CN107028681B - A kind of 3D printing device and method of tissue engineering bracket - Google Patents
A kind of 3D printing device and method of tissue engineering bracket Download PDFInfo
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- CN107028681B CN107028681B CN201710233769.1A CN201710233769A CN107028681B CN 107028681 B CN107028681 B CN 107028681B CN 201710233769 A CN201710233769 A CN 201710233769A CN 107028681 B CN107028681 B CN 107028681B
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- engineering bracket
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y10/00—Processes of additive manufacturing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2240/00—Manufacturing or designing of prostheses classified in groups A61F2/00 - A61F2/26 or A61F2/82 or A61F9/00 or A61F11/00 or subgroups thereof
- A61F2240/001—Designing or manufacturing processes
Abstract
The invention discloses a kind of 3D printing device and methods of tissue engineering bracket, including print module, spray module, cell implant module, print platform and temperature control module；The print module is the extruding printing equipment with one or more ejecting devices, the tissue engineering bracket for having three-dimensional macro structure for squeezing printing shaping；The spray module is the spray equipment with one or more nozzles, for forming the tissue engineering bracket with two-dimentional macrostructure；The cell implant module is the inkjet-printing device with one or more nozzles, and cell corresponding with tissue engineering bracket and growth factor implantation are completed for spraying the microlayer model containing seed cell；The print platform is located at the lower section of the print module, and the tissue engineering bracket takes shape on the print platform；The temperature control module is for providing the printing environment of temperature-controllable.The present invention is able to achieve with multiple material, kinds of processes disposal molding labyrinth tissue engineering bracket.
Description
Technical field
The present invention relates to a kind of 3D printing device and methods of tissue engineering bracket.
Background technique
The reason of tissue defect includes congenital abnormality, wound, operation etc., though it can be because of the ability of human body self-regeneration
Limited reparation is completed, but major part needs to be repaired by other methods.The rejection ability of human body leads to allosome heterograft
Repairing with synthetic material often has limitation, needs to be repaired by autotransplantation.But autotransplantation operation often or
The course of disease is tediously long, brings huge pain and heavy financial burden for patient；Or, operating difficulty height, wind big to patient's short-term impairment
Danger is high, often has to using conservative treatments such as amputation.
Organizational project is one and combined with cell biology and material science, construct in vitro or in vivo tissue or
The new branch of science of organ.Organizational project implantation material can realize self degradation in vivo, and realize original group by stem cells hyperplasia
The reconstruction of structure and function is knitted, it is smaller to injury of human, it is a kind of medical procedure with development prospect.
Using 3D printing as the increases material manufacturing technology of representative, manufactured stacking rather than by way of removal material, and can
Under the control management of computer, manufactured with complex shape according to the CAD model of part by the accurate accumulation of material
Prototype or part.Based on this shape and the freedom and flexibility that control, increases material manufacturing technology is in individual character manufacturing direction
With outstanding advantage, including the manufacture of prototype, mold, biological field etc., the more material increasing material manufacturings controlled by computer,
May be implemented multiple groups knit, at many levels, cell-scaffold it is compound labyrinth tissue engineering bracket manufacture.
Wherein, existing patent document such as CN201510096765, CN201410745606, CN201410030653 etc., it is public
The compound labyrinth tissue engineering bracket manufacture of a variety of hydrogel composite material manufacture cell-scaffolds is opened, but manufactured
Often quality is softer, mechanical strength is lower for bracket, can not achieve the co-manufactured of the mechanical supports tissue such as bone, and partial monopoly is deposited
It is more in process flow, the case where cannot disposably manufacturing；CN201410219481,CN201410205103,
The patent documents such as CN201510808069 then disclose labyrinth organization modeling and model manufacturing based on 3D printing, manufactured
Model structure emulation, but ingredient does not have transplantable biological nature, is chiefly used in carrying out observation in vitro and experiment.
Organizational project is to be related to the interleaving techniques in the multidisciplinary field such as biology, medicine, material, manufacture.Its bracket manufactures work
Skill is to support the basic technology of experimental exploring and clinical application, and have more complicated structure, Property requirements, including non-linear
Mechanical strength, higher biocompatibility, suitable degradation rate, and the high hole for promoting nutrient delivery and cell to grow into
Rate etc..Currently, the bracket manufacturing process in experiment often concentrates on a kind of or a few tissue manufacture, manufactured bracket
Often structure is simple, shape is single, it is difficult to which realizing has free shape, a variety of or even whole stitch combinations labyrinth brackets
Manufacture.Particularly, bone tissue often requires to use the materials systems such as ceramics, metal as a kind of support construction that mechanical strength is high
It makes, temperature height, time are long in manufacturing process, it is difficult to disposably be manufactured jointly with its hetero-organization.
Summary of the invention
It is a primary object of the present invention to overcome the deficiencies of the prior art and provide a kind of 3D printing dress of tissue engineering bracket
It sets and method, is able to achieve with multiple material, kinds of processes disposal molding labyrinth tissue engineering bracket.
To achieve the above object, the present invention uses following technical scheme：
A kind of 3D printing device of tissue engineering bracket, including print module, spray module, cell implant module, printing
Platform and temperature control module；The print module is the extruding printing equipment with one or more ejecting devices, is beaten for squeezing
It is printed as the tissue engineering bracket that type has three-dimensional macro structure；The spray module is the spraying dress with one or more nozzles
It sets, for forming the tissue engineering bracket with two-dimentional macrostructure；The cell implant module is to spray with one or more
The inkjet-printing device of mouth completes cell corresponding with tissue engineering bracket for spraying the microlayer model containing seed cell
It is implanted into growth factor；The print platform is located at the lower section of the print module, and the tissue engineering bracket takes shape in described
On print platform；The temperature control module is for providing the printing environment of temperature-controllable.
Further：
The tissue engineering bracket with three-dimensional macro structure includes in bone, cartilage, blood vessel, neural network and soft tissue
It is one or more, the tissue engineering bracket with two-dimentional macrostructure includes one of periosteum and skin or a variety of.
The spray equipment is point spraying, face spraying or electrostatic spinning spray equipment.
The print module includes and being arranged to the print machinery for controlling the cephalomotor print machinery arm of the spray
Arm is arranged to have at least four freedom degrees relative to the print platform, be the print machinery arm respectively along horizontal X-axis,
The one-movement-freedom-degree and revolve about the z axis that two one-movement-freedom-degrees and the print platform of Y-axis translation are translated along vertical Z axis
The rotary freedom turned；Preferably, the print machinery arm also has the rotary freedom there are two different directions.
The print module further includes jet nozzle, and multiple ejecting devices are placed on the jet nozzle of the print module, by institute
The crawl of print machinery arm is stated to use.
The spray module is placed in print platform area side, and the nozzle of the spray module is along perpendicular to the print platform
Z axis be in centripetal array arrangement, and there are the translation freedoms flexible along spraying direction.
The inkjet-printing device is attached on the print machinery arm or the inkjet-printing device is placed in described beat
It on the jet nozzle of impression block, is grabbed and is used by the print machinery arm, it is preferable that the inkjet-printing device has close to human body
The heat preservation temperature control device of temperature, and there is the single spray head or array spray head of point ejection function.
The ejecting device has the inlet of connection feed liquor runner, is provided with inlet loose-leaf, institute on the inlet
It states and is configured between jet nozzle, the ejecting device and the inlet：When the ejecting device is removed from the jet nozzle
Or when being printed by print machinery arm crawl, the inlet is closed by the inlet loose-leaf；When the ejecting device is set
When the jet nozzle, the ejecting device touches the inlet loose-leaf and opens, and material is allowed to inject the ejecting device；It is excellent
Selection of land, the inlet connects multiple feed liquor runners, is provided with mixer for liquid in the ejecting device, for that will come from different feed liquors
The material of runner stirs evenly, it is highly preferred that the mixer for liquid is by described when the ejecting device is placed on the jet nozzle
Power supply contact driving on jet nozzle, when the ejecting device is clamped by the print machinery arm, the mixer for liquid is beaten by described
Print the power supply contact driving on mechanical arm.
The temperature control module includes the combination of integrated environment temperature control device or local environment temperature control device or both；It is excellent
Selection of land, the local environment temperature control device is by cold air fixed point injection to realize fast cooling needed for the printing technology of part
It is cooling, it is highly preferred that the local environment temperature control device includes the cold wind outlet being set on the print machinery arm；It is preferred that
Ground, the integrated environment temperature control device include the pneumatics refrigeration machine being set to below the print platform.
A kind of 3D printing method of tissue engineering bracket, it is disposable using the 3D printing device of the tissue engineering bracket
Form labyrinth tissue engineering bracket, it is preferable that the labyrinth includes the structure with bionical mechanical strength, a variety of groups
The implantation of co-manufactured, cell and the growth factor knitted；Preferably, using one or more expendable materials, by sacrificial after printing
The selective removal of domestic animal material is to realize the printing of predetermined structure.
Beneficial effects of the present invention：
The present invention proposes a kind of 3D printing device and method for capableing of disposal molding labyrinth tissue engineering bracket, benefit
Free shape and accurate control with 3D printing, and bond material selection and printing mechanism design, realizing has bionical mechanics strong
The labyrinth tissue engineering bracket manufacture of degree, more stitch combinations and good biological characteristic, and can auxiliary cell and growth factor
Implantation, for organizational project bracket manufacture a kind of multifunctional platform with integration and flexibility is provided.
The present invention realize knitted with multiple groups, complicated shape, comprehensive mechanics and biological property demand labyrinth tissue
Engineering rack disposably manufactures, and manufactured tissue engineering bracket structure composition is reasonable, and inside each component and the mechanics at interface is strong
Degree is more outstanding, and has the advantages that the flexibility of 3D printing technique, accuracy, bracket macroscopic view, microstructure may be implemented, especially
It is the qualitative, quantitative optimization of this important parameter of porosity.This, which has filled up the prior art and is difficult to disposal molding multiple groups, knits branch
Frame is especially difficult to jointly print bone tissue and its hetero-organization, and substep manufacture efficiency is lower, and manufacturing process is unstable to be lacked
Regret has important application prospect in the clinical treatment field of extensive tissue defect.
The present invention is based on more spray head 3D printing techniques and spraying technology, can under the control of the computer disposal molding have it is more
Tissue, excellent mechanical performances, cell and growth factor implantation tissue engineering bracket, there is stronger manufacturing capacity and higher
The accuracy of manufacture.It prints obtained tissue engineering bracket and integrally has good mechanical property, certain biocompatibility and reliable
Internal degradation capability.
Detailed description of the invention
Fig. 1 is the 3D printing environment overview diagram of 3D printing Installation practice of the present invention.
Fig. 2 is the module graduation figure of the 3D printing environment of embodiment.
Fig. 3 is the kinematic axis schematic diagram of the 3D printing environment of embodiment.
Fig. 4 is the Local map of the print module of embodiment.
Fig. 5 is the print module feed liquor of embodiment, mixed liquid schematic diagram.
Fig. 6 is the schematic diagram of the spray module of embodiment.
Fig. 7 is the cell implant module of embodiment and the schematic diagram of temperature control module.
Fig. 8 is that the expendable material of embodiment and longer thin neck spray head application examples are illustrated.
Specific embodiment
It elaborates below to embodiments of the present invention.It is emphasized that following the description is only exemplary,
The range and its application being not intended to be limiting of the invention.
Refering to fig. 1 to Fig. 8, in one embodiment, a kind of 3D printing device of tissue engineering bracket, including print module
201, spray module 202, cell implant module 203a, 203b, print platform 303 and temperature control module；The print module 201 is
Extruding printing equipment with one or more ejecting devices 403, the group that there is three-dimensional macro structure for squeezing printing shaping
Weaver's engineering support；The spray module 202 is the spray equipment with one or more nozzles, has two dimension macroscopic view for forming
The tissue engineering bracket of structure；Described cell implant module 203a, 203b are the inkjet printing dress with one or more nozzles
It sets, cell corresponding with tissue engineering bracket is completed for spraying the microlayer model containing seed cell and growth factor is planted
Enter；The print platform 303 is located at the lower section of the print module 201, and it is flat that the tissue engineering bracket takes shape in the printing
On platform 303；The temperature control module is for providing the printing environment of temperature-controllable.
In a preferred embodiment, the tissue engineering bracket with three-dimensional macro structure includes bone, cartilage, blood vessel, mind
Through one of network and soft tissue or a variety of, the tissue engineering bracket with two-dimentional macrostructure includes periosteum and skin
One of or it is a variety of.
In a preferred embodiment, the spray equipment can be point spraying, face spraying or electrostatic spinning spray equipment.
In a preferred embodiment, the print module 201 includes for controlling the cephalomotor print machinery arm of spray
301, and it is arranged to the print machinery arm 301 relative to the print platform 303 at least four freedom degrees, it is institute respectively
Print machinery arm 301 is stated along horizontal X-axis, two one-movement-freedom-degrees of Y-axis translation and the print platform 303 along vertical Z
The one-movement-freedom-degree of axis translation and the rotary freedom rotated about the z axis.Wherein, three translation freedoms realize print module
The basic function of spray module is realized in basic function, translation, two freedom degrees of rotation and the cooperation of spray module 202 of Z axis.It is more excellent
Selection of land, the print machinery arm 301 also has the rotary freedom there are two different directions, it can be achieved that six degree of freedom omnidirection prints
Function.
In a preferred embodiment, the print module 201 further includes jet nozzle, and multiple ejecting devices 403 are placed in described beat
On the jet nozzle of impression block 201, is grabbed and used by the print machinery arm 301.
In a preferred embodiment, the spray module 202 is placed in print platform area side, the spray of the spray module 202
Mouth is in centripetal array arrangement along the Z axis perpendicular to the print platform 303, and has the translation flexible along spraying direction free
Degree.The translation freedoms and the print platform 303 cooperate in the translation in z-axis direction and rotary freedom, it can be achieved that column is sat
Mark Three Degree Of Freedom freely sprays.
In a preferred embodiment, the inkjet-printing device is attached on the print machinery arm 301 or the ink-jet
Printing equipment is placed on the jet nozzle 402 of the print module 201, is grabbed and is used by the print machinery arm 301, it is preferable that
The inkjet-printing device has the heat preservation temperature control device close to human body temperature, and has the single spray head or battle array of point ejection function
Column spray head.
In a preferred embodiment, the ejecting device 403 has inlet 501a, 501b of connection feed liquor runner, described
It is provided with inlet loose-leaf 502 on inlet, the jet nozzle 402, the ejecting device 403 and the inlet 501a,
It is configured between 501b：When the ejecting device 403 is removed from the jet nozzle 402 or is grabbed by the print machinery arm 301
When taking printing, the inlet is closed by the inlet loose-leaf；When the ejecting device 403 is placed in the jet nozzle, institute
It states ejecting device 403 and touches the inlet loose-leaf opening, material is allowed to inject the ejecting device 403；Preferably, it is described into
Liquid mouth connects multiple feed liquor runner 503a, 503b, is provided with mixer for liquid in the ejecting device 403, for will from it is different into
The material in liquid stream road stirs evenly, it is highly preferred that when the ejecting device 403 is placed on the jet nozzle, the mixer for liquid
It is described mixed when the ejecting device 403 is clamped by the print machinery arm 301 by the power supply contact driving on the jet nozzle
Liquid device is driven by the power supply contact on the print machinery arm 301.
In a preferred embodiment, the temperature control module include integrated environment temperature control device or local environment temperature control device or on
State the combination of the two；Preferably, the local environment temperature control device is by cold air fixed point injection to realize part printing technology
Needed for fast cooling it is cooling, it is highly preferred that the local environment temperature control device includes being set to the print machinery arm 301
On cold wind outlet 703；Preferably, the integrated environment temperature control device includes the sky for being set to 303 lower section of print platform
Cold 705 is suppressed, provides cold wind by lower section cold wind outlet 705.
Refering to fig. 1 to Fig. 8, in another embodiment, a kind of 3D printing method of tissue engineering bracket, using described
The 3D printing device disposal molding labyrinth tissue engineering bracket of tissue engineering bracket, it is preferable that the labyrinth packet
Include the implantation of structure, the co-manufactured of Various Tissues, cell and growth factor with bionical mechanical strength；Preferably, it uses
One or more expendable materials realize the printing of predetermined structure by the selective removal of expendable material after printing.
In some embodiments, the print module is the extruding printing equipment of one or more spray heads, extrudable molding
Tissue engineering bracket with three-dimensional macro structure, the tissue printed include but is not limited to bone, cartilage, blood vessel and nerve net
Network, soft tissue etc..
In some embodiments, the spray module is the spraying device of one or more nozzles, can carry out a spraying, face
Spraying or electrostatic spinning form the tissue engineering bracket with two-dimentional macrostructure, and the tissue sprayed includes but is not limited to bone
Film, skin etc..
In some embodiments, the cell implant module is the inkjet-printing device of one or more nozzles, extrudable
Microlayer model containing seed cell completes cell corresponding with the various printing tissues and growth factor implantation.
In some embodiments, the temperature control module includes environment temperature control device and local cooling device；The environment temperature
The combination of integrated environment temperature control, local environment temperature control or both can be used in control, provides the printing environment of temperature-controllable；It is described
Partial cooling includes but is not limited to the forms such as cold air fixed point injection, cold for fast cooling needed for the printing technology of part
But.
In some embodiments, each module, the especially print module, spray module, cell implant module drawn game
Portion's cooling device carries out reasonable space layout in printing environment, and carries out more material path planning by computer software
And process planning, to realize the free switching and cooperation printing of each spray head, nozzle and cold air nozzle；The printing environment is preferred
The reasonable disinfecting device such as configuration ultraviolet lamp simultaneously has the cleanliness for meeting biological operation requirement, preferably closes or half seals
Closed loop border.
Specifically, in a preferred embodiment：
The printing environment is preferably closed box-like environment, including print platform area and cartridge nozzle clip area；The printing
Platform area is the shared region of bracket printing, and the cylindrical region including print platform surface and its top, size, shape are according to institute
The overall dimension design of complex organization is printed, herein preferably basal diameter 15cm, the cylinder of high 15cm；The spray head clamping
Area is used to display each module spray nozzle, for the annular region for surrounding print platform area, and in order to guarantee temperature control effect,
It answers as small as possible.After considering necessary mechanism setting, cartridge nozzle clip area physical dimension is preferably 30cm × 30cm × 30cm vertical
Cube region, this is also the overall dimensions of printing environment.
The print module is preferably changeable more nozzle printing devices, is placed in above print platform area, has one
Or multiple ejecting devices, jet nozzle and a print machinery arm；The multiple ejecting device is respectively used to print different groups
Timbering material is knitted, and there is internal storing, feeding and attemperator, is deposited in when not printing on the jet nozzle；The spray head
It is rack-mounted to be set to crest line on printing environment side；For grabbing single ejecting device, be combined into can be freely moved the print machinery arm
Nozzle mechanism, manipulation spray head move and complete to print.
In an advantageous embodiment, the tissue stent material be bone, cartilage, blood vessel, nerve and soft tissue, it is described
Ejecting device heat resistance with higher, holding temperature (80~100 DEG C) and the extrusion force of bone printing, the spray of the blood vessel printing
Head device is vascular wall/intravascular expendable material combination coaxial printing head of bi-material layers；It, can be in other preferred embodiments
The type for decreasing or increasing institute's printed material, is such as divided into cortex bone and cancellous bone for bone tissue, is printed using different materials；It beats
When printing impassivity or vesselless tissue, cancel corresponding spray head setting；Soft tissue is divided into class musculature and class fat group
It knits.
In an advantageous embodiment, it is equipped with power supply line on the jet nozzle and the print machinery arm, existed respectively
Electric power is provided during ejecting device is stored and for spray head storing, feeding and the attemperator during printing, and passes through machinery
The grasping movement of arm realizes switching；In another preferred embodiment, each ejecting device has independent power supply line, from printing ring
Lead above border, and power supply line is straightened by a straight spring coiling mechanism avoids each supply lines from colliding with each other or spooling.
The combination of the print machinery arm and the print platform at least has 3 freedom of motion, and can be flat in printing
Platform area and the free movement of jet nozzle region and crawl spray head.In a preferred embodiment, the print machinery arm has along X, Y-axis
Two translational motion freedom degrees and X, Y-axis two rotary motion freedom degrees, the movement of 4DOF can be carried out；The printing
Platform can carry out the translation and rotation about the z axis along Z axis；6 freedom of motion are added up to, meet the needs of omni-directional movement,
The indent and bevel structure in the print carriage can more freely be formed.
The spray module is preferably changeable multiinjector spray equipment, is placed in print platform area side, has one
Or multiple spray nozzle devices, and the Z axis movement mechanism of matching design print platform；The spray nozzle device is preferably along print platform
Z rotary shaft is in centripetal array arrangement, and has the translation freedoms flexible along spraying direction；The Z axis movement mechanism has upper
The translation freedoms of lower movement and rotary freedom about the z axis can enable print platform carry out 360 degree rotation and up and down motion, and
The stretching motion of fit with nozzle device realizes the omnidirection surface spraying of the tissue engineering bracket.
In an advantageous embodiment, the sprayed on material includes periosteum, superficial skin, deep skin and tissue bonding
Agent, wherein periosteum and superficial skin have stronger stretching, shearing mechanical property, for providing mechanical strength for bracket；Deep layer
Skin has good biocompatibility and degradability, plays the bionical reconstruction effect to dermal tissue, can be used for repopulating cell；
Tissue adhesive is then the jointing material of no biotoxicity, for improve it is each printing tissue between boundary strength, can with periosteum,
The substep such as skin or mixing spraying.In other preferred embodiments, the type of institute's sprayed on material can also be decreased or increased, is such as increased
Other internal film materials, or with spraying means, implantation specific cells and growth factor in mount interface.
In an advantageous embodiment, the spray nozzle device includes common atomizer and near field electrostatic spinning nozzle,
Wherein common atomizer can spray material for wide area taylor cone form, complete the even application of nonneppy, for compared with
Expeditiously spray coating mechanical intensity is lower or the material of liquid homogeneous, such as Tissue adhesive and growth factor；Near-field electrostatic is spun
Silk nozzle can the higher fibre structure material of spraying machinery intensity in smaller range, higher for spray coating mechanical intensity requirement
Material, such as periosteum；In other preferred embodiments, the nozzle of other forms also can be used.
In an advantageous embodiment, described whenever the print module completes one or more layers printing of single organization
Spray nozzle device once sprays the tissue side printed, and the system of the two dimension tissue is synchronously completed with printing technology
It makes；In other preferred embodiments, such as skin is located at the two dimension tissue on the outside of global tissue, can all beat in its hetero-organization
Property sprays again after the completion of print.
The cell implant module is preferably changeable multichannel inkjet-printing device, is attached to the print module.
In a preferred embodiment, the multichannel inkjet-printing device is directly hung on the print machinery arm of the print module, with
It realizes the cell implantation without spray head switching, improves printing effect；In other preferred embodiments, the multichannel inkjet-printing device
It as an ejecting device, is placed on the jet nozzle of the print module, such as other ejecting devices, is grabbed by print machinery arm
Take use.
Preferably, the multichannel inkjet-printing device has the heat preservation temperature control close to body temperature (37 DEG C), and has point
The 3D printing function of injection can be sprayed from selection in various kinds of cell (or growth factor) and be met by single spray head or array spray head
Cell (or growth factor) type of current printed organization bracket.
In an advantageous embodiment, whenever the print module and the spray module complete layer tissue printing, institute
It states multichannel inkjet-printing device and just sprays corresponding one or more cells (or growth factor) in this layer；In other preferred sides
In case, vertical macroporosity can be also reserved in printing path, multilayer tissue printing after the completion of by hole inject one kind or
Various kinds of cell (or growth factor).
The temperature control module includes environment temperature control device and local cooling device, is respectively preferably the ice of the printing environment
The part of case refrigeration and the print machinery arm is air-cooled.
The environment temperature control device is preferably air cooling type refrigerator refrigeration, can provide relatively uniform temperature control effect, provide
The temperature more slightly lower than external environment, convenient for the cooling and auxiliary sizing of print carriage material.In view of common hydrogel material
It needs to realize preliminary sizing at a certain temperature, and cell needs conditions warrant above freezing to survive, and selects printing environment temperature
Degree is 0~10 DEG C.
The local cooling device preferably pinpoint it is air-cooled, for the higher material of required print temperature carry out part it is cold
But, convenient for other materials printing and cell implantation later, guarantee cell survival rate.It is preferred that cooling device is to be attached to printer
On tool arm, printing head cooling air nozzle disposed in parallel with crawl, preferably wind chill temperatures are 0~5 DEG C.
The higher material of print temperature is mainly the printed material of tissue scaffold design, the materials such as common ceramics, metal
Material, generally requires hundreds of degrees Celsius of print temperature, is not suitable for printing jointly with other tissue engineering materials；In the present embodiment
In, the printed material of tissue scaffold design is preferably calcium phosphate bone cement, according to patent CN201510836310,
Described in CN201510032677, materials of this class can be in 100 DEG C of temperature environment printing shapings below, and curing time is shorter, and can
Reach 500MPa grades of compression modulus and 5MPa grades of compression strength.It can satisfy the mechanical requirements of bone tissue printing, and pass through
The collective effect of environment temperature control and local cooling device is cooled to the temperature close to body temperature, suitable cell survival in a short time.
In addition, following auxiliary also can be used in order to meet the disposal molding of the needs of biology manufacture and labyrinth
Setting.In a preferred embodiment：
1. being arranged by above-mentioned module, the Method of printing has been realized in reasonable space layout；In addition, passing through meter
Calculation machine software carries out more material modelings, path planning and process planning to the tissue engineering bracket printed, to realize each spray
Head, the free switching of nozzle and cold air nozzle and cooperation printing.
2. the reasonable disinfecting devices such as the printing environment configuration ultraviolet lamp, and have and meet biological operation requirement
Cleanliness, preferably closing or semiclosed environment.In further preferred embodiment, the print machinery arm, ejecting device and
Spray nozzle device especially squeezes out each ejecting device of print carriage material and ink-jet cell material, should also have certain removable
Unloading property and cleanablity, in order to reload and clean.
3. the print module uses one or more expendable materials, the selective removal by expendable material after printing is real
The printing of the specific structures such as existing lumen of vessels, organization internal cavity.The expendable material is preferably that water-soluble or fusing point is lower than 100 DEG C
Heat-fusible materials, including but not limited to water-soluable gel, low melting point gel or cured etc..In addition, expendable material also to bone tissue,
The printing of the three-dimensional tissues such as soft tissue is played a supporting role, conducive to the printing of the special shapes such as recess, cliff of displacement shape.
4. there are two additional rotary freedom, institutes for the print machinery arm tool in foregoing preferred embodiment
Print platform is stated with an additional rotary freedom, is easy to implement the omnidirection printing and spray of the tissue engineering bracket
It applies, improves the printing effect of bevel structure, and uniform can easily carry out printing and spraying process；It is preferably implemented in others
, can also be to other devices in example, such as spray module nozzle design additional freedom of motion, to improve spraying effect and answer
The spraying flexibility ratio of miscellaneous structure.
5. each spray nozzle described in partly or entirely has longer thin neck structure, can print multilayer to same material
Switch spray head again afterwards, reduce the total degree of spray head switching, promotes printing effect.
6. solidifying at any time after the completion of mixing for mating part printed material such as bone cement, the liquid duration is shorter
Characteristic, be part spray head, nozzle setting charging and mixing device.In one embodiment, the feeding device setting is being beaten
It prints on environment upper wall, and is located at the surface of jet nozzle, including feed inlet, loose-leaf and charging runner.The feed inlet is provided with
The loose-leaf is usually normally off, only when the ejecting device of bone material printing is placed on jet nozzle, just by cartridge nozzle
The connector round tube for setting top opens, and makes to expect chamber intimate engagement inside the charging runner and ejecting device.The charging runner packet
Containing two branches, storage constitutes the solid-state material and liquid material of bone cement respectively, only opens jointly in charging.The mixing dress
It installs and is placed in inside spray head, be rotary fan rabbling mechanism, two kinds of materials for enabling feeding device input by uniform rotation are uniform
Mixing, convenient for printing.It is designed by the charging and mixing device, and combines charging runner flow velocity design, it can be with bone group
The print progress point multistep input printed material knitted, avoids premature cure of the printed material in material chamber, meets printing demand.
Fig. 1 show the overview diagram of the embodiment of 3D printing environment described in preferred embodiment.Wherein 100 be the printing
There are the air-cooled system in environmental interior region, including the cartridge nozzle clip area 101, the print platform area 102, printing environment lower section
Cold 103.
Fig. 2 show the module graduation of 3D printing environment described in preferred embodiment.Wherein 201 be the print module,
202 be the spray module, and 203a and 203b show setting side of the cell implant module in two kinds of different embodiments
Case, 204 be the temperature control module.
Fig. 3 show the kinematic axis schematic diagram of 3D printing environment described in preferred embodiment.Wherein, 301 be the printing
Mechanical arm, 302 be the spray nozzle, and 303 be the print platform.301 have 4 freedom of motion as shown in the figure, packet
It includes along X, translation freedoms a, b of Y-axis and two rotary freedoms c, d, wherein a, b are driven by stepper motor or servo motor
Screw rod guide rail mechanism realize, c, d by inside print machinery arm small rotary motor realize；302 have flexible translation certainly
By spending e, realized by screw rod stepper motor；303 have the translation freedoms f and rotary freedom g about the z axis along Z axis, wherein f
It is realized by the screw rod guide rail mechanism that stepper motor or servo motor drive, g is realized by the rotating electric machine being attached on platform.Thus
It is found that being attached to the print module of print machinery arm, cell implant module and temperature control module at least has 3 translation freedoms,
And there may be 3 additional rotary freedoms；2 translation freedoms and 1 rotation of the spray module with cylindrical coordinate form
Turn freedom degree.It is higher to print flexibility.
Fig. 4 show the Local map of head module described in preferred embodiment.Wherein 301 be the print machinery arm, 402
It is the ejecting device for the jet nozzle, 403, wherein 301 tops and 403 sides have mechanical arm to grab interface 404, is used for institute
State the connection of mechanical arm Yu the ejecting device.
Fig. 5 is the optimal enforcement illustration intention of head module feed liquor described in preferred embodiment, mixed liquid.The ejecting device
With the inlet 501b close fit on inlet 501a, with the printing environment upper wall.There is the inlet living on 501b
Page 502 and described feed liquor runner 503a, 503b.When ejecting device removes or is crawled printing, 502 are closed, can not liquor charging；When
Ejecting device is placed in when on jet nozzle, and 502 open, and allows two kinds of materials by 503a and 503b injection nozzle device, by institute
It states mixer for liquid 504 to stir evenly, completes the instant configuration of printed material, and in a short time for printing.The mixer for liquid is
The fan blade structure of uniform rotation is driven by the micro-machine on ejecting device.In a preferred embodiment, ejecting device is placed in
When on jet nozzle, the mixer for liquid is driven by the low-voltage power supply contact on jet nozzle, when being clamped by print machinery arm, the mixed liquid
Device is driven by the low-voltage power supply contact on print machinery arm；In another preferred embodiment, the mixer for liquid is by ejecting device
Set battery driving.
Fig. 6 is the schematic diagram of spray module described in preferred embodiment.Wherein 601 be nozzle platform；602 be single spray
Common atomizer or electrospinning nozzle may be selected in mouth；603 be the centripetal stretching motion mechanism of single-nozzle, screw motor driving.
Fig. 7 is the schematic diagram of cell implant module and the temperature control module described in preferred embodiment.Wherein cell is implanted into
Module includes the multichannel cell/growth factor storage chamber 701, is controlled, is selected all the way from ink-jet by the ink-jet of selectivity
First 702 spray；Temperature control module includes the cold wind outlet 703 of the local cooling device, further includes the cold wind of the whole temperature control
Refrigeration is realized by being set to the pneumatics refrigeration machine 705 below printing environment in outlet 704.
Fig. 8 is expendable material described in preferred embodiment and the longer thin neck spray head application examples signal.Wherein, figure is left
It is shown the application examples of expendable material, 801 and 802 be two kinds of printed materials, and 803 be expendable material, passes through expendable material 803
Auxiliary support and removing realize the printing of complicated recess and bevel structure 703；The figure right side show the application examples of long-neck sprayer,
804 and 805 be still two kinds of printed materials, and when the thin neck 806 of spray head is shorter, spray head need to be switched by often printing height d1；Thin neck
When longer, printing height d2 just needs to switch spray head.But the 806 length also shadow by material cooling rate and spray head rigidity
It rings, can not increase without limitation, actual selection appropriate length need to be combined.
The above content is combine it is specific/further detailed description of the invention for preferred embodiment, cannot recognize
Fixed specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs,
Without departing from the inventive concept of the premise, some replacements or modifications can also be made to the embodiment that these have been described,
And these substitutions or variant all shall be regarded as belonging to protection scope of the present invention.
Claims (9)
1. a kind of 3D printing device of tissue engineering bracket, which is characterized in that including print module, spray module, cell implantation
Module, print platform and temperature control module；The print module is the extruding printing equipment with one or more ejecting devices, is used
There is the tissue engineering bracket of three-dimensional macro structure in extruding printing shaping；The spray module is with one or more nozzles
Spray equipment, for forming the tissue engineering bracket with two-dimentional macrostructure；The cell implant module is with one
Or the inkjet-printing device of multiple nozzles, it is opposite with tissue engineering bracket to complete for spraying the microlayer model containing seed cell
Cell and the growth factor implantation answered；The print platform is located at the lower section of the print module, the tissue engineering bracket at
Type is on the print platform；The temperature control module is for providing the printing environment of temperature-controllable；
The print module includes and being arranged to the print machinery arm phase for controlling the cephalomotor print machinery arm of the spray
It is arranged to that there are at least four freedom degrees for the print platform, is the print machinery arm respectively along horizontal X-axis, Y-axis
It one-movement-freedom-degree that two one-movement-freedom-degrees and the print platform of translation are translated along vertical Z axis and rotates about the z axis
Rotary freedom；The print machinery arm also has the rotary freedom there are two different directions；
The print module further includes jet nozzle, and multiple ejecting devices are placed on the jet nozzle of the print module, is beaten by described
Mechanical arm crawl is printed to use；
The ejecting device has the inlet of connection feed liquor runner, is provided with inlet loose-leaf, the spray on the inlet
It is configured between head frame, the ejecting device and the inlet：When the ejecting device removed from the jet nozzle or by
When the print machinery arm crawl printing, the inlet is closed by the inlet loose-leaf；When the ejecting device is placed in institute
When stating jet nozzle, the ejecting device touches the inlet loose-leaf and opens, and material is allowed to inject the ejecting device；It is described into
Liquid mouth connects multiple feed liquor runners, is provided with mixer for liquid in the ejecting device, for will be from the material of different feed liquor runners
It stirs evenly, when the ejecting device is placed on the jet nozzle, the mixer for liquid is by the power supply contact on the jet nozzle
Driving, when the ejecting device is clamped by the print machinery arm, the mixer for liquid is touched by the power supply on the print machinery arm
Point driving.
2. the 3D printing device of tissue engineering bracket as described in claim 1, which is characterized in that described that there is three-dimensional macro knot
The tissue engineering bracket of structure includes one of bone, cartilage, blood vessel, neural network and soft tissue or a variety of, described to have two dimension
The tissue engineering bracket of macrostructure includes one of periosteum and skin or a variety of.
3. the 3D printing device of tissue engineering bracket as described in claim 1, which is characterized in that the spray equipment is point spray
It applies, face sprays or electrostatic spinning spray equipment.
4. the 3D printing device of tissue engineering bracket as described in any one of claims 1 to 3, which is characterized in that the spraying
Module is placed in print platform area side, and the nozzle of the spray module is in centripetal array along the Z axis perpendicular to the print platform
Arrangement, and there are the translation freedoms flexible along spraying direction.
5. the 3D printing device of tissue engineering bracket as described in claim 1, which is characterized in that the inkjet-printing device is attached
It connects on the print machinery arm or the inkjet-printing device is placed on the jet nozzle of the print module, beaten by described
It prints mechanical arm crawl to use, the inkjet-printing device has the heat preservation temperature control device close to human body temperature, and has point injection
The single spray head or array spray head of function.
6. the 3D printing device of the tissue engineering bracket as described in any one of claim 1-3,5, which is characterized in that the temperature
Controlling module includes integrated environment temperature control device, and the integrated environment temperature control device includes the sky being set to below the print platform
Suppress cold.
7. the 3D printing device of the tissue engineering bracket as described in any one of claim 1-3,5, which is characterized in that the temperature
Controlling module includes local environment temperature control device, and the local environment temperature control device pinpoints injection by cold air to realize that part is beaten
It is cooling to print fast cooling needed for technique.
8. the 3D printing device of tissue engineering bracket as claimed in claim 7, which is characterized in that the local environment temperature control dress
Set the cold wind outlet including being set on the print machinery arm.
9. a kind of 3D printing method of tissue engineering bracket, which is characterized in that using as claimed in any one of claims 1 to 8
The 3D printing device disposal molding labyrinth tissue engineering bracket of tissue engineering bracket, the labyrinth include having to imitate
The implantation of the structure, the co-manufactured of Various Tissues, cell and growth factor of raw mechanical strength；Using one or more sacrifice materials
Material realizes the printing of predetermined structure by the selective removal of expendable material after printing.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108096694A (en) * | 2017-12-22 | 2018-06-01 | 西安交通大学 | A kind of cell intelligence spray equipment for skin surface nursing |
| CN107858787B (en) * | 2018-01-03 | 2023-09-22 | 郑州大学 | Device for preparing composite biological material for tissue engineering |
| CN108148754A (en) * | 2018-01-19 | 2018-06-12 | 扬州大学 | A kind of double ejecting devices of 3D biometric prints |
| CN108977897B (en) * | 2018-06-07 | 2021-11-19 | 浙江天悟智能技术有限公司 | Melt spinning process control method based on local internal plasticity echo state network |
| CN109097268A (en) * | 2018-07-11 | 2018-12-28 | 暨南大学 | A kind of spraying device and the method that cell prints inoculation by spraying is carried out using the device |
| CN109700576A (en) * | 2019-01-18 | 2019-05-03 | 孟兵 | A technique for skull repairing is carried out using stem cell, natural fiber |
| CN109853054A (en) * | 2019-02-27 | 2019-06-07 | 上海交通大学医学院附属第九人民医院 | A kind of device and building method of coaxial electrostatic spinning 3 D-printing biological support |
| CN110253876A (en) * | 2019-05-22 | 2019-09-20 | 苏州瑞兴手外科技术应用研究所 | The method of distraction force organization of regulation control vessel branch based on the control of 3D printing frame |
| CN110253881B (en) * | 2019-06-26 | 2021-05-28 | 太原理工大学 | Multi-nozzle 3D biological printing device and printing method |
| CN110368147A (en) * | 2019-08-05 | 2019-10-25 | 北京爱康宜诚医疗器材有限公司 | Invasive lumbar fusion device and preparation method thereof |
| CN110684710A (en) * | 2019-11-23 | 2020-01-14 | 吉林省蔚来生物科技有限公司 | Culture method for compounding periosteum biological scaffold and allogenic seed cells |
| CN212708039U (en) * | 2020-05-15 | 2021-03-16 | 珠海赛纳三维科技有限公司 | Rotary three-dimensional printer |
| WO2022021603A1 (en) * | 2020-07-27 | 2022-02-03 | 共享智能装备有限公司 | 3d printing head and 3d printer |
| CN113733551B (en) * | 2021-09-14 | 2022-08-09 | 上海大学 | Preparation method of tissue engineering scaffold and tissue engineering scaffold |
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