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Three-dimensional (3D) biological printing device

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Publication number
CN104337589A
CN104337589A CN 201410585205 CN201410585205A CN104337589A CN 104337589 A CN104337589 A CN 104337589A CN 201410585205 CN201410585205 CN 201410585205 CN 201410585205 A CN201410585205 A CN 201410585205A CN 104337589 A CN104337589 A CN 104337589A
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pipeline
printing
body
main
biological
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CN 201410585205
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Chinese (zh)
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CN104337589B (en )
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赖奎霖
徐弢
袁玉宇
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深圳迈普再生医学科技有限公司
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Abstract

The invention relates to a biological printing device which can be used in the body and can be used for organ tissue lesion information gathering and analysis in real time and perform in situ printing. The three-dimensional (3D) biological printing device comprises a first pipeline main body, wherein a printing pipeline and a detecting pipeline are arranged inside the first pipeline main body and are arranged abreast; the printing pipeline comprises a 3D printing head and a second pipeline main body; a printing medium cavity and a piston which can move in the printing medium cavity are arranged in the second pipeline main body; the front end of the detecting pipeline is a detection head while the rear end of the detecting pipeline is an image data output port; the detection head is connected with the image data output port by virtue of a data channel; the printing pipeline and the detecting pipeline extend out of an outlet of the front end of the first pipeline main body. According to the biological printing device, the information gathering and 3D biological printing parts are sent into the human body in a minimally invasive mode, and the first pipeline main body is connected with an external control system so as to realize in vivo in-situ remediation.

Description

—种生物3D打印装置 - 3D printing apparatus Biological Species

技术领域 FIELD

[0001] 本发明属于医疗装置领域,具体涉及一种可在体内应用的,能实时进行器官组织病损信息搜集和分析,并进行原位打印的生物3D打印装置。 [0001] The present invention belongs to the field of medical devices, particularly relates to a, the information can be collected and analyzed lesions organs and tissues in vivo real-time and in-situ biological 3D printing apparatus for printing.

背景技术 Background technique

[0002] 相当一部分患者由于疾病导致体内器官组织出现缺损,从而需要进行器官组织移植或修复手术,如肝脏病损、胃肠道瘘等。 [0002] significant number of patients due to disease cause the body organ tissue defect occurs, thus the need for an organ transplant or tissue repair procedures, such as liver lesions, gastrointestinal fistula. 许多手术都会带来较大创伤,或者修复效果并不理相 Many will bring major trauma surgery, or repair the effect is not reason with

[0003] 3D 打印(3D Printing)也称为“增材制造(Additive Manufacturing)” 是一门以数据设计文件为基础,将材料逐层沉积或黏合以构造成三维物体的新兴的快速成型技术。 [0003] 3D printing (3D Printing) is also referred to as "additive manufacturing (Additive Manufacturing)" is a design file to the data base, the bonding material is deposited layer by layer or in a new rapid prototyping technology configured three-dimensional object. 生物3D打印是将工业3D打印技术与生物医学技术相结合,以人体细胞和生物材料为打印原料,进行组织和器官的仿生重建。 3D printing is a bio-industrial 3D printing technology and biomedical technology, to human cells and biological raw materials for the print, organize and bionic reconstruction organs. 3D打印技术相比于其它组织工程支架快速成型技术具有不可比拟的优点,具体体现在五个方面:第一,构建复杂组织或器官的精度高,能真正实现细胞层面的组装和构建;第二,可实现细胞与材料有机组合,3D打印能根据组织或器官中的不同细胞、基质等实际情况,进行仿真排列和组合,且一次成型;第三,可以根据缺损组织或器官的实际情况进行即时、快速、可控的计算机三维模型再现。 3D printing technology compared to other tissue engineering scaffolds rapid prototyping technology incomparable advantages, embodied in five aspects: first, building high-precision complex tissue or organ, constructed and assembled can realize the level of cells; the second , the cells can be achieved in combination with an organic material, 3D printing, according to the actual situation can be a tissue or organ in different cells, substrates and the like, simulation permutations and combinations, and a molding; third, according to the instant defective tissue or organ where the actual , rapid, controllable reproducing three-dimensional computer model. 第四,个性化制造复杂组织器官,成本可控;第五,可实现便携、高效、能耗低、生物材料用量少的快速制造。 Fourth, the manufacture of complex tissues and organs personalized, cost control; fifth, can achieve a portable, high efficiency, low energy consumption, rapid manufacturing small amount of biological material.

[0004] 随着工业3D打印技术的发展,将生物医学技术与3D生物打印结合起来,用以进行组织和器官的仿生重建,必将成为将来的发展方向,现有技术对生物3D打印的研究集中在体外,而对体内进行原位修复的报道较少,本发明基于这样的事实提供一种便于在人体内进行生物3D打印装置。 Studies [0004] With the development of industrial 3D printing technology, biomedical technology and 3D bio-printing combine to organize and bionic organ reconstruction, will become the future direction of development, the art of biological 3D printing less concentrated in vitro, in vivo and in situ repair reports, the present invention provides a 3D printing apparatus facilitating the biological body based on the fact.

发明内容 SUMMARY

[0005] 针对现有技术的缺点,本发明提供了一种体内使用的结合信息搜集和材料/细胞打印功能的生物3D打印装置。 [0005] for the disadvantages of the prior art, the present invention provides a 3D printing apparatus biological information gathering and binding material / cells using a print function of the body.

[0006] 为解决上述技术问题,本发明采用的技术方案是: [0006] To solve the above technical problem, the technical solution adopted by the invention are:

本发明设计了一种体内使用的结合信息搜集和材料/细胞打印功能的生物3D打印装置,所述3D打印装置包括内部设有打印管道和探测管道的第一管道主体,所述打印管道和探测管道并排设置;所述打印管道包括3D打印头和第二管道主体;所述第二管道主体内设有打印介质腔及在打印介质腔内活动的活塞;所述探测管道前端为探测头,后端为图像数据输出口,所述探测头和图像数据输出口通过数据通道连接;所述打印管道和探测管道从第一管道主体前端的出口伸出。 The present invention contemplates a biological 3D printing apparatus information gathering and binding material / cells using a print function of the body, the 3D printing apparatus comprising a first duct provided with an internal body conduit and the pipe-printing, the printing and the detection conduit pipes arranged side by side; the 3D print conduit includes a second printhead and a body conduit; the second pipe body cavity and equipped with a print medium the print medium in the piston chamber activity; the detection probe to the distal end conduit, the image data output terminal, said probe is connected and the image data output through the data channel; the printing and the pipe-conduit extending from the outlet of the first conduit distal end of the body.

[0007] 本发明将打印介质储存在打印介质腔中,通过活塞的运动使打印介质从3D打印头中喷出,从而实现打印。 [0007] The present invention is stored on the printing medium the printing medium chamber by movement of the piston of the print medium is ejected from the 3D print head, thereby achieving printing. 本发明采用此种设置,主要包括以下几方面原因:首先,打印介质粘度较大,在打印管道中输送非常困难,精确控制更加困难,本发明通过活塞的运动控制打印介质的输送,更易控制打印过程;其次,采用活塞的方式,打印介质的输入将改变为由3D打印头一侧输入,可以根据不同的需要,由3D打印头一侧依次装载不同种类的打印介质,使形成类似“过滤柱”分层结构的打印介质,实现不同成分的打印介质的依序、快速打印,实现精确治疗;再次,为了应用的需要,可能往打印介质中添加药物或生物活性物质。 The present invention employs this setting, including the following reasons: First, the print medium viscosity, pipe conveyed in the printing is very difficult, more difficult to control precisely, the present invention is controlled by movement of the piston conveying the printing medium, printing is easier to control process; Secondly, the piston, the input will change the printing medium by the print head side of the input 3D, according to different needs, the recording head side sequentially by the 3D loading different kinds of print medium, formed similar to the "filtration column "Print media layered structure, implemented sequentially different components of the printing medium, fast printing, precise treatment; again, the need for the application, may be added to the drug or biologically active substance in the printing medium. 由于一些药物或生物活性物质本身不太稳定,已有的长管输送可能会导致物质变性或者失活的情况。 Because some drugs or biologically active substance itself is not very stable, has long piped substances may lead to inactivation or denaturation. 而本发明的方式避免了长距离输送的费时、费料的情况,可以快速完成输送机打过程,确保药物或生物活性物质的活性,也节约原料。 While the embodiment of the present invention avoids the time-consuming transport over long distances, where the material costs, the process can be completed quickly playing conveyor, ensure that the drug active or bioactive substances, but also save materials.

[0008] 优选地,所述3D打印头与第二管道主体的连接方式为可拆卸连接。 [0008] Preferably, the 3D print head and a second conduit connection for the detachable connection body. 采用此种设置一方面有利于3D打印头的清洗,另一方面,可根据修复组织的需要,当使用不同的打印介质时,更换3D打印头,防止打印介质的交叉混合从而影响打印质量。 Such is provided using the 3D aspect facilitate cleaning of the print head, on the other hand, according to the need of tissue repair, when a different print medium, the print heads replacement 3D, to prevent cross-mixing print medium to affect print quality.

[0009] 另一方面,3D打印头的可拆卸连接也方便打印介质的灌装。 [0009] On the other hand, is detachably connected to the printhead 3D also facilitate the filling of the printing medium.

[0010] 优选地,所述第二管道主体内壁上设有导轨,所述活塞沿该导轨活动。 [0010] Preferably, the second guide rail is provided on the inner wall of the duct body, said piston along the guide rail activity. 导轨的设置可以对活塞的活动起到定位的作用。 Guide rails disposed may function as the positioning of the activity of the piston. 导轨的数量可以是一条或多条,相应的,活塞上设有与导轨配合的延伸部,当活塞放置在第二管道主体内,所述延伸部容纳于导轨中,实现定位。 The number of the guide rail may be one or more, corresponding, provided with an extension portion of the guide rail fitted on the piston when the piston body disposed within the second conduit, said extending portion received in the guide rail, to achieve positioning. 作为一种实施方式,所述延伸部可以是能在导轨内滑动的滚轮或导轨滑块等其它相适配的部件。 As an embodiment, the extension may be slidable within the other guide rail adapted to slide or roller members and the like.

[0011] 优选地,所述生物3D打印装置还包括用于控制活塞活动的动力传送装置。 [0011] Preferably, the printing apparatus further comprises a 3D biological power transmitting means for controlling activities of the piston. 进一步优选地,所述动力传送装置为液压传送装置或气压传送装置。 Further preferably, the power transmitting means is a hydraulic or pneumatic conveying means conveying means. 通过动力传送装置推动活塞挤压位于打印介质腔中的打印介质,从而实现打印介质的成功挤出。 Pushed through power transmitting means positioned printing medium pressure piston chamber printing medium, the printing medium in order to achieve successful extrusion.

[0012] 优选地,靠近所述第一管道主体前端的侧壁上设置有开口,使打印管道能通过该开口。 [0012] Preferably, the side walls adjacent to the front end of the first body duct is provided with an opening, the opening through the printing pipeline. 在侧壁上设置有开口使得当3D打印装置到达体内组织修复处时,打印管道可以从第一管道主体的侧壁伸出,这可以避免在进行体内原位打印时,打印管道对探测管道造成遮挡;相比从前端伸出,从侧壁伸出的可操作打印的角度和范围更大,能容易达到从前端很难达到的位置。 Print settings in situ in vivo, resulting in the printing of the pipe-conduit with an opening such that when the 3D printing apparatus reaches the tissue repair in vivo, the print may extend from the side walls of the first conduit duct body, which may avoid carrying on a side wall occlusion; compared projecting from the front end, and a larger range of angles from the side wall operable to print projecting from the front end can easily achieve a position difficult to achieve.

[0013] 作为一种优选方案,所述3D打印装置还包括引导丝,所述引导丝穿设于第一管道主体内。 [0013] As a preferred embodiment, the 3D printing apparatus further comprises a guide wire, the guide wire through the first conduit disposed in the body. 所述引导丝用于引导3D打印装置进入患者待修复组织部位,待3D打印装置到位后,可去除引导丝再进行原位打印修复。 The guide wire for guiding the printing apparatus enters the 3D region of the patient tissue to be repaired, until 3D printing apparatus in place, the guide wire then may be removed in situ repair printing. 进一步优选地,所述引导丝前端设有钝部,其后端设有持握部,所述引导丝的长度大于或等于第一管道主体的长度。 Further preferably, the guide wire is provided with a blunt distal end portion, a rear end which is provided with grip portions, the length of the guide wire is equal to or greater than the length of the first pipe body.

[0014] 作为另一种优选方案,所述第一管道主体内还设置有隔层,所述隔层将打印管道与探测管道隔离。 [0014] As another preferred embodiment, the first conduit within the body further provided with a barrier, the isolation barrier will be printed with the probe conduit pipe. 采用这种设置使得设置于第一管道主体内的打印管道与探测管道是彼此独立且互相不受影响的,打印管道可根据探测管道所探测到的人体待修复组织的情况而进行较大范围的自行定位。 With this arrangement so that the body disposed in the first conduit and the pipe-conduit print independently of each other and are affected with each other, the conduit may print According to the pipe-detected body tissue to be repaired and for a wide range of positioning itself.

[0015] 优选地,所述第一管道主体的外径为4〜1mm,长度为145〜175mm ;所述探测管道外径为2〜5mm,所述打印管道外径为I〜5mm,内径为0.1〜2mm ;进一步优选地所述第一管道主体的外径为6_,其主体由弹性材料构成,更为柔软,导入人体时能减轻患者的痛苦;所述探测管道外径为2〜5mm,进一步优选为3 mm ;所述打印管道外径为I〜5mm,出口内径为0.1〜2mm,进一步优选地所述打印管道外径为3mm,所述内径为1mm。 [0015] Preferably, the diameter of the first body duct is 4~1mm, length 145~175mm; the outer diameter of the pipe-2~5mm, an outer diameter of the conduit print I~5mm, inner diameter 0.1~2mm; the outer diameter of the first conduit is further preferred to 6_ body, which body is made of an elastic material, is softer, can alleviate the suffering of the patient when introducing the human body; the outer diameter of the pipe-2~5mm, more preferably 3 mm; outer diameter of the conduit print I~5mm, an outlet inner diameter of 0.1~2mm, further preferably said print pipe diameter of 3mm, the internal diameter of 1mm.

[0016] 所述3D打印装置的外部还设置有信息收集系统、打印系统和控制系统;所述信息收集系统设置有显示器,所述探测管道前端的探测头与所述显示器相连接;所述控制系统用于控制打印系统实现打印修复。 External [0016] The 3D printing apparatus is also provided an information collecting system, the printing system and a control system; the information collecting system is provided with a display, the display of said probe and probe head is connected to the leading end of the pipe; the control system for controlling the printing system enables the printing repair.

[0017] 优选地,所述生物3D打印装置通常还配有照明装置。 [0017] Preferably, the biological 3D printing apparatus typically comes with a lighting device. 优选地,所述照明装置设于第一管道主体的前端。 Preferably, the front end of the first conduit means disposed in the lighting body.

[0018] 优选地,所述照明装置为LED灯,设置照明装置能够为探测管道的探测头提供照明,使探测头能够更清楚准确地获得数据及图像,实用性强,并且采用LED灯节能方便。 [0018] Preferably, the illumination means is an LED lamp, the lighting device can be provided as a probe to detect the illumination conduit, so that the probe can be more clearly and accurately obtain the image data, practical, convenient and energy-saving lamps with LED . 为了能清楚地显示探测头观察及拍摄的图像,可设置专用显示器,所述探测头通过USB连接线与显示器连接;专用显示器为3.5寸的液晶显示屏,其内置可充电的锂电池和存储卡,能够清晰显示探测头所探测到的组织的影响,也可以将探测头连接至笔记本电脑或平板电脑等智能设备;为了能准确地搜集并计算探测头所探测的病患部位组织缺损数据,可设置信息收集处理系统和控制系统,所述信息收集处理系统内安装有数据处理软件与计算机端,利用所述数据处理软件与计算机端对所获得数据进行处理,然后与正常组织数据库进行比对并建模;最后通过控制系统控制打印系统使得打印管道对病患部位组织进行打印修复。 In order to clearly show the probe was observed and photographed image may be a dedicated display, the probe via the USB cable connected to a display; special display is 3.5 inch LCD screen, which built-in rechargeable lithium batteries and memory card possible to clearly show the affected tissue of the detected probe, the probe may be connected to a laptop or tablet computers, smart devices; disease site in order to accurately calculate the probe are collected and detected tissue defect data can be setting information collection processing system and control system, the processing of collecting information within data processing system software is installed with the computer terminal, for processing the data obtained using the data processing software and computer terminal, and then to compare the database and normal tissues modeling; Finally, the printing system such that the print control conduit of the print repair tissue disease site via the control system.

[0019] 优选地,所述探测头优选为光纤探测头或CXD图像传感器,其数据通道优选为光纤或数据连接线。 [0019] Preferably, the probe is preferably a fiber optic probe or CXD image sensor, which is preferably a fiber optic data channel or a data cable.

[0020] 为了避免交叉感染,所述3D打印装置还包括一次性保护套,使用时,所述一次性保护套套设于探测管道外侧。 [0020] In order to avoid cross-infection, the 3D printing apparatus further comprises a disposable protective cover, in use, the disposable protective probe pipe provided outside the condom. 优选地,该一次性保护套为聚亚安酯(Polyurethane)护套,采用这种新型的有机高分子材料,不容易滋生细菌,且质地柔软、富有弹性,具有良好的柔韧性,也在一定程度上减轻插管时对患者造成的痛苦。 Preferably, the disposable protective cover of polyurethane (Polyurethane) sheath, this new use of an organic polymer material, is not easy to breed bacteria, and soft, flexible, has good flexibility, but also to some alleviate the suffering caused by the patient during intubation extent.

[0021] 针对不同临床目的,打印介质中还可以混有水溶性凝胶、药物成分、细胞因子或者患者自体细胞。 [0021] for various clinical purposes, the print medium may also be mixed with aqueous gel pharmaceutical composition, cytokine or cells autologous to the patient.

[0022] 优选地,所述水溶性凝胶中的高分子材料包括壳聚糖和/或透明质酸等。 [0022] Preferably, the water-soluble polymer material comprises a gel like chitosan and / or hyaluronic acid. 所述药物成分包括消炎、杀菌和/或阵痛药物等。 The pharmaceutical composition comprises anti-inflammatory, antiseptic and / or drugs pains. 所述细胞因子包括血管内皮生长因子(VEGF)和/或碱性成纤维细胞生长因子(bFGF)等。 The cytokines including vascular endothelial growth factor (VEGF) and / or basic fibroblast growth factor (bFGF) and the like. 所述自体细胞包括内皮细胞、平滑肌细胞和/或成纤维细胞等。 The autologous cells include endothelial cells, smooth muscle cells and / or fibroblasts.

[0023] 本发明的打印管道,可以使打印介质在体内实现原位固化成型,包括使用化学交联或物理交联的方法。 [0023] The pipe of the present invention to print, the print medium may be cured in situ molded to achieve, including the use of chemical crosslinking or physical crosslinking in vivo. 前者包括使用交联剂或光引发交联的藻酸盐、富马酸及其衍生物与乙二醇的共聚物、聚乙二醇丙烯酸酯衍生物等,后者包括温敏性或分子自组装形成交联的天然或合成聚合物,如甲基纤维素、聚异丙基丙烯酰胺共聚物、改性环糊精等。 The former include the use of a crosslinking agent or photoinitiator copolymer crosslinked alginate, fumaric acid and ethylene glycol and derivatives thereof, polyethylene glycol acrylate derivatives and the like, which comprises a temperature sensitive self-molecules or assembled to form a crosslinked natural or synthetic polymers such as methyl cellulose, polyethylene isopropyl acrylamide copolymers, modified cyclodextrins and the like.

[0024] 本发明的3D打印装置体积小,可进入人体食道、肠道、阴道等体内外贯穿腔道,也可通过微创手术进入体内如腹部、盆腔等部位。 [0024] 3D printing apparatus according to the present invention is a small volume, the outer body can enter the body of the esophagus, intestinal tract, vaginal cavity and the like through, into the body may be the abdomen, pelvis and other parts such as minimally invasive surgery. 该装置包括探测管道和打印管道,前者能通过摄相、红外感应、超声探测等方法检测体内组织受损处,后者能根据实际情况在原位进行打印修复。 The printing apparatus includes a detecting pipe and pipe, by perturbation of the former, infrared sensor, an ultrasonic probe used to detect in vivo the damaged tissue, which can be printed in-situ repair of the actual situation. 该打印装置能打印天然/合成材料、细胞或两者的复合体。 The printing apparatus capable of printing a natural / synthetic material composite cells or both. 本发明能够实现体内原位治疗,达到微创、精确、减少外物进入人体、个性化的治疗效果。 The present invention enables in vivo treatment in situ, to invasive, accurate, reducing the foreign objects in the body treatment, personalized.

[0025] 与现有技术相比,本发明的有益效果是: [0025] Compared with the prior art, the beneficial effects of the present invention are:

本发明提供的一种3D打印装置,其以第一管道主体为主体,内部添加打印管道,以供体内原位打印;本发明将信息搜集和生物3D打印管道通过微创的方式送入人体,并通过第一管道主体与外部控制系统连接,实现体内原位修复;本装置将探测管道与打印管道并排设置在第一管道主体内,利用探测管道上设置的探测头对患者病患部位进行定位与数据采集,该探测管道定位准确,插入时间短,减轻了插管对病人造成的痛苦;同时,本发明的3D打印装置为患者体内组织修复提供了一种新的治疗方式。 One kind of 3D printing apparatus according to the present invention provides that the first body is a pipe body, the pipe internal print is added to for printing vivo in situ; the present invention, the biological information gathering and 3D printing conduit into the body through a minimally invasive manner, body and connected by a first conduit and the external control system to achieve in-situ repair in vivo; this means the printing with the pipe-conduit disposed side by side within the first pipe body by the probe head is provided on the pipe-patient positioning the disease site and data acquisition, the detection conduit positioning accuracy, short insertion time, reduce the pain caused to the patient cannula; at the same time, fixes the body tissue of the patient to provide a new treatment modality 3D printing apparatus according to the present invention is.

附图说明 BRIEF DESCRIPTION

[0026] 图1为本发明3D打印装置的结构示意图; [0026] FIG. 1 is a schematic configuration of the apparatus of the present invention, 3D printing;

图2为图1中AA截面视图; FIG 2 is a sectional view AA of Figure 1;

图3为用于临床治疗的3D打印装置整体结构示意图; FIG 3 is a schematic view of the entire 3D printing means for clinical use;

图4为实施例1中3D打印装置第一管道主体前端的放大示意图; Example 4 is an enlarged view of a 3D printing in the first conduit distal end of the body means;

图5为实施例1中3D打印装置到达组织修复处时,进行原位打印修复的放大示意图; 图6为实施例1中3D打印装置打印管道的侧面放大示意图; Example 5 is a 3D printing apparatus reaches the tissue repair at the print-situ repair enlarged view; FIG. 6 is an embodiment of 3D printing means for printing an enlarged view of a side duct;

图7左图为图1中沿打印管道AA截面的活塞结构示意图,右图为图1中沿AA截面的打印管道结构示意图; FIG 7 is a schematic left piston arrangement in FIG. 1 along section AA print conduit, the conduit structure 1 a schematic view of the printing section along AA in FIG right picture;

图8为实施例2中3D打印装置第一管道主体前端的放大示意图; Example 8 is an enlarged schematic view of 3D printing in 2 the first conduit distal end of the body means;

图9为实施例2中3D打印装置到达组织修复处时,进行原位打印修复的放大示意图。 Figure 9 is a 3D embodiment of the printing device to the repair tissue at 2, an enlarged view of the print situ repair.

具体实施方式 detailed description

[0027] 下面结合具体实施方式对本发明作进一步的说明。 [0027] DETAILED DESCRIPTION The following embodiments of the present invention will be further described.

[0028] 实施例1治疗十二指肠溃疡 [0028] Example 1 treatment of duodenal ulcer embodiment

如图1至图7所示为本发明生物3D打印装置的实施例,所述3D打印装置包括内部设有打印管道20和探测管道30的第一管道主体10,所述打印管道20和探测管道30并排设置;所述打印管道20的主要部件包括3D打印头201和第二管道主体,所述第二管道主体内设有打印介质腔202及在打印介质腔内活动的活塞203 ;所述探测管道30前端为探测头301,后端为图像数据输出口302,所述探测头301和图像数据输出口302通过数据通道连接,所述第一管道主体10前端设有照明装置40 ;所述打印管道20和探测管道30从第一管道主体10前端的出口伸出。 1 to FIG. Biological Example 3D printing apparatus of the present invention shown in FIG. 7, the 3D printing apparatus comprising an internal duct 20 provided with a print and a first conduit duct body 30 of the probe 10, the duct 20 and the pipe-print 30 arranged side by side; the main duct 20 of the printing member comprises a printing head 201 and the second 3D body duct, the second duct are equipped with a printing medium chamber body 202 and the print medium in the piston chamber 203 activity; the detection pipe 30 to detect the front end of head 301, the rear end of the image data output port 302, the probe 301 and the image data output port 302 is connected through the data channel, the front end of the first conduit 10 is provided with an illumination apparatus main body 40; the printing conduit 20 and conduit 30 extends from the outlet of the probe distal end 10 of the first body duct.

[0029] 图6为本实施例中的3D打印装置的打印管道20的放大示意图,如图6所示,打印介质腔202中存储打印介质,打印介质腔202 —端与3D打印头201相接,另一端与活塞203相接;所述活塞203与动力传送装置(图5中未示出)相连接,该动力传送装置可以是液压传送装置或者气压传送装置。 [0029] FIG. 6 is a conduit 3D printing in the printing apparatus according to an enlarged schematic view of the embodiment 20, as shown, the chamber 202 stores the print medium the print medium, the print medium chamber 202 in FIG. 6 - and the end of the print head 201 in contact 3D the other end 203 engaged with the piston; the piston 203 and the power transmitting means (not shown in FIG. 5) is connected to a power transmitting device may be a hydraulic or pneumatic conveying device conveying means. 如图6所示,所述打印管道20内侧设置有导轨200,所述活塞203上设置有与导轨200相适配的延伸部204,在本实施例中,所述延伸部204设置为滚轮,在动力传送装置的推动下,活塞203上的滚轮在打印管道20内壁设置的导轨内相对滑动,从而推动存储在打印介质腔202中的打印介质从3D打印头201中挤出。 6, conduit 20 is provided inside the print with a guide rail 200, and adapted to have the rail 200 extending portion 204 disposed on the piston 203, in the present embodiment, the extension 204 is provided as a roller, driven by the power transmitting means, the rollers 203 on the piston relative to the inner wall of the guide rail 20 slides within conduit print settings, the print medium to drive the print medium in the storage chamber 202 of the printhead 201 from the extrusion 3D. 在本实施例中,所述3D打印头与第二管道主体的连接方式为可拆卸连接。 In the present embodiment, the 3D print head and a second conduit connection for the detachable connection body.

[0030] 本实施例采用上述设置,将打印介质储存在打印管道20的打印介质腔202中,通过液压或气压传送装置使气体或液体推送活塞203运动,使打印介质从3D打印头中喷出实现打印; [0030] The present embodiment employs the above arrangement, the print media storage chamber 202 to print the print medium in the pipe 20, by hydraulic or pneumatic fluid or gas delivery device a push movement of the piston 203, the print medium is ejected from the print head 3D enables the printing;

另外,本实施例中3D打印头201可拆卸地连接于打印管道20上,此时3D打印头201为可更换的,这样在对组织进行修复时可根据打印介质的不同更换3D打印头201,从而防止打印介质的交叉混合从而影响打印质量。 In the present embodiment, 3D print head 201 is detachably connected to the conduit 20 to print, the print head 201 at this time 3D to be replaceable, so that when the tissue repair may be different 3D replaceable printhead 201 according to the print medium, thereby preventing the cross-mixing of the print medium to affect print quality.

[0031] 根据待修复组织的实际情况,打印管道20也可以从第一管道主体10的前端伸出。 [0031] The actual tissue to be repaired, the pipe 20 may be printed from the front end of the first duct projecting body 10. 在该实施例中,所述照明装置采用LED灯作为光源,LED灯能够为探测管道的探测头提供照明,使探测头能够更清楚准确地获得数据及图像,实用性强,并且采用LED灯节能方便。 In this embodiment, the lighting device using an LED lamp as a light source, an LED lamp capable of providing illumination for the detection of the probe pipe, so that the probe can be more clearly and accurately obtain the image data, practical, and energy-saving lamps with LED Convenience.

[0032] 如图3所示,当本实施例的生物3D打印装置用于临床治疗时,为了能准确地搜集并计算探测头所探测的病患部位组织缺损数据,可在该生物3D打印装置外部设置信息收集系统,打印系统和控制系统;信息收集系统可设置专用显示器,所述探测头通过USB连接线与显示器连接;也可以将探测头连接至笔记本电脑或平板电脑等智能设备;所述信息收集处理系统内还安装有数据处理软件与计算机端,利用所述数据处理软件与计算机端对所获得数据进行处理,然后与正常组织的数据库进行比对并建模;最后通过控制系统控制打印系统使得打印管道对病患部位组织进行打印修复。 [0032] As shown, when the biological 3D printing apparatus according to the present embodiment is used in the treatment, in order to accurately calculate the disease site collected and the probe data of the detected tissue defects, which may be biological in 3D printing apparatus 3 provided outside the information collecting system, the printing system and a control system; information collecting system may be a dedicated display, the probe is connected via the USB cable and the display; probe may be connected to a laptop or tablet computers, smart devices; the the information collection processing system is further installed with a computer terminal with data processing software, and data processing software with the computer terminal processing of the obtained data, and then with a database of normal tissue ratio and modeling; finally controls the printing by the control system The system enables the printing pipeline to the disease site repair tissue printing.

[0033] 本实施例中的第一管道主体10外径为6mm,所述第一管道主体10主体由硅胶材料构成,更为柔软,导入人体时能减轻患者的痛苦;探测管道30外径为3mm ;打印管道20外径为3mm,内径为1mm。 [0033] The outer diameter of the first conduit 10 in the present embodiment the body is 6mm, the first duct body main body 10 is made of silicone material, is softer, can alleviate the suffering of the patient when introducing the body; detecting an outer diameter of the pipe 30 3mm; 20 print an outer diameter of the pipe of 3mm, an inside diameter of 1mm. 3D打印装置的探测管道30外侧还设置有一次性聚亚安酯护套,采用这种新型的有机高分子材料,不容易滋生细菌,有效避免交叉感染,且质地柔软、富有弹性,具有良好的柔韧性,可减轻插管时对患者造成的痛苦。 3D probe conduit 30 outside the printing apparatus is further provided with a disposable sheath polyurethane, with this new type of organic polymer materials, is not easy to breed bacteria, effectively prevent cross-infection, and the soft, flexible, has good flexibility, causing the patient during intubation reduce pain.

[0034] 如图4所示,在进行临床治疗时,病人局部或全身麻醉,将生物3D打印装置从口腔进入人体内,通过实时观测准确到达病患部位。 [0034] As shown, during clinical treatment, the patient local or general anesthetic, a biological 3D printing apparatus from the oral cavity into the body, reaching the disease site 4 through accurate real-time observation. 利用生物3D打印装置上的探测管道30搜集缺损信息,反馈到电脑进行数据处理。 At the detection pipe 30 on the 3D printing apparatus to collect a biological defect information, feedback to a computer for data processing. 在比对正常组织数据库后进行缺损部分3D建模。 3D modeling for defect portion in the database than to normal tissue. 在该实施例中,3D打印装置还包括不锈钢或高分子材料的引导丝,所述引导丝前端设有钝部,其后端设有持握部,所述引导丝的长度大于或等于管道的管道长度。 In this embodiment, 3D printing, the guide means further comprises stainless steel wire or a polymer material, said guide wire provided with a blunt distal end portion, a rear end which is provided with grip portions, the length of the guide wire is greater than or equal conduit pipe length. 在将3D打印装置导入人体的阶段,所述引导丝穿设于打印管道内,以引导打印管道进入患者待修复组织部位,待打印装置到位后,可去除引导丝再进行原位打印修复。 3D in the body of the printing apparatus introduction phase, the wire guide duct disposed through printing, to print the guide pipe into the part of the patient tissue to be repaired, until the printing apparatus in place, the guide wire then may be removed in situ repair printing. 在该实施例中,所述探测头为光纤探测头,其数据通道为光纤或数据连接线。 In this embodiment, the probe is a fiber optic probe, which is a fiber optic data channel or a data cable. 探测头将观察到的信息及时反馈,实现实时判断。 Probe observed information feedback, in real time is determined.

[0035] 如图5所示,在确定病患信息后根据缺损组织实际情况选择合适的打印介质,即包括细胞(如表皮细胞、平滑肌细胞)、生长因子、药物等组成的凝胶。 [0035] As shown in FIG 5, after determining the appropriate patient information selection according to the actual situation of the printing medium defective tissue, i.e., a gel composition comprising cells (e.g., epidermal cells, smooth muscle cells), growth factors, drugs and the like. 然后将打印管道伸入到组织修复处,通过实时调整打印管道20的位置将其置于缺损部位,将凝胶打印在缺损部位。 Then the print conduit extending into the tissue repair, by adjusting in real time the position of the print conduit 20 will be placed in a defect site, the gel was printed in the defect site. 治疗结束后,取出打印装置。 After treatment, remove the printing apparatus. 术后病人可当天出院。 Postoperative patients can be discharged the same day.

[0036] 实施例2治疗十二指肠穿孔 [0036] Example 2 Treatment duodenum

图8、图9为本实施例的生物3D打印装置的另一种实施方式。 Another embodiment of biological 3D printing apparatus in FIG. 8, FIG. 9 of the present embodiment. 与实施例1不同的是,本实施例中打印管道20内并没有设置引导丝,而是在第一管道主体10内设置有隔层50,所述隔层50将打印管道20与探测管道30隔离开。 Unlike Example 1, the embodiment of the present embodiment does not print conduit disposed within the guide wire 20, but is provided with a first compartment 50 in the body conduit 10, the spacers 20 and the conduit 50 will detect print conduit 30 isolated. 本实施例中的打印管道20与探测管道30是彼此独立且互相不受影响的,打印管道20可根据探测管道30所探测到的人体待修复组织的情况而进行较大范围的自行定位,也就是说,由于隔层50的设置使得打印管道20具有较大的自由度。 In this embodiment the probe 20 and the print conduit pipe 30 are independent from each other and each other is not affected, conduit 20 may be printed where the body tissue to be repaired in accordance with the detected probe conduit 30 to perform a wide range of self-positioning, but also That is, since the duct spacers 50 so that the print 20 has a large degree of freedom. 本实施例中的其它结构同实施例1。 Other structure of the Example 1 in the same embodiment.

[0037] 本发明提供的3D打印装置以第一管道主体为基础,在内部添加打印装置,以供体内原位打印;本发明将信息搜集和生物3D打印管道通过微创的方式送入人体,并通过第一管道主体与外部控制系统连接,实现体内原位修复;本装置将探测管道与打印管道并排设置在第一管道主体内,利用探测管道上设置的探测头对患者的病患部位进行定位与数据采集,该探测管道定位准确,插入时间短,减轻了插管对病人造成的痛苦;同时,本发明的3D打印装置为患者体内组织修复提供了一种新的治疗方式。 [0037] 3D printing apparatus according to the present invention provides a first conduit body, based on internally added in the printing apparatus for printing in vivo in situ; the present invention, the biological information gathering and 3D printing conduit into the body through a minimally invasive manner, body and connected by a first conduit and the external control system to achieve in-situ repair in vivo; this means the printing with the pipe-conduit disposed side by side within the first pipe body using the probe provided on the conduit for detecting a patient's disease site positioning and data acquisition, the detection conduit positioning accuracy, short insertion time, to alleviate the pain caused to the patient cannula; at the same time, fixes the body tissue of the patient to provide a new treatment modality 3D printing apparatus according to the present invention is.

Claims (10)

1.一种生物3D打印装置,其特征在于,所述3D打印装置包括内部设有打印管道和探测管道的第一管道主体,所述打印管道和探测管道并排设置;所述打印管道包括3D打印头和第二管道主体;所述第二管道主体内设有打印介质腔及在打印介质腔内活动的活塞;所述探测管道前端为探测头,后端为图像数据输出口,所述探测头和图像数据输出口通过数据通道连接;所述打印管道和探测管道从第一管道主体前端的出口伸出。 A biological 3D printing apparatus, wherein said printing means comprises a 3D duct internally provided with a first pipe body and pipe-printing, the printing and the pipe-conduit disposed side by side; 3D printing the print includes a conduit a second head and the body duct; a second duct body cavity and equipped with a print medium the print medium in the piston chamber activity; the detection probe conduit front end, a rear end of the image data output port, said probe and an image data output port is connected through the data channel; the printing and the pipe-conduit extending from the outlet of the first conduit distal end of the body.
2.根据权利要求1所述的生物3D打印装置,其特征在于,所述3D打印头与第二管道主体的连接方式为可拆卸连接。 2. Biological 3D printing apparatus according to claim 1, wherein the connection conduit 3D print head and the body of the second detachable connection.
3.根据权利要求1所述的生物3D打印装置,其特征在于,所述第二管道主体内壁上设有导轨,所述活塞沿所述导轨活动。 The biological 3D printing apparatus according to claim 1, wherein said rail is provided on the inner wall of the second pipe body, said piston along the guide rail activities.
4.根据权利要求1所述的生物3D打印装置,其特征在于,所述生物3D打印装置还包括用于控制活塞活动的动力传送装置。 4. The printing apparatus according to the biological 3D in claim 1, wherein said printing apparatus further comprising a biological 3D power transmitting means for controlling activities of the piston.
5.根据权利要求4所述的生物3D打印装置,其特征在于,所述动力传送装置为液压传送装置或气压传送装置。 5. Biological 3D printing apparatus according to claim 4, wherein said power transmitting means is a hydraulic or pneumatic conveying means conveying means.
6.根据权利要求1所述的生物3D打印装置,其特征在于,靠近所述第一管道主体前端的侧壁上设置有开口,使打印管道能通过所述开口。 6. Biological 3D printing apparatus according to claim 1, wherein the main body adjacent to the sidewalls of the first conduit distal end is provided with an opening, so that print through the duct opening.
7.根据权利要求1至6任一权利要求所述的生物3D打印装置,其特征在于,所述3D打印装置还包括引导丝,所述引导丝穿设于第一管道主体内。 The biological 3D printing apparatus according to any one of claims 1 to 6, characterized in that said apparatus further comprises a 3D print wire guide, the wire guide duct disposed through the first body as claimed in claim.
8.根据权利要求7所述的生物3D打印装置,其特征在于,所述弓I导丝前端设有钝部,其后端设有持握部,所述引导丝的长度大于或等于第一管道主体的长度。 Grip portion, the length of the guide wire is equal to or greater than 8. The first bio-3D printing apparatus according to claim 7, wherein said distal guidewire I bow portion is provided with a blunt, with its rear end length of the duct body.
9.根据权利要求1至6任一权利要求所述的生物3D打印装置,其特征在于,所述第一管道主体内还设置有隔层,所述隔层将打印管道与探测管道隔离。 According to claim 1 to 6, any one of claims biological 3D printing apparatus, wherein a further spacer provided within said first conduit body, the isolation barrier will print with the probe conduit pipe.
10.根据权利要求1至6任一权利要求所述的生物3D打印装置,其特征在于,所述3D打印装置的外部还设置有信息收集系统、打印系统和控制系统;所述信息收集系统设置有显示器,所述探测管道前端的探测头与所述显示器相连接;所述控制系统用于控制打印系统实现打印修复。 According to claim 1 to 6, any one of claims biological 3D printing apparatus, characterized in that, outside the 3D printing apparatus is also provided an information collecting system, the printing system and a control system; set the information collecting system a display, said display of said probe and probe head is connected to the leading end of the pipe; said control system for controlling the printing enables the printing system repair.
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