CN104688388B - Cartilage repair systems based on 3D printing technique and repair of cartilage method thereof - Google Patents
Cartilage repair systems based on 3D printing technique and repair of cartilage method thereof Download PDFInfo
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Abstract
The invention discloses a kind of cartilage repair systems based on 3D printing technique, belong to cartilage repair techniques field, the repair system of the present invention includes 3D print system and feeding system, described 3D print system includes having multivariant printing head and shower nozzle moves bar, and described printing head and shower nozzle move and be provided with the radial rotary structure that printing head can be made to rotate around mobile bar Axial and radial 360 ° between bar.The present invention is by having a multivariant scanner and printing head can carry out comprehensive scanning and printing in defect cartilage focus chamber, only can realize focal cartilage defect is carried out fast accurate reparation under the conditions of arthroscope Wicresoft, can significantly reduce wound, shorten treatment time, effectively alleviate patient suffering and economic pressures.
Description
Technical field
The invention belongs to cartilage repair techniques field, be specifically related to a kind of cartilage repair systems based on 3D printing technique and cartilage thereof
Restorative procedure.
Background technology
Articular cartilage defect clinic is common, and more than 60% patients with knee arthroscopy is with cartilage defect according to statistics, and wherein 42% is office
The degree of depth of stove hyaline cartilage defect, i.e. defect is less than calcified cartilage layer, and the area of defect is 2～4cm2Between[1].Due to thoroughly
Bright cartilage does not has blood vessel, nerve and lymphatic system, and natural repair ability is low, and the diameter defect more than 4mm is little to completely
Repair.If treated the most in time, damage increases the weight of continuing and causes arthritis, arthralgia swelling, deformity occurs.
For this type of cartilage defect, traditional therapeutic strategies is to use micro-fracture method to make marrow blood ooze out in art, utilizes in blood clot
Mescenchymal stem cell propagation, repair cartilage defect, but ultimately form is the poor fibrocartilage of wearability.Along with tissue work
The fast development of journey technology, Autologous Chondrocyte implantation technique is gradually at clinical application, but this technology needs autologous cartilage
Cell carries out amplification in vitro, and then second operation is implanted；Owing in vitro culture is difficult to simulate in body microenvironment, especially lack machine
The immune monitoring of body, the cartilage cell of implantation generally has occurred and that phenotypic alternation, and the repair tissue therefore ultimately formed no matter
Structurally or all there is essential difference with natural cartilage on composition, it is difficult to guarantee its long-term effectiveness treated.
For the problems referred to above, on the basis of Injectable tissue engineering cartilage is studied by early stage, enter in conjunction with domestic and international current research
Exhibition, it is proposed that " apply autologous BMSCs to be combined fabrication of cartilage colloidal sol matrix and build organizational project in 3 D-printing (3DP) mode
Cartilage " New Policy so that it is there is the dissection profile matched to defect and the similar interior spatial structure of natural cartilage, to reality
The existing bionic structure of repair tissue, composition be bionical and function bionics.Fabrication of cartilage matrix colloidal sol is identical with natural cartilage matrix components,
There is good biocompatibility；Autologous BMSCs has stronger multiplication capacity and to Chondrocyte Differentiation potential；3D biology is beaten
Technology can realize tissue engineering bone/cartilage to be had natural cartilage characteristics of organizational structure (the dissection profile and the cartilage that match with defect is thin
The distinctive space distribution rule of born of the same parents)；The BMSCs being fixed in gel in articular cavity cartilage microenvironment under the effect of chemical factors,
Propagation, differentiating cartilage-forming cell, secrete specific cartilage extracellular matrix, thus regenerate formation high-quality articular cartilage.
Therefore, it is necessary to work out a kind of new cartilage repair systems and repair of cartilage method, only under the conditions of arthroscope Wicresoft i.e.
Can realize focal cartilage defect is carried out fast accurate reparation, can significantly reduce wound, shorten treatment time, effectively alleviate
Patient suffering and economic pressures.
Summary of the invention
In view of this, the invention provides cartilage repair systems based on 3D printing technique and repair of cartilage method thereof, overcome existing
Treatment cycle length and the problem of potential safety hazard with the presence of technology.
An object of the present invention is achieved through the following technical solutions:
Cartilage repair systems based on 3D printing technique, including 3D print system and feeding system,
Described 3D print system includes having multivariant printing head and shower nozzle moves bar, and described printing head moves with shower nozzle
Being provided with the radial rotary structure that printing head can be made to rotate around mobile bar Axial and radial 360 ° between lever, described radial rotary is tied
Structure includes moving the vertical rotating shaft of bar with shower nozzle and being arranged at the miniature stepping power supply of roller end, and described rotating shaft is sprayed with printing respectively
Head and shower nozzle move bar and connect, and wherein, are connected for fixing with printing head, move bar for being rotatably connected with shower nozzle, described beat
The exit of print shower nozzle is provided with and cartilage defect can carry out 3D scanner that 360 ° of spaces scan and can enter print state
The camera of row real-time tracking；
Described feeding system includes charge box and pipeline power set, the institute providing the supply lines of printed material to connect with feed
Stating supply lines to connect with the type channel of printing head, described pipeline power set include for extruding supply lines air exercise printed material
Material produces the electromagnetic throttle valve that the peristaltic pump of driving force is controlled, the type channel of described printing head with air exercise print flow of material
Inside it is provided with the booster that printed material supercharging can be formed spurting.
Further, also include hydraulic system, described hydraulic system to include with shower nozzle moving realized printing head that bar is connected many from
The hydraulic oil closed circuit that the compound motion executive component moved by degree connects with compound motion executive component, and transport for compound
Dynamic executive component provides the hydraulic pump of hydraulic-driven power, and described compound motion executive component includes moving bar with shower nozzle to be fixed and be connected
Can drive the second hydraulic cylinder that its first hydraulic cylinder moved up and down and the first hydraulic cylinder be rotatably connected, respectively with the first hydraulic pressure
The 3rd hydraulic cylinder that cylinder and the second hydraulic cylinder are rotatably connected and the 4th hydraulic cylinder being rotatably connected with the second hydraulic cylinder.
Further, the external part of described first hydraulic cylinder piston is provided with the piston hole with piston coaxial, arranges in described piston hole
Having and make shower nozzle move the bar axial-rotation mechanisms around the 360 ° of rotations of work of piston axial direction, described axial-rotation mechanism includes arranging
Move bearing between bar at piston and shower nozzle and be arranged on shower nozzle and move boom end and carry out rotating the miniature stepping power supply driven.
Further, described hydraulic oil closed circuit includes the automatically controlled flow valve for regulating hydraulic fluid flow rate, for storing hydraulic oil
Oil sump, described oil sump connects with peristaltic pump.
Further, also include that control system, described control system include information receiving system, analysis process system, and air exercise
The display that print program or operational order or print state are monitored in real time, described information receiving system is connected with 3D scanner, institute
State analysis process system to be connected with printing head, electromagnetic throttle valve, automatically controlled flow valve, hydraulic oil pump and peristaltic pump.
Further, also include for 3D print system, feeding system, hydraulic system, the power supply system of control system offer driving force
System.
Further, also including the pedestal with at least two chambers, described second hydraulic cylinder, the 4th hydraulic cylinder are hinged on pedestal
On, described oil sump, power-supply system are deposited in two chambers respectively.
The two of the purpose of the present invention are achieved through the following technical solutions:
Using the repair of cartilage method of cartilage repair systems based on 3D printing technique as mentioned above, its concrete operation step is:
1) 3D printer model is generated: by compound motion executive component, move to defect soft by 3D printing head from equipment initial point
In osteopathy stove chamber, under the common effect of compound motion executive component and rotating mechanism, by being arranged on printing head
3D scanner defect cartilage focus inner chamber is carried out comprehensive scanning, and spatial coordinated information be sent to information connect
Receipts system generates defect cartilage 3D printer model；
2) print routine is generated: the digital information of defect cartilage 3D printer model is sent to analyzing and processing system by information receiving system
System, generates 3D print routine through analysis process system denoising；
3) program debugging: 3D print routine is checked and debugs, confirm errorless after assign print command, otherwise, repeat
Step 2) or 1), 2)；
4) print procedure: under the common effect of compound motion executive component and rotating mechanism, 3D print system, feeding system,
Hydraulic system performs print routine；
5) printing after having performed print routine and terminate, each print member returns to specify initial point.
Further, step 4) in, also include the process that by camera, print state is carried out real-time tracking monitoring.
Further, step 4) in, printing type prints for layering, and every layer of print thickness is 0.2mm.
The invention has the beneficial effects as follows:
The present invention by there is multivariant scanner and printing head can carry out in defect cartilage focus chamber comprehensive scan and
Printing, only Wicresoft's focus surface achieves that the reparation to defect cartilage, and is not required to producing and cultivating of chondroconia, can be significantly
Shorten treatment cycle and reduce treatment cost, being conducive to alleviating the ailing of patient and torment and economic pressures.
Other advantages, target and the feature of the present invention will be illustrated to a certain extent in the following description, and
To a certain extent, will be apparent to those skilled in the art based on to investigating hereafter, or can
To be instructed from the practice of the present invention.The target of the present invention and other advantages can be realized by description below
And acquisition.
Accompanying drawing explanation
In order to make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing, the present invention is made into one
The detailed description of step, wherein:
Fig. 1 is the structural representation of present invention cartilage repair systems based on 3D printing technique；
Fig. 2 is the partial enlarged drawing of present invention cartilage repair systems based on 3D printing technique.
Reference: 1-defect cartilage focus chamber；2-printing head；3-shower nozzle moves bar；4-radial rotary mechanism；401-rotating shaft；
402-miniature stepping power supply I；5-3D scanner；6-camera；7-supply lines；8-pipeline power set；801-peristaltic pump；
802 electromagnetic throttle valves；9-compound motion executive component；901-the first hydraulic cylinder；902-the second hydraulic cylinder；903-the 3rd hydraulic cylinder；
904-the 4th hydraulic cylinder；10-hydraulic oil closed circuit；11-hydraulic pump；The automatically controlled flow valve of 12-；13-oil sump；14-piston hole；15-
Axial-rotation mechanism；151-bearing；152-miniature stepping power supply II；16-information receiving system；17-analysis process system；18-
Display；19-power-supply system；20-pedestal；21-charge box；22-booster.
Detailed description of the invention
Hereinafter with reference to accompanying drawing, the preferred embodiments of the present invention are described in detail.Should be appreciated that preferred embodiment
Only for the explanation present invention rather than in order to limit the scope of the invention.
As shown in Figures 1 and 2, the present embodiment cartilage repair systems based on 3D printing technique, including 3D print system and confession
Material system, described 3D print system includes having multivariant printing head 1 and shower nozzle moves bar 2, described printing head 1
And shower nozzle moves and is provided with the radial rotary structure that printing head can be made to rotate around mobile bar Axial and radial 360 ° between bar 2, described
Radial rotary structure includes moving the vertical rotating shaft of bar 23 with shower nozzle and being arranged at the miniature stepping power supply I 4 of rotating shaft 3 end, institute
State rotating shaft 3 to move bar 2 with printing head 1 and shower nozzle respectively and be connected, wherein, be connected, with shower nozzle for fixing with printing head 1
Mobile bar 2 is for being rotatably connected, and the present embodiment is ball bearing or cylindrical bearing connection, makes the motion of printing head 1 and rotating shaft 2
Unanimously, can move bar 2 relative to shower nozzle and make 3 rotation rotated around the shaft, the exit of described printing head 1 is provided with can be right
Cartilage defect carries out the 3D scanner 5 that 360 ° of spaces scan and the camera 6 that print state can carry out real-time tracking；
Described feeding system includes charge box 21 and the pipeline power set providing the supply lines 7 of printed material to connect with feed
8, the printed material of the present embodiment is stem cell, and described supply lines 7 connects with the i.e. stem cell passage of type channel of printing head 1
Logical, described pipeline power set 8 include peristaltic pump 801 and the air exercise that printed material produces driving force for extruding supply lines
The electromagnetic throttle valve 802 that print flow of material is controlled, being provided with in the type channel of described printing head 1 can be by printed material
Supercharging forms the booster 22 of spurting, can increase the tight ness rating after printing, improves the power of regeneration of stem cell.
Level cartilage defect space can be printed, scan and follow the tracks of by radial rotary structure by the present embodiment, meanwhile,
When shower nozzle move bar move up and down time, drive on the 3D scanner on printing head 1 and printing head 1 and camera also make
Lower motion, it is achieved the space of differing heights is printed, scans and follows the tracks of.
In the present embodiment, also include hydraulic system, described hydraulic system to include with shower nozzle and move the realized printing spray that bar is connected
The hydraulic oil closed circuit 10 that the compound motion executive component 9 of head multifreedom motion connects with compound motion executive component 9,
And provide the hydraulic pump 11 of hydraulic-driven power, described compound motion executive component 9 to include and spray for compound motion executive component 9
Fixing its first hydraulic cylinder 901 moved up and down that drives connected of the mobile bar of head 2 is rotatably connected with the first hydraulic cylinder 901
The second hydraulic cylinder 902, the 3rd hydraulic cylinder 903 that is rotatably connected with the first hydraulic cylinder 901 and the second hydraulic cylinder 902 respectively
And the 4th hydraulic cylinder 904 being rotatably connected with the second hydraulic cylinder 902, by compound motion executive component 9, shower nozzle can be moved
Bar 2 performs multifreedom motion, including around, up and down linear motion and around the first hydraulic cylinder 901 Plane Rotation transport
Dynamic, making shower nozzle move bar 2 can enter in defect cartilage focus chamber 1 from any direction in space, and described hydraulic oil closed circuit 10 wraps
Include the automatically controlled flow valve 12 for regulating hydraulic fluid flow rate, for storing the oil sump 13 of hydraulic oil, described oil sump 13 and peristaltic pump
801 connections.
In the present embodiment, the external part of described first hydraulic cylinder 901 piston is provided with the piston hole 14 with piston coaxial, described
It is provided with in piston hole 14 and makes shower nozzle move bar 2 around 360 ° of axial-rotation mechanisms 15 rotated of piston axial direction work, described axle
Include being arranged on piston to rotating mechanism 16 and bearing 151 that shower nozzle moves between bar 2 and be arranged on shower nozzle and move bar 2 end and enter
Row rotates the miniature stepping power supply II 152 driven, and by the piston hole 14 being coaxially disposed, shower nozzle can be made to move bar 2 same with piston
Axle, makes the shower nozzle in entrance defect cartilage focus chamber 1 move bar 2 less, and Ye Shi Wicresoft wound is less, is also beneficial to reduce whole
The volume of individual print system, alleviates its quality, can realize shower nozzle by arranging axial-rotation mechanism 15 to move bar 2 axial with piston
The rotation in direction, makes shower nozzle move bar 2 and drives printing head 1 arbitrarily to rotate in level cartilage defect space, make printing,
Scan and follow the tracks of without dead angle, better.
As the improvement of the present embodiment, also include that control system, described control system include information receiving system 16, analyzing and processing
System 17, and the display 18 that print routine or operational order or print state are monitored in real time, described information receiving system
16 are connected with 3D scanner 5, described analysis process system 17 and printing head 1, electromagnetic throttle valve 802, automatically controlled flow valve
12, hydraulic pump 11 and peristaltic pump 801 connect.Can be realized scanning process, print procedure and print state by control system
The omnidistance intelligent and automation of real-time tracking, makes cartilaginous repair processes more accurate, controlled and in hgher efficiency.
As the improvement of the present embodiment, also include providing drive for 3D print system, feeding system, hydraulic system, control system
The power-supply system 19 of power.
As the improvement of the present embodiment, also include the pedestal 20 with at least two chambers, described second hydraulic cylinder, the 4th liquid
Cylinder pressure is hinged on pedestal 20, and described oil sump 13, power-supply system 19 are deposited in two chambers respectively, make whole system more whole
Clean, specification, advantageously reduces the risk of operational error.
The two of the purpose of the present invention are achieved through the following technical solutions:
Using the repair of cartilage method of cartilage repair systems based on 3D printing technique as mentioned above, its concrete operation step is:
1) 3D printer model is generated: by compound motion executive component, moved to defect from equipment initial point by 3D printing head
In cartilage focus chamber, under the common effect of compound motion executive component and rotating mechanism, by being arranged on printing spray
3D scanner on head carries out comprehensive scanning to defect cartilage focus inner chamber, and compound motion executive component performs compound
Linear motion, rotating mechanism rotates, and controls 3D scanner and makees straight line and rotation at defect cartilage focus inner chamber
Motion, thus realize multifreedom motion, defect cartilage focus inner chamber milli exhaustively panorama is scanned, makes printing
Model is more accurate, and spatial coordinated information is sent to information receiving system generation defect cartilage 3D printer model；By
In only need to print mobile bar and printing head put in cartilage focus chamber in just can implement to scan and print, it is only necessary in defect
Cartilage surface opens an osculum, passes through for printing mobile bar, the most only needs original opening, the most right
Patient brings new wound, makes patient be more easy to recover.
2) print routine is generated: the digital information of defect cartilage 3D printer model is sent to analyzing and processing system by information receiving system
System, generates 3D print routine through analysis process system denoising；
3) program debugging: 3D print routine is checked and debugs, confirm errorless after assign print command, otherwise, repeat
Step 2) or 1), 2)；In checking, find that 3D printer model is the most right, need to again scan defect cartilage, i.e. want
Repeat step 1), 2)；When only discovery procedure is the most right, only repeat step 2).
4) print procedure: under the common effect of compound motion executive component and rotating mechanism, 3D print system, feeding system,
Hydraulic system performs print routine；
5) printing after having performed print routine and terminate, each print member returns to specify initial point.
As the improvement of the present embodiment, step 4) in, also include the mistake that by camera, print state is carried out real-time tracking monitoring
Journey, can find the mistake in print procedure in time, and correct in time.
As the improvement of the present embodiment, step 4) in, printing type prints for layering, and every layer of print thickness is 30-200um, tool
Body thickness needs to adapt with printing environment, and the present embodiment is preferably 150um, makes the stem cell of printing be more evenly distributed and fine and close,
Power of regeneration is strengthened.
It is many that the present embodiment makes cartilage repair systems have by radial rotary structure, axial-rotation structure and compound motion executive component
The scanner of the free degree and printing head can in defect cartilage focus chamber any direction carry out comprehensive scanning, print and in real time with
Track, only Wicresoft's focus surface achieve that the reparation to defect cartilage, and are not required to producing and cultivating of chondroconia, can significantly contract
Short treatment cycle and minimizing treatment cost, be conducive to alleviating the ailing of patient and torment and economic pressures.
Finally illustrating, above example is only in order to illustrate technical scheme and unrestricted, although with reference to preferably
The present invention has been described in detail by embodiment, it will be understood by those within the art that, can be to the skill of the present invention
Art scheme is modified or equivalent, and without deviating from objective and the scope of the technical program, it all should be contained at this
In the middle of bright right.
Claims (6)
1. cartilage repair systems based on 3D printing technique, including 3D print system and feeding system, it is characterised in that: described
3D print system includes having multivariant printing head and shower nozzle moves bar, and described printing head and shower nozzle move between bar
Be provided with the radial rotary structure that printing head can be made to rotate around mobile bar Axial and radial 360 °, described radial rotary structure include with
Shower nozzle moves the vertical rotating shaft of bar and is arranged at the miniature stepping power supply of roller end, described rotating shaft respectively with printing head and spray
The mobile bar of head connects, and wherein, is connected for fixing with printing head, moves bar for being rotatably connected with shower nozzle, described printing head
Exit be provided with and cartilage defect can be carried out 3D scanner that 360 ° of spaces scan and print state can be carried out reality
Time follow the tracks of camera；Described feeding system includes charge box and the pipe providing the supply lines of printed material to connect with feed
Road power set, described supply lines connects with the type channel of printing head, and described pipeline power set include for extruding
Supply lines produces the electromagnetic throttle valve that the peristaltic pump of driving force is controlled with air exercise print flow of material to printed material, described
The booster that printed material supercharging can be formed spurting it is provided with in the type channel of printing head.
Cartilage repair systems based on 3D printing technique the most according to claim 1, it is characterised in that: also include hydraulic pressure system
System, described hydraulic system includes that the compound motion moving the realized printing head multifreedom motion that bar is connected with shower nozzle performs
The hydraulic oil closed circuit that element connects with compound motion executive component, and provide hydraulic pressure to drive for compound motion executive component
The hydraulic pump of power, described compound motion executive component include moving with shower nozzle bar fix be connected drive it to move up and down
The second hydraulic cylinder that first hydraulic cylinder and the first hydraulic cylinder are rotatably connected, respectively can with the first hydraulic cylinder and the second hydraulic cylinder
The 3rd hydraulic cylinder being rotationally connected and the 4th hydraulic cylinder being rotatably connected with the second hydraulic cylinder.
Cartilage repair systems based on 3D printing technique the most according to claim 2, it is characterised in that: described first hydraulic pressure
The external part of cylinder piston is provided with the piston hole with piston coaxial, is provided with and makes shower nozzle move bar around piston shaft in described piston hole
Make 360 ° of axial-rotation mechanisms rotated to direction, described axial-rotation mechanism includes being arranged on piston and shower nozzle moves between bar
Bearing and be arranged on shower nozzle move boom end carry out rotate drive miniature stepping power supply.
Cartilage repair systems based on 3D printing technique the most according to claim 2, it is characterised in that: described hydraulic oil follows
Loop back path includes the automatically controlled flow valve for regulating hydraulic fluid flow rate, for storing the oil sump of hydraulic oil.
Cartilage repair systems based on 3D printing technique the most according to claim 4, it is characterised in that: also include controlling system
System, described control system includes information receiving system, analysis process system, and to print routine or operational order or print shape
The display that state is monitored in real time, described information receiving system is connected with 3D scanner, described analysis process system and printing head,
Electromagnetic throttle valve, automatically controlled flow valve, hydraulic pump and peristaltic pump connect.
Cartilage repair systems based on 3D printing technique the most according to claim 1, it is characterised in that: also include beating for 3D
Print system, feeding system, hydraulic system, control system provide the power-supply system of driving force.
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| CN108788158A (en) * | 2018-08-28 | 2018-11-13 | 铜仁市人民医院 | A kind of hyperbaric oxygen chamber 3D printing equipment |
| US11964074B2 (en) | 2019-12-17 | 2024-04-23 | Warsaw Orthopedic, Inc. | Additive-manufactured non-woven fibrous implants, systems, and related methods |
| US11523909B2 (en) | 2019-12-17 | 2022-12-13 | Warsaw Orthopedic, Inc. | In-situ additive implants |
| US12029654B2 (en) | 2019-12-17 | 2024-07-09 | Warsaw Orthopedic, Inc. | In-situ additive manufactured motion-sparing implants |
| US11903846B2 (en) | 2019-12-17 | 2024-02-20 | Warsaw Orthopedic, Inc. | In-situ additive expandable implants |
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| CN112976581A (en) * | 2021-04-08 | 2021-06-18 | 重庆大学 | Trajectory planning method based on multi-axis cartilage repair |
| CN113274172A (en) * | 2021-04-29 | 2021-08-20 | 重庆大学 | Multi-view fusion-based cartilage repair operation robot platform system |
| CN113499170B (en) * | 2021-07-09 | 2023-12-22 | 中国人民解放军陆军军医大学第一附属医院 | Articular cavity cartilage 3D printing unit and printing equipment thereof |
| CN113927696A (en) * | 2021-08-30 | 2022-01-14 | 广东电网有限责任公司广州供电局 | Sand table 3D printer |
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