y-axis moving slide block 1 and Y-axis moving slide block 2 41; Described X-axis leading screw 21 and X-axis motion guide rail 25 two ends are fixed on described Y-axis moving slide block 1 and Y-axis moving slide block 2 41 respectively; X-axis moving slide block 26 is socketed on described X-axis motion guide rail 25; X-axis motor control motor 20 is fixed on described Y-axis moving slide block 2 41, and the motor shaft of X-axis motor control motor 20 and X-axis leading screw 21 affixed; When X-axis motor control motor 20 rotates, X-axis moving slide block 26 does X-axis translation; Described Y-axis moving slide block 1 and Y-axis moving slide block 2 41 are socketed on Y-axis leading screw 28 and Y-axis motion guide rail 29 respectively; Y-axis motor control motor 27 is fixed on device bottom, is connected with Y-axis leading screw 28, and when Y-axis motor control motor 27 rotates, described Y-axis moving slide block does Y direction translation.Described Z axis motion is fixed on described X-axis moving slide block 26, comprise Z axis motion guide groove 38, Z axis moving slide block 39, Z axis motor control motor 32 and Z axis motion controlling screw 37, Z axis motor control motor 32 is fixed on X-axis moving slide block 26, and motor shaft and the Z axis motion controlling screw 37 of Z axis motor control motor 32 are affixed; Z axis moving slide block 39 to be positioned on Z axis motion guide groove 38 and to be socketed on Z axis motion controlling screw 37; Z axis motion screwed pipe to be socketed on Z axis motion controlling screw 37 and affixed with described Z axis moving slide block 39; When Z axis motor control motor 32 rotates, Z axis moving slide block 39 does Z-direction translation together with Z axis motion screwed pipe; Described rotatable forming table 5 is fixed on described Z axis motion screwed pipe; Described forming table 5 does the motion of X, Y, Z three-dimensional with X-axis motion, Y-axis motion, Z axis motion.
Fig. 7 a and Fig. 7 b is front view and the side view of screw extrusion type nozzle component, and nozzle component described in screw extrusion type shower nozzle comprises ejector 12, controls motor 13, briquetting 14, briquetting screw rod 15, nozzle component support 16 and heating tube 31; Described control motor 13 is fixed on the top of described nozzle component support 16 and affixed with described screw rod 15; Described nozzle component support 16 is provided with briquetting guide groove 33; Described briquetting 14 is placed in briquetting guide groove 33; Described briquetting 14 and screw rod 15 form guilde screw drive mechanism; Described heating tube 31 is affixed with nozzle component support 16 bottom, and described ejector 12 is placed in heating tube 31; Ejector 12 comprises piston, playpipe and shower nozzle; Be placed on by ejector 12 in heating tube 31, control motor 13 and rotate, briquetting 14 is declined, promote piston and move down, the moulding material filled in extruding ejector, makes it extrusion molding.
Fig. 8 is the basic flow sheet that control system completes material forming.Control system of the present invention comprises computer system 35 containing software and control system hardware 34; Described control system carries out global regulation to the start and stop that the rotation of the movement of each free style injection apparatus, forming disk 5, the vertical motion of fixed multi-nozzle injection device, the movement of three-dimensional motion mechanism and all shower nozzles spray, and control the above moving parts and do not interfere, process feedback information checkout equipment duty.
Composition graphs 1 ~ Fig. 8, the operation principle of the present embodiment and work process, be described below:
Complex organ precursor, before namely three dimensional structure is shaped, sets up threedimensional model with 3 d modeling software, with layered shaping software by model layers, obtaining the numerical control NC code for being shaped.By synusia file and machined parameters input computer control software.
The material of choice experiment, doing the timbering material of vascular system, the gelatin/Fibrinogen mixed solution containing certain proportion more than three kinds cells and the phosphate buffer (PBS) containing endothelial cell growth factor (ECGF) with synthesis macromolecule polyurethane (PU)/TEG (Tetraglycol) solution in the present embodiment is raw material, according to suitable proportions, make moulding material for subsequent use.
First start sterilizing device 7, to the sterilizing of whole casing 1.
Differing formed material is joined respectively in the ejector of each nozzle component of the many nozzle three-dimensional controlled forming system for complex organ precursor of combined type, then ejector is placed in heating tube 31, system trial run is reached processing conditions and removes bubble in shower nozzle.For fixed injection apparatus, in the process of installing ejector 12, also can first manual turn briquetting screw rod 15, making briquetting 14 increase, vacating enough spaces for installing.Heating tube 31 is worked and monitor temperature, guarantees the temperature stabilization of moulding material and can not solidify.After ejector 12 installs, can move down past for briquetting 14 by hand rotation briquetting screw rod 15, make the piston contact of briquetting 14 and ejector 12; In like manner can be applicable on free style injection apparatus shower nozzle.
Start the initial coordinate setting nozzle position and forming table 5 in fixed multi-nozzle injection device and free style injection apparatus before processing, utilize the lifting of mechanical arm, the multi-direction control of PMAC and data handling system centering (cutter).Close upper chamber door.Start temperature control device for cooling 6, make temperature in equipment drop to certain experiment value and maintain substantially constant.Time basicly stable Deng working chamber's temperature, start the work of being shaped.By control system according to the synusia file of input and setting machined parameters controls the rotation of forming table 5, three-dimensional motion mechanism moves, fixed multi-nozzle injection device vertically moves and the collaborative work of each mechanical arm 4, the each shower nozzle controlling identical or different liquid material is housed coordinates simultaneously and carries out extruding and jet motion, avoids that traditional similar devices needs to stop, changing shower nozzle, centering (cutter) starts the drawback that shapes again.Different temperatures (as room temperature 1-40 DEG C, under low temperature (0--50 DEG C) condition, material quick solidification out from ejector and mutually bonding together, stack shaping.Only need some or several shower nozzle to be still in ad-hoc location during processing circle tubular goods, forming table is rotated and can obtain ideal form.After different materials is shaped in forming table, according to specific program, forming table is shifted out formed machining region, then material is taken out.
Structure after being shaped is put into inject and containing the cell culture fluid of thrombin (20IU/mL) or phosphate buffer (PBS), the organic solvent extracting of PU is taken down, make Fibrinogen polymerization simultaneously, form rock-steady structure containing the multiple material of cell/gelatin/fibrin raw material, the preparation work of complicated tissue organ precursor completes.
Claims (2)
1. the many nozzle three-dimensional controlled forming system for complex organ precursor of combined type, described three-dimensional controlled forming system comprises casing (1), fixed multi-nozzle injection device, top-support (3), three-dimensional motion mechanism, forming table (5), temperature control and refrigerating plant (6) and sterilizing device (7); Fixed multi-nozzle injection device is fixed on casing (1) top center by top-support (3); Three-dimensional motion mechanism and forming table (5) are arranged on box house, and described three-dimensional motion mechanism comprises X-axis motion, Y-axis motion and Z axis motion; Forming table (5) is fixed on three-dimensional motion mechanism, affixed with described Z axis motion; Described forming table (5) adopts rotary forming table (5), and described forming table (5) comprises pallet (17) and forming table servomotor (19); Forming table servomotor (19) is arranged on pallet (17) below, and described forming table servomotor (19) is affixed with the Z axis motion of described three-dimensional motion mechanism; It is characterized in that: described three-dimensional controlled forming system also comprises at least one free style injection apparatus, described free style injection apparatus is fixedly mounted on casing (1) sidewall, each free style injection apparatus comprises mechanical arm (4), material delivery tubes (36), clamping device and shower nozzle (2), and described shower nozzle is arranged on mechanical arm (4) end by clamping device; Described fixed multi-nozzle injection device comprises shower nozzle, fixed sprinkler support (8), head cartridge leading screw (9), head cartridge guide rail (10) and motor (11), described head cartridge leading screw (9) and head cartridge guide rail (10) are fixed on described top-support (3), the described fixed sprinkler Bracket setting that shower nozzle is housed, on head cartridge leading screw (9) and head cartridge guide rail (10), moves up and down along head cartridge guide rail; Free style injection apparatus adopts four, is arranged on the corner location on casing (1) top respectively; Described shower nozzle adopts electric motor boosted formula shower nozzle or piezoelectric type shower nozzle, and described electric motor boosted formula shower nozzle comprises screw extrusion type shower nozzle and air pressure driving shower nozzle, and described shower nozzle end is equipped with single or multiple nozzle.
2. the many nozzle three-dimensional controlled forming system for complex organ precursor of combined type as claimed in claim 1, it is characterized in that: described fixed sprinkler support (8) surface is regular polygon or circle, and nozzle component is evenly distributed on described fixed sprinkler support with single, arranged side by side or array.
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| CN103431925B (en) * | 2013-05-03 | 2015-08-12 | 清华大学 | A kind of multiple degrees of freedom pneumatic many shower nozzles complicated tissue organ manufacturing system |
| CN103536964A (en) * | 2013-10-14 | 2014-01-29 | 上海大学 | Preparation method of coaxial composite-structure bone tissue engineering scaffold |
| CN103536373B (en) * | 2013-10-22 | 2015-07-22 | 清华大学 | Light curing based tissue and organ precursor assembling device and method |
| CN103598938B (en) * | 2013-11-12 | 2016-04-20 | 清华大学 | A kind of biomimetic features integral forming equipment adding formula and subtract formula manufacture combination |
| CN103750918B (en) * | 2014-01-17 | 2015-09-02 | 清华大学深圳研究生院 | A kind of three-dimensional cell printing equipment |
| CN104000637B (en) * | 2014-05-29 | 2016-06-15 | 清华大学 | A kind of in-vivo tissue is directly repaired and the medical system shaped |
| CN104207859B (en) * | 2014-09-16 | 2016-09-28 | 清华大学 | Rotation method of piling is utilized to prepare method and the special equipment of histoorgan |
| CN105524831B (en) * | 2015-12-29 | 2017-09-12 | 西安交通大学 | A kind of biological 3D printing culture integral system and method |
| CN107028681B (en) * | 2017-04-11 | 2018-11-30 | 清华大学深圳研究生院 | A kind of 3D printing device and method of tissue engineering bracket |
| CN112026164B (en) * | 2020-08-17 | 2021-10-19 | 西安交通大学 | Double-nozzle hybrid continuous fiber reinforced composite material 3D printing device and method |
| CN112848296A (en) * | 2021-01-14 | 2021-05-28 | 中国医科大学 | Compound many shower nozzles 3D printing forming system |
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| CN101692987B (en) * | 2009-10-16 | 2011-04-27 | 清华大学 | Rotating disc type multi-nozzle three-dimensional controlled forming system for complex organ precursor |
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| KR20080070295A (en) * | 2007-01-26 | 2008-07-30 | 전홍석 | Method to make organs |
| CN102319126A (en) * | 2011-07-21 | 2012-01-18 | 清华大学 | Fixed multi-nozzle complex organ precursor three-dimensional controlled forming system |
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| CN101692987B (en) * | 2009-10-16 | 2011-04-27 | 清华大学 | Rotating disc type multi-nozzle three-dimensional controlled forming system for complex organ precursor |
| CN202537706U (en) * | 2012-03-23 | 2012-11-21 | 清华大学 | Composite multi-spray-head complex organ precursor three-dimensional controlled forming system |
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